diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f12b6f2f654febbc8bd5d0aceda4af5cbe0b6b2f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_59_success.json @@ -0,0 +1,684 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35538919685289416, + -0.04849780965007366, + 1.0483454174201472 + ], + "current_z": 1.0483454174201472, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1917589696162264, + "gripper_z": 1.0500953736596892, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3506769402368173, + -0.0530604211370056, + 1.0500953736596892 + ], + "object_minus_gripper": [ + 0.004712256616076882, + 0.00456261148693194, + -0.0017499562395419943 + ], + "object_to_gripper_xy": 0.006559175710136422, + "object_to_gripper_z": -0.0017499562395419943, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35538919685289416, + -0.07288206190069108, + 1.0483454174201472 + ], + "finger_b": [ + 0.3442526862617756, + -0.04849780965007366, + 1.0483454174201472 + ], + "finger_midpoint": [ + 0.3498209415573349, + -0.06068993577538237, + 1.0483454174201472 + ], + "object_minus_finger_midpoint": [ + 0.005568255295559266, + 0.012192126125308712, + 0.0 + ], + "finger_gap": 0.026806969727439112, + "fingertip_max_gap": 0.09510068403882779, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013403484863719548, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483454174201472, + "object_top_z": 1.094849791138912, + "finger_top_clearance": 0.0465043737187647, + "fingertip_min_top_clearance": 0.013951312115629411, + "object_projection_between_fingers": 0.8274150897444195, + "object_to_finger_line_xy": 0.010130032831258374, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0500503420194139, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.603535653829191, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3557633171851443, + -0.05174165446161591, + 1.2433060946873458 + ], + "held_position": [ + 0.3607201569606166, + -0.047481264943220594, + 1.2414705184743102 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0067889998852569385, + "max_held_gripper_dist": 0.006790355236563716, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001835576213035539, + "max_held_gripper_z_dist": 0.0018379620789017448, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722501849492154, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3607201569606166, + -0.07276173151998898, + 1.2414705184743102 + ], + "held_grasp_finger_b": [ + 0.35142244565586694, + -0.047481264943220594, + 1.2414705184743102 + ], + "held_grasp_midpoint": [ + 0.35607130130824177, + -0.060121498231604786, + 1.2414705184743102 + ], + "held_grasp_object_position": [ + 0.3607201569606166, + -0.047481264943220594, + 1.2414705184743102 + ], + "held_grasp_finger_gap": 0.02693602468527182, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025087772589013617, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.020091270934323897, + -0.9997669682699871, + 0.007896200889186744 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004395100761194886, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03246953583441112, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3223752081394521, + -0.04958599171998283, + 0.7565864052932019 + ], + "target_position": [ + 0.3313006951360252, + -0.052485735095458876, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009384712556579099, + "xy_threshold": 0.08, + "gripper_dist": 0.210256515715573, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864052932019, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557591638106614, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854533203258412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18223797326038027, + "release_required_pad_clearance": 0.05427266601629206, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5644801889722237, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a6bdfe0f7d8882411e3b46198678eeb0baeb6ee258238857795588ac3b4ff70", + "visual_seed": 6715653769628074571, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b35ab8b2dbf65eb0941c38f8de68820db5932468 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_5_success.json @@ -0,0 +1,684 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3516949675061697, + -0.044471555740596753, + 1.0468496641518104 + ], + "current_z": 1.0468496641518104, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19026321634788956, + "gripper_z": 1.0484717159513424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34725968441509225, + -0.04895703699963999, + 1.0484717159513424 + ], + "object_minus_gripper": [ + 0.0044352830910774355, + 0.004485481259043238, + -0.0016220517995320094 + ], + "object_to_gripper_xy": 0.006308032833080811, + "object_to_gripper_z": -0.0016220517995320094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3516949675061697, + -0.06847461112964146, + 1.0468496641518104 + ], + "finger_b": [ + 0.3404250805082665, + -0.044471555740596753, + 1.0468496641518104 + ], + "finger_midpoint": [ + 0.3460600240072181, + -0.0564730834351191, + 1.0468496641518104 + ], + "object_minus_finger_midpoint": [ + 0.005634943498951606, + 0.012001527694522347, + 0.0 + ], + "finger_gap": 0.0265171080805403, + "fingertip_max_gap": 0.09419002508500521, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258554040270147, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468496641518104, + "object_top_z": 1.0930894906661468, + "finger_top_clearance": 0.046239826514336446, + "fingertip_min_top_clearance": 0.013871947954300934, + "object_projection_between_fingers": 0.8193712795856075, + "object_to_finger_line_xy": 0.01020140360017095, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049595012542502606, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2002425138450152, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35255139292285426, + -0.048165884594042696, + 1.2403537273788194 + ], + "held_position": [ + 0.3573201370175557, + -0.04407553746525839, + 1.2386377015030736 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006512803135435099, + "max_held_gripper_dist": 0.006514269369783486, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001716025875745819, + "max_held_gripper_z_dist": 0.0017161605297955074, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08751285982685357, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3573201370175557, + -0.06934263576640083, + 1.2386377015030736 + ], + "held_grasp_finger_b": [ + 0.348526294682299, + -0.04407553746525839, + 1.2386377015030736 + ], + "held_grasp_midpoint": [ + 0.35292321584992736, + -0.056709086615829615, + 1.2386377015030736 + ], + "held_grasp_object_position": [ + 0.3573201370175557, + -0.04407553746525839, + 1.2386377015030736 + ], + "held_grasp_finger_gap": 0.02675365245301935, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478948820191613, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05060518019325133, + -0.9987099380043127, + 0.004192310703023394 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037523449228825086, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032360466888886004, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3171383975220503, + -0.04456646294194359, + 0.7565925314335058 + ], + "target_position": [ + 0.32779553412704077, + -0.04783614291212571, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01114743772015963, + "xy_threshold": 0.08, + "gripper_dist": 0.20668029559022405, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565925314335058, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549773644167684, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09101576403123966, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1792199872867402, + "release_required_pad_clearance": 0.05550788201561983, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.112094612058208, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4742493e77bdef3c894b59249bee14315cacc284537b586358a094d40b05152b", + "visual_seed": 9167309181022062513, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..59c89be7fea66556965e05166bc7fee2db5f948d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_60_success.json @@ -0,0 +1,684 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3561260724128477, + -0.04911769846623293, + 1.0467070897495951 + ], + "current_z": 1.0467070897495951, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19012058234102958, + "gripper_z": 1.0482244053829237, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3515186320688779, + -0.053690237412747324, + 1.0482244053829237 + ], + "object_minus_gripper": [ + 0.004607440343969815, + 0.004572538946514396, + -0.0015173156333285753 + ], + "object_to_gripper_xy": 0.006491272520903099, + "object_to_gripper_z": -0.0015173156333285753, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3561260724128477, + -0.07329075154863338, + 1.0467070897495951 + ], + "finger_b": [ + 0.3447932229947931, + -0.04911769846623293, + 1.0467070897495951 + ], + "finger_midpoint": [ + 0.35045964770382043, + -0.06120422500743315, + 1.0467070897495951 + ], + "object_minus_finger_midpoint": [ + 0.005666424709027285, + 0.012086526541200224, + 0.0 + ], + "finger_gap": 0.026697752176107464, + "fingertip_max_gap": 0.09415398775794145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348876088053721, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467070897495951, + "object_top_z": 1.0928068474129082, + "finger_top_clearance": 0.04609975766331309, + "fingertip_min_top_clearance": 0.013829927298993927, + "object_projection_between_fingers": 0.8198107648869802, + "object_to_finger_line_xy": 0.01026114740860658, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04957699387897073, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3435719665772936, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3568366445222827, + -0.053015946642816184, + 1.23808989313904 + ], + "held_position": [ + 0.36176178895092964, + -0.048828760173179574, + 1.2364688082934945 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006664645095651939, + "max_held_gripper_dist": 0.006667646729526849, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016210848455455729, + "max_held_gripper_z_dist": 0.0016219205539904635, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08739450363405088, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36176178895092964, + -0.0741542718105099, + 1.2364688082934945 + ], + "held_grasp_finger_b": [ + 0.3528514233482013, + -0.048828760173179574, + 1.2364688082934945 + ], + "held_grasp_midpoint": [ + 0.35730660614956544, + -0.06149151599184474, + 1.2364688082934945 + ], + "held_grasp_object_position": [ + 0.36176178895092964, + -0.048828760173179574, + 1.2364688082934945 + ], + "held_grasp_finger_gap": 0.026847274626427883, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024912783635680665, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.043615072105313346, + -0.9990483207704899, + -0.00042219771770479763 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038986600076798216, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032355206909722746, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32802722189009836, + -0.04807867785254087, + 0.7565869006810062 + ], + "target_position": [ + 0.3320624345056862, + -0.05033205954747242, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004621760478005283, + "xy_threshold": 0.08, + "gripper_dist": 0.21280036856962178, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869006810062, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752376879555995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09155469644629187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.184748249371221, + "release_required_pad_clearance": 0.05577734822314594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.746375410803123, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d54a3966ba639223edd4515440aca08b04db726d349cbe6eccbd46e52bca0072", + "visual_seed": 6707269952401117588, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65e11d35b0d51d425ce9ea8aa413e2b90a4fb9d2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3582138540228456, + -0.05220961262904017, + 1.0493120034487773 + ], + "current_z": 1.0493120034487773, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1927255556448565, + "gripper_z": 1.0512196656517876, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35349934936363725, + -0.0567349782046762, + 1.0512196656517876 + ], + "object_minus_gripper": [ + 0.004714504659208363, + 0.004525365575636028, + -0.0019076622030103074 + ], + "object_to_gripper_xy": 0.006534943593853659, + "object_to_gripper_z": -0.0019076622030103074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3582138540228456, + -0.07658682390006089, + 1.0493120034487773 + ], + "finger_b": [ + 0.3471233116188187, + -0.05220961262904017, + 1.0493120034487773 + ], + "finger_midpoint": [ + 0.35266858282083213, + -0.06439821826455053, + 1.0493120034487773 + ], + "object_minus_finger_midpoint": [ + 0.00554527120201348, + 0.012188605635510358, + 0.0 + ], + "finger_gap": 0.02678149660059158, + "fingertip_max_gap": 0.09659958009074218, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013390748300295801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493120034487773, + "object_top_z": 1.0963206418348912, + "finger_top_clearance": 0.04700863838611391, + "fingertip_min_top_clearance": 0.014102591515834172, + "object_projection_between_fingers": 0.8285111499048604, + "object_to_finger_line_xy": 0.010094898702830753, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05079979004537109, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.320159083970682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3584554983922852, + -0.05535955765564145, + 1.242979305071917 + ], + "held_position": [ + 0.36337641689956285, + -0.05109550838548166, + 1.2409933250108014 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068074717727484085, + "max_held_gripper_dist": 0.006808748389315141, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019859800611155, + "max_held_gripper_z_dist": 0.0019927012780345255, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08699794100502138, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36337641689956285, + -0.076244805567421, + 1.2409933250108014 + ], + "held_grasp_finger_b": [ + 0.3539885550207492, + -0.05109550838548166, + 1.2409933250108014 + ], + "held_grasp_midpoint": [ + 0.35868248596015606, + -0.06367015697645133, + 1.2409933250108014 + ], + "held_grasp_object_position": [ + 0.36337641689956285, + -0.05109550838548166, + 1.2409933250108014 + ], + "held_grasp_finger_gap": 0.026844349487390902, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02512848073684326, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0020635222167884187, + -0.999942567637952, + 0.010516810432871004 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004669847220459349, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032616612535834075, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3349874372823839, + -0.052279896852205125, + 0.7565862763312976 + ], + "target_position": [ + 0.33416059360884154, + -0.05396058720215733, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0018730698099375474, + "xy_threshold": 0.08, + "gripper_dist": 0.21643182087094628, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862763312976, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546889206055832, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09406386513966895, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18747291196834365, + "release_required_pad_clearance": 0.05703193256983448, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.597791139745077, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "956934f82f670bb30e5b618157b29c2785d3144f2d8caa2dd51de8b7f7609bde", + "visual_seed": 3072706111381640681, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9e89aee8a3bc209b5465657cf5b90688042d18 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_63_success.json @@ -0,0 +1,684 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36017477125240205, + -0.05298183801514528, + 1.04657674510445 + ], + "current_z": 1.04657674510445, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1899902973005292, + "gripper_z": 1.0487919205277978, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35538744561636393, + -0.05759770194522522, + 1.0487919205277978 + ], + "object_minus_gripper": [ + 0.00478732563603812, + 0.0046158639300799414, + -0.002215175423347704 + ], + "object_to_gripper_xy": 0.0066501644014626314, + "object_to_gripper_z": -0.002215175423347704, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36017477125240205, + -0.0774006617427568, + 1.04657674510445 + ], + "finger_b": [ + 0.3489571046398761, + -0.05298183801514528, + 1.04657674510445 + ], + "finger_midpoint": [ + 0.3545659379461391, + -0.06519124987895103, + 1.04657674510445 + ], + "object_minus_finger_midpoint": [ + 0.005608833306262939, + 0.012209411863805752, + 0.0 + ], + "finger_gap": 0.02687219746261817, + "fingertip_max_gap": 0.09667119304967206, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013436098731309068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04657674510445, + "object_top_z": 1.0930555112897689, + "finger_top_clearance": 0.046478766185318765, + "fingertip_min_top_clearance": 0.01394362985559563, + "object_projection_between_fingers": 0.825739605402286, + "object_to_finger_line_xy": 0.010193517818088227, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05083559652483603, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.807058664622695, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3600132490186104, + -0.05577894518030095, + 1.2403933849997244 + ], + "held_position": [ + 0.36498156331306664, + -0.051415186557327686, + 1.2381221801027662 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069917743049985786, + "max_held_gripper_dist": 0.0070101743579438, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002271204896958201, + "max_held_gripper_z_dist": 0.002277943345833977, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08667070950064243, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36498156331306664, + -0.07646050787399544, + 1.2381221801027662 + ], + "held_grasp_finger_b": [ + 0.35518425214285043, + -0.051415186557327686, + 1.2381221801027662 + ], + "held_grasp_midpoint": [ + 0.36008290772795853, + -0.06393784721566156, + 1.2381221801027662 + ], + "held_grasp_object_position": [ + 0.36498156331306664, + -0.051415186557327686, + 1.2381221801027662 + ], + "held_grasp_finger_gap": 0.026893408598040815, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025217212512660132, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017957383401774246, + -0.9998385775552022, + 0.0005926328979081186 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005122745249072757, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03276755278247077, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3249913043184521, + -0.05448992897617015, + 0.7565863377968145 + ], + "target_position": [ + 0.33614472636669845, + -0.056017978505803645, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011257608926913455, + "xy_threshold": 0.08, + "gripper_dist": 0.21075933737730188, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863377968145, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576802861196236, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608723408826267, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1823940766872541, + "release_required_pad_clearance": 0.05304361704413134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1176629056562317, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b8e9703c88e938817be6ed951adb65e9e9d5a1abb0d6524fa9999ffa808f1c0", + "visual_seed": 2147163261747754701, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42f6ea809e730b308025ab00a6f1edda9160e6f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_64_success.json @@ -0,0 +1,684 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35687622196561897, + -0.04917589057618059, + 1.0481973647234615 + ], + "current_z": 1.0481973647234615, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19161097652418546, + "gripper_z": 1.049540242388863, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3526680024220911, + -0.053584114360266874, + 1.049540242388863 + ], + "object_minus_gripper": [ + 0.004208219543527847, + 0.004408223784086285, + -0.0013428776654014207 + ], + "object_to_gripper_xy": 0.006094386651428815, + "object_to_gripper_z": -0.0013428776654014207, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35687622196561897, + -0.07295079718002112, + 1.0481973647234615 + ], + "finger_b": [ + 0.3456348057041283, + -0.04917589057618059, + 1.0481973647234615 + ], + "finger_midpoint": [ + 0.35125551383487363, + -0.061063343878100855, + 1.0481973647234615 + ], + "object_minus_finger_midpoint": [ + 0.005620708130745333, + 0.011887453301920266, + 0.0 + ], + "finger_gap": 0.026298585961709937, + "fingertip_max_gap": 0.09394788445908561, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013149292980854968, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481973647234615, + "object_top_z": 1.0941345928999517, + "finger_top_clearance": 0.04593722817649026, + "fingertip_min_top_clearance": 0.013781168452947079, + "object_projection_between_fingers": 0.8172837118557454, + "object_to_finger_line_xy": 0.010162661296731448, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04947394222954281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4262915439614776, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3579762022467927, + -0.05272296240817376, + 1.2412147926072543 + ], + "held_position": [ + 0.3625362495854671, + -0.04870786355701782, + 1.239786434065986 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006241414794573333, + "max_held_gripper_dist": 0.006242659786874007, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0014283585412682154, + "max_held_gripper_z_dist": 0.0014288964996027609, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08713798991170218, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3625362495854671, + -0.07382841721389898, + 1.239786434065986 + ], + "held_grasp_finger_b": [ + 0.35383708371239564, + -0.04870786355701782, + 1.239786434065986 + ], + "held_grasp_midpoint": [ + 0.3581866666489314, + -0.0612681403854584, + 1.239786434065986 + ], + "held_grasp_object_position": [ + 0.3625362495854671, + -0.04870786355701782, + 1.239786434065986 + ], + "held_grasp_finger_gap": 0.026584162633332208, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024660827505542868, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04933127713332221, + -0.9987824635856828, + 0.0001246198609995419 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037246730321628353, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03244067025052611, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3327169259457868, + -0.057948154933331705, + 0.7565877098570822 + ], + "target_position": [ + 0.33321569397507306, + -0.05341141844106729, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004564071378416617, + "xy_threshold": 0.08, + "gripper_dist": 0.21373604688900705, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565877098570822, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537701659455452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551841220435456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18393655765713562, + "release_required_pad_clearance": 0.05275920610217728, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5678604645589178, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a39661e7fc6206a76ff9cf86cf7f3c207a4c52526bf5fd3026eb681d85ca8379", + "visual_seed": 1566309337642304319, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f05b6808c640d00af48abcba3ab0df4b48ea596 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3575550109427996, + -0.047271966166313996, + 1.0458155073323134 + ], + "current_z": 1.0458155073323134, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18922905952839264, + "gripper_z": 1.0477399155810962, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.352900708641051, + -0.05172712968963049, + 1.0477399155810962 + ], + "object_minus_gripper": [ + 0.004654302301748625, + 0.004455163523316492, + -0.0019244082487828162 + ], + "object_to_gripper_xy": 0.006442903998629218, + "object_to_gripper_z": -0.0019244082487828162, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3575550109427996, + -0.07165406009050472, + 1.0458155073323134 + ], + "finger_b": [ + 0.34662931154441873, + -0.047271966166313996, + 1.0458155073323134 + ], + "finger_midpoint": [ + 0.3520921612436092, + -0.05946301312840936, + 1.0458155073323134 + ], + "object_minus_finger_midpoint": [ + 0.00546284969919042, + 0.012191046962095366, + 0.0 + ], + "finger_gap": 0.026718110177777147, + "fingertip_max_gap": 0.09525356119218517, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359055088888567, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458155073323134, + "object_top_z": 1.0919870821653408, + "finger_top_clearance": 0.04617157483302736, + "fingertip_min_top_clearance": 0.013851472449908225, + "object_projection_between_fingers": 0.8327804608799111, + "object_to_finger_line_xy": 0.009970444284654885, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05012678059609259, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3558528127508294, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35772504688018647, + -0.04992986695091936, + 1.2396563318897562 + ], + "held_position": [ + 0.3625522348561994, + -0.04569665559061257, + 1.2376579419042189 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006724238597126851, + "max_held_gripper_dist": 0.0067260148987387915, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019983899855373632, + "max_held_gripper_z_dist": 0.002007058171025644, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08709350587818954, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3625522348561994, + -0.07074766048340457, + 1.2376579419042189 + ], + "held_grasp_finger_b": [ + 0.35314123050801893, + -0.04569665559061257, + 1.2376579419042189 + ], + "held_grasp_midpoint": [ + 0.3578467326821092, + -0.05822215803700857, + 1.2376579419042189 + ], + "held_grasp_object_position": [ + 0.3625522348561994, + -0.04569665559061257, + 1.2376579419042189 + ], + "held_grasp_finger_gap": 0.026760415710152204, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025127407118435918, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008209373702611041, + -0.9999658206937861, + 0.0009816453604497566 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004808185813772304, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03271377985820393, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3247998095231473, + -0.0605119374780219, + 0.7565863982246339 + ], + "target_position": [ + 0.33361000327899054, + -0.04923245930403483, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014312447096599169, + "xy_threshold": 0.08, + "gripper_dist": 0.2110691890680745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863982246339, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547562202587381, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09285069244181453, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18054812096403286, + "release_required_pad_clearance": 0.056425346220907266, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.194214776335121, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b4e402dd518776afa91f943dedcce8c1f7b656d9e57a4a1d292e8c6aabd79ee", + "visual_seed": 3611039380296181157, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3b401f28f7bc4a747465349103255f22b5b67f48 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3512952990462637, + -0.04541726135368726, + 1.0481691248595737 + ], + "current_z": 1.0481691248595737, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.19158261745100835, + "gripper_z": 1.0497788498712126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34688955603756344, + -0.049934618945227216, + 1.0497788498712126 + ], + "object_minus_gripper": [ + 0.00440574300870028, + 0.0045173575915399555, + -0.0016097250116389183 + ], + "object_to_gripper_xy": 0.006310078531092546, + "object_to_gripper_z": -0.0016097250116389183, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3512952990462637, + -0.06930640413339495, + 1.0481691248595737 + ], + "finger_b": [ + 0.3398610686983201, + -0.04541726135368726, + 1.0481691248595737 + ], + "finger_midpoint": [ + 0.3455781838722919, + -0.057361832743541105, + 1.0481691248595737 + ], + "object_minus_finger_midpoint": [ + 0.005717115173971832, + 0.011944571389853845, + 0.0 + ], + "finger_gap": 0.026484576009426594, + "fingertip_max_gap": 0.09382354623548503, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013242288004713307, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481691248595737, + "object_top_z": 1.0942258152291318, + "finger_top_clearance": 0.04605669036955806, + "fingertip_min_top_clearance": 0.013817007110867419, + "object_projection_between_fingers": 0.813607761266963, + "object_to_finger_line_xy": 0.010313699613724943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049411773117742516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1610020674701635, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3522848516979855, + -0.04935779439987571, + 1.241016795244485 + ], + "held_position": [ + 0.35706261116180404, + -0.04527697676337924, + 1.239309903170861 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006511032070835535, + "max_held_gripper_dist": 0.006512092653895921, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017068920736240667, + "max_held_gripper_z_dist": 0.0017084807024874138, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08736358860796137, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35706261116180404, + -0.0705672237015484, + 1.239309903170861 + ], + "held_grasp_finger_b": [ + 0.34834947374873926, + -0.04527697676337924, + 1.239309903170861 + ], + "held_grasp_midpoint": [ + 0.35270604245527165, + -0.057922100232463816, + 1.239309903170861 + ], + "held_grasp_object_position": [ + 0.35706261116180404, + -0.04527697676337924, + 1.239309903170861 + ], + "held_grasp_finger_gap": 0.02674911874758726, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02471892368842942, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06028756751697877, + -0.998179954913947, + 0.0014787869611911915 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003586350357105178, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231546926152121, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3133655641912993, + -0.052097164011828935, + 0.7565865321458414 + ], + "target_position": [ + 0.32738731421950795, + -0.04652033370198971, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015090079859242326, + "xy_threshold": 0.08, + "gripper_dist": 0.20503188789779483, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865321458414, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579799852659368, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09323449339972804, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1756709267675236, + "release_required_pad_clearance": 0.056617246699864024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.632675508466233, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "072162310d0ffeba52a01c01ff8cef835fe697e1b97933106241f632faeb3536", + "visual_seed": 5269269951727541015, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4144111e44e273e6a65f06c6bbbeaf6f056caae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35965502665594645, + -0.04489459342985318, + 1.049090361610529 + ], + "current_z": 1.049090361610529, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19250391380660814, + "gripper_z": 1.050466619099929, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35533374944490503, + -0.04935503558560994, + 1.050466619099929 + ], + "object_minus_gripper": [ + 0.004321277211041419, + 0.004460442155756764, + -0.0013762574894000679 + ], + "object_to_gripper_xy": 0.006210392979475449, + "object_to_gripper_z": -0.0013762574894000679, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35965502665594645, + -0.0687535933493098, + 1.049090361610529 + ], + "finger_b": [ + 0.34834358607451255, + -0.04489459342985318, + 1.049090361610529 + ], + "finger_midpoint": [ + 0.35399930636522947, + -0.05682409338958149, + 1.049090361610529 + ], + "object_minus_finger_midpoint": [ + 0.005655720290716981, + 0.011929499959728314, + 0.0 + ], + "finger_gap": 0.026404555765699625, + "fingertip_max_gap": 0.09625885477588589, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013202277882849823, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049090361610529, + "object_top_z": 1.0960882897910522, + "finger_top_clearance": 0.046997928180523285, + "fingertip_min_top_clearance": 0.014099378454156986, + "object_projection_between_fingers": 0.8164822370825914, + "object_to_finger_line_xy": 0.010220950593380289, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050629427387942946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.977464374437507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3605678265593002, + -0.04835461219832421, + 1.2419294512585168 + ], + "held_position": [ + 0.3652210466088863, + -0.044272577073716374, + 1.24046490131839 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006360846965265564, + "max_held_gripper_dist": 0.0063614123975499585, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0014645499401269024, + "max_held_gripper_z_dist": 0.0014657683074514871, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08762046111422908, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3652210466088863, + -0.06938229539210679, + 1.24046490131839 + ], + "held_grasp_finger_b": [ + 0.35634471763256625, + -0.044272577073716374, + 1.24046490131839 + ], + "held_grasp_midpoint": [ + 0.3607828821207263, + -0.05682743623291158, + 1.24046490131839 + ], + "held_grasp_object_position": [ + 0.3652210466088863, + -0.044272577073716374, + 1.24046490131839 + ], + "held_grasp_finger_gap": 0.026632445815673228, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024758524424140945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03741738895342808, + -0.9992407385769058, + 0.010857503036511673 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003967659841457151, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03248883369995475, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3204443871581384, + -0.04014111395462846, + 0.7565861219823095 + ], + "target_position": [ + 0.3359166022070737, + -0.04697256547313476, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01691325422176946, + "xy_threshold": 0.08, + "gripper_dist": 0.20685405014556055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861219823095, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525357481175475, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0942152820124527, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1810121607256364, + "release_required_pad_clearance": 0.05710764100622635, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.776562452579034, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b96e12842b949d6e1fb686c9263c5adbdb38f507d0f8c7cac09835f39c45d43b", + "visual_seed": 1581471642060378132, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..660ca0646cb7c662fd9be71f2692cf7357457332 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3553595029695457, + -0.05005284259714145, + 1.0481247634709032 + ], + "current_z": 1.0481247634709032, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19153825606233765, + "gripper_z": 1.0501637018557985, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3508153562521724, + -0.054485729918741246, + 1.0501637018557985 + ], + "object_minus_gripper": [ + 0.0045441467173732986, + 0.004432887321599799, + -0.002038938384895328 + ], + "object_to_gripper_xy": 0.006348209148650882, + "object_to_gripper_z": -0.002038938384895328, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3553595029695457, + -0.07440990689144972, + 1.0481247634709032 + ], + "finger_b": [ + 0.34453644460785354, + -0.05005284259714145, + 1.0481247634709032 + ], + "finger_midpoint": [ + 0.34994797378869963, + -0.06223137474429558, + 1.0481247634709032 + ], + "object_minus_finger_midpoint": [ + 0.005411529180846086, + 0.012178532147154135, + 0.0 + ], + "finger_gap": 0.02665342704677321, + "fingertip_max_gap": 0.09588464492440804, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013326713523386605, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481247634709032, + "object_top_z": 1.0943156209943519, + "finger_top_clearance": 0.04619085752344865, + "fingertip_min_top_clearance": 0.01385725725703456, + "object_projection_between_fingers": 0.8351101643161628, + "object_to_finger_line_xy": 0.009890582847533, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05044232246220402, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7020619303392954, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3556343855846727, + -0.0527747320508183, + 1.2422042149361892 + ], + "held_position": [ + 0.36035348232386927, + -0.048556268602425415, + 1.2400982118213457 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006670873782275658, + "max_held_gripper_dist": 0.006673189162073494, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021060031148434355, + "max_held_gripper_z_dist": 0.002108789560437252, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08707017964770793, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36035348232386927, + -0.07360233896791003, + 1.2400982118213457 + ], + "held_grasp_finger_b": [ + 0.3510199103451153, + -0.048556268602425415, + 1.2400982118213457 + ], + "held_grasp_midpoint": [ + 0.3556866963344923, + -0.061079303785167724, + 1.2400982118213457 + ], + "held_grasp_object_position": [ + 0.36035348232386927, + -0.048556268602425415, + 1.2400982118213457 + ], + "held_grasp_finger_gap": 0.02672865890080136, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025177393856467927, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014347889090523019, + -0.9998964482432405, + -0.001109445446441315 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004846004538000453, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03274544509314639, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3192942184122847, + -0.05165423561056025, + 0.7565864799246094 + ], + "target_position": [ + 0.33151843467564396, + -0.05247979968431821, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01225206183845218, + "xy_threshold": 0.08, + "gripper_dist": 0.20657836730576906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864799246094, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553223838802996, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09379194584995347, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17869556426627792, + "release_required_pad_clearance": 0.05689597292497674, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.279250743820793, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58d66f49db9e89491e1e51554da04c89d3e8b573f281b3c6b23459e71c7c5683", + "visual_seed": 3560721198576515363, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7308946d58b4aa7fb0f7675ca40ae886c8ca73 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3538076793525514, + -0.04796754861293444, + 1.0494668042334339 + ], + "current_z": 1.0494668042334339, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19288029682486818, + "gripper_z": 1.0510132823179918, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3493717823767216, + -0.052520000601189984, + 1.0510132823179918 + ], + "object_minus_gripper": [ + 0.004435896975829801, + 0.004552451988255546, + -0.0015464780845579895 + ], + "object_to_gripper_xy": 0.0063562568454671375, + "object_to_gripper_z": -0.0015464780845579895, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3538076793525514, + -0.07184405833862927, + 1.0494668042334339 + ], + "finger_b": [ + 0.3422826978123585, + -0.04796754861293444, + 1.0494668042334339 + ], + "finger_midpoint": [ + 0.3480451885824549, + -0.05990580347578185, + 1.0494668042334339 + ], + "object_minus_finger_midpoint": [ + 0.005762490770096496, + 0.011938254862847414, + 0.0 + ], + "finger_gap": 0.026512504902083237, + "fingertip_max_gap": 0.09465103070198863, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01325625245104163, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494668042334339, + "object_top_z": 1.0957383167875376, + "finger_top_clearance": 0.04627151255410378, + "fingertip_min_top_clearance": 0.013881453766231133, + "object_projection_between_fingers": 0.8110360523419236, + "object_to_finger_line_xy": 0.010379114868593506, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04982551535099432, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5922212020858946, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35475289209656413, + -0.05185976639742651, + 1.241143946345355 + ], + "held_position": [ + 0.35956488108196916, + -0.04774575585731525, + 1.2394985467768098 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006541227748670333, + "max_held_gripper_dist": 0.00654345521830282, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016453995685452583, + "max_held_gripper_z_dist": 0.0016466982935279262, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08742429924286911, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35956488108196916, + -0.0730099746763686, + 1.2394985467768098 + ], + "held_grasp_finger_b": [ + 0.35078280099685133, + -0.04774575585731525, + 1.2394985467768098 + ], + "held_grasp_midpoint": [ + 0.35517384103941024, + -0.060377865266841926, + 1.2394985467768098 + ], + "held_grasp_object_position": [ + 0.35956488108196916, + -0.04774575585731525, + 1.2394985467768098 + ], + "held_grasp_finger_gap": 0.026747068683473204, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024760145847474248, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05330188475147376, + -0.9985761858990543, + 0.002123684825478866 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037115814429652173, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032352050621498485, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32337309232267464, + -0.04728035129340035, + 0.7565864181367042 + ], + "target_position": [ + 0.32988197932758806, + -0.0516549858822554, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007842387253173475, + "xy_threshold": 0.08, + "gripper_dist": 0.21130659063230545, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864181367042, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578135318714731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08909117513579311, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1833537209236184, + "release_required_pad_clearance": 0.054545587567896556, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.1248288861194675, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28c1aef0e394f7a880206e9a5eb6f94e94aa1c30c42cbf2b0c3e7aaa99ac8a8c", + "visual_seed": 1016798889600982259, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..852c84c181cf1ec1c0b383d914fc069be40c9375 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35114684872443785, + -0.048613330940494415, + 1.046885166606455 + ], + "current_z": 1.046885166606455, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.1902987784071788, + "gripper_z": 1.0486731057223748, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34664328984961523, + -0.05307893265859098, + 1.0486731057223748 + ], + "object_minus_gripper": [ + 0.004503558874822622, + 0.004465601718096568, + -0.001787939115919901 + ], + "object_to_gripper_xy": 0.006342211068993259, + "object_to_gripper_z": -0.001787939115919901, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35114684872443785, + -0.07283827829212912, + 1.046885166606455 + ], + "finger_b": [ + 0.3401389445868539, + -0.048613330940494415, + 1.046885166606455 + ], + "finger_midpoint": [ + 0.34564289665564585, + -0.06072580461631177, + 1.046885166606455 + ], + "object_minus_finger_midpoint": [ + 0.005503952068792006, + 0.012112473675817352, + 0.0 + ], + "finger_gap": 0.02660868331375514, + "fingertip_max_gap": 0.09598491145429569, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013304341656877583, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046885166606455, + "object_top_z": 1.093718391705488, + "finger_top_clearance": 0.04683322509903309, + "fingertip_min_top_clearance": 0.014049967529709927, + "object_projection_between_fingers": 0.8288556728986407, + "object_to_finger_line_xy": 0.010021762258599326, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05049245572714785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.902305104854333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3515658381943306, + -0.05170483223974631, + 1.2394359300968603 + ], + "held_position": [ + 0.3562969382321162, + -0.04752363950145064, + 1.2375676894188392 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0065845275846733225, + "max_held_gripper_dist": 0.006589802201357449, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018682406780210492, + "max_held_gripper_z_dist": 0.0018719695503579548, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869535113147751, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3562969382321162, + -0.07261984618443766, + 1.2375676894188392 + ], + "held_grasp_finger_b": [ + 0.34717561924855833, + -0.04752363950145064, + 1.2375676894188392 + ], + "held_grasp_midpoint": [ + 0.3517362787403373, + -0.06007174284294415, + 1.2375676894188392 + ], + "held_grasp_object_position": [ + 0.3562969382321162, + -0.04752363950145064, + 1.2375676894188392 + ], + "held_grasp_finger_gap": 0.02670239783006418, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024953067728279914, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015282510631630107, + -0.9998508818319172, + 0.008041080072470176 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004369531968257251, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0325842944473301, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3106120233327232, + -0.04563468101587257, + 0.7565866334861132 + ], + "target_position": [ + 0.32728399177927, + -0.050875491754213326, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017476287622883738, + "xy_threshold": 0.08, + "gripper_dist": 0.20724764696719367, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866334861132, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548267307162206, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522094517887223, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18070578397704085, + "release_required_pad_clearance": 0.052610472589436116, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2825479378124684, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "52cb95a05cb13c0a0c9634f882d4914f98a420422f23f61d47df40f9eb57b3d2", + "visual_seed": 275993156197094603, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3487c55d6cf53c73aefecbf1da694208f0670f73 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3576404816417386, + -0.046078273796276104, + 1.0454346577642109 + ], + "current_z": 1.0454346577642109, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18884820996029006, + "gripper_z": 1.0482701997201265, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3529293306693152, + -0.05060339358925299, + 1.0482701997201265 + ], + "object_minus_gripper": [ + 0.004711150972423417, + 0.004525119792976887, + -0.0028355419559156214 + ], + "object_to_gripper_xy": 0.006532354294261548, + "object_to_gripper_z": -0.0028355419559156214, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3576404816417386, + -0.0704141019286401, + 1.0454346577642109 + ], + "finger_b": [ + 0.3464953120037946, + -0.046078273796276104, + 1.0454346577642109 + ], + "finger_midpoint": [ + 0.3520678968227666, + -0.0582461878624581, + 1.0454346577642109 + ], + "object_minus_finger_midpoint": [ + 0.005572584818971993, + 0.012167914066182, + 0.0 + ], + "finger_gap": 0.026766533902366007, + "fingertip_max_gap": 0.09577460591358025, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013383266951182991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454346577642109, + "object_top_z": 1.091764457049767, + "finger_top_clearance": 0.04632979928555625, + "fingertip_min_top_clearance": 0.013898939785666892, + "object_projection_between_fingers": 0.8266239543114547, + "object_to_finger_line_xy": 0.010133061449210378, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05038730295679013, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.727977797308064, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35785827796605396, + -0.049117123376718405, + 1.2389470276103636 + ], + "held_position": [ + 0.3627429239198216, + -0.04487964317572669, + 1.235988509072884 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007111176870537398, + "max_held_gripper_dist": 0.0071254082943120745, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029585185374796374, + "max_held_gripper_z_dist": 0.0029618084962896862, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873618772903735, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3627429239198216, + -0.07001269012518563, + 1.235988509072884 + ], + "held_grasp_finger_b": [ + 0.3533918779907582, + -0.04487964317572669, + 1.235988509072884 + ], + "held_grasp_midpoint": [ + 0.3580674009552899, + -0.057446166650456154, + 1.235988509072884 + ], + "held_grasp_object_position": [ + 0.3627429239198216, + -0.04487964317572669, + 1.235988509072884 + ], + "held_grasp_finger_gap": 0.0268162657529187, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025231688406394278, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010913703274299217, + -0.9998641993688363, + 0.012348032286828566 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004814882710141532, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03268643530318777, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32219327250543023, + -0.05065996520029162, + 0.7565865343358605 + ], + "target_position": [ + 0.33359865344149575, + -0.05041288520391135, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011408056925759887, + "xy_threshold": 0.08, + "gripper_dist": 0.20688274920181057, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865343358605, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578575966080679, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09077515310813271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1783569949988338, + "release_required_pad_clearance": 0.055387576554066356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.899505384670914, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01980363d49fab968454376a340b2eab9e04b13604fd3d64f457f31273cdb331", + "visual_seed": 3050508018572810725, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..264b97e39734c0812276462d65facb4a61ab0633 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35219963680020994, + -0.05049564441342556, + 1.0482073784647483 + ], + "current_z": 1.0482073784647483, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1916209902654723, + "gripper_z": 1.0503973737750762, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3476353422084808, + -0.05485120632580609, + 1.0503973737750762 + ], + "object_minus_gripper": [ + 0.004564294591729134, + 0.004355561912380533, + -0.00218999531032793 + ], + "object_to_gripper_xy": 0.006309017728035624, + "object_to_gripper_z": -0.00218999531032793, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35219963680020994, + -0.07484856323052654, + 1.0482073784647483 + ], + "finger_b": [ + 0.34145859553989827, + -0.05049564441342556, + 1.0482073784647483 + ], + "finger_midpoint": [ + 0.3468291161700541, + -0.06267210382197605, + 1.0482073784647483 + ], + "object_minus_finger_midpoint": [ + 0.005370520630155862, + 0.012176459408550493, + 0.0 + ], + "finger_gap": 0.02661643519083704, + "fingertip_max_gap": 0.09679200759592729, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013308217595418536, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482073784647483, + "object_top_z": 1.095108501965389, + "finger_top_clearance": 0.046901123500640685, + "fingertip_min_top_clearance": 0.014070337050192238, + "object_projection_between_fingers": 0.8371480391706934, + "object_to_finger_line_xy": 0.009827601027261242, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05089600379796365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7136946349806905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35245482638352754, + -0.05332746427603459, + 1.2411996388926265 + ], + "held_position": [ + 0.3571705790277834, + -0.04917915206608778, + 1.238936367645759 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006676017819770781, + "max_held_gripper_dist": 0.006680270870700433, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022632712468675376, + "max_held_gripper_z_dist": 0.0022694770590685476, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08737740531980089, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3571705790277834, + -0.07416317680809743, + 1.238936367645759 + ], + "held_grasp_finger_b": [ + 0.3479443609594301, + -0.04917915206608778, + 1.238936367645759 + ], + "held_grasp_midpoint": [ + 0.3525574699936067, + -0.061671164437092606, + 1.238936367645759 + ], + "held_grasp_object_position": [ + 0.3571705790277834, + -0.04917915206608778, + 1.238936367645759 + ], + "held_grasp_finger_gap": 0.026633148371046165, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025113365427628563, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014397064480745871, + -0.9998603199099971, + 0.008489122676434646 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004793646120184806, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03277637270844, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31691691358882534, + -0.05084088105613446, + 0.7565864999655534 + ], + "target_position": [ + 0.32831822113195075, + -0.05345010555121699, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011696061993622766, + "xy_threshold": 0.08, + "gripper_dist": 0.20810101184901816, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864999655534, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573788357504062, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09051899301955395, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18004025189758044, + "release_required_pad_clearance": 0.055259496509776976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.6252934943341835, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b754b0b0fd58d3a09cfc2cc4588cca97a183a61203c943f0c88f42941244f72d", + "visual_seed": 6865305164118772561, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..36148f50787a75222e2c0318e3c536c8c1977956 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_75_success.json @@ -0,0 +1,684 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3580604386235411, + -0.04487367037195374, + 1.047900301961933 + ], + "current_z": 1.047900301961933, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1913137945533675, + "gripper_z": 1.0500859608084905, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3533154548208709, + -0.04938614796594576, + 1.0500859608084905 + ], + "object_minus_gripper": [ + 0.0047449838026701885, + 0.004512477593992016, + -0.0021856588465574145 + ], + "object_to_gripper_xy": 0.0065480779870036995, + "object_to_gripper_z": -0.0021856588465574145, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3580604386235411, + -0.06928272158017183, + 1.047900301961933 + ], + "finger_b": [ + 0.347000454172151, + -0.04487367037195374, + 1.047900301961933 + ], + "finger_midpoint": [ + 0.35253044639784603, + -0.057078195976062784, + 1.047900301961933 + ], + "object_minus_finger_midpoint": [ + 0.005529992225695057, + 0.012204525604109041, + 0.0 + ], + "finger_gap": 0.02679785508115163, + "fingertip_max_gap": 0.09692043668947539, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01339892754057581, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047900301961933, + "object_top_z": 1.0948872181597575, + "finger_top_clearance": 0.04698691619782447, + "fingertip_min_top_clearance": 0.01409607485934734, + "object_projection_between_fingers": 0.8296630116331132, + "object_to_finger_line_xy": 0.010074079661172502, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0509602183447377, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.6719936422846917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3581835731185885, + -0.04771246714002096, + 1.2398389948392952 + ], + "held_position": [ + 0.3631016054867682, + -0.04343403002873198, + 1.237573580123753 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00690102675861443, + "max_held_gripper_dist": 0.006907555072375387, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002265414715542091, + "max_held_gripper_z_dist": 0.002273140570194343, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08727070134933472, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3631016054867682, + -0.06852904566170459, + 1.237573580123753 + ], + "held_grasp_finger_b": [ + 0.353641069277901, + -0.04343403002873198, + 1.237573580123753 + ], + "held_grasp_midpoint": [ + 0.3583713373823346, + -0.05598153784521828, + 1.237573580123753 + ], + "held_grasp_object_position": [ + 0.3631016054867682, + -0.04343403002873198, + 1.237573580123753 + ], + "held_grasp_finger_gap": 0.026819052089483444, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025186040977025457, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.009877055083312963, + -0.9999036903090573, + 0.009749558411039305 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0048555053583775295, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03270064671455071, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3223037615815183, + -0.04750555585769159, + 0.7565867931097681 + ], + "target_position": [ + 0.3340083836159121, + -0.04704431823386966, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011713706378155728, + "xy_threshold": 0.08, + "gripper_dist": 0.2075648311123481, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867931097681, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549841814829324, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08934944554759792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17944175808334448, + "release_required_pad_clearance": 0.054674722773798964, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.392839660990318, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5fc7bf5c1a1705d2cc18c218718552158c3efceaa113a8cfe26d74b67c16a68f", + "visual_seed": 4149569958450101348, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d03708ba66e22171328b3d5ad3f5a0304ef0dc82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3519524382615975, + -0.05100811614512792, + 1.0470458752704845 + ], + "current_z": 1.0470458752704845, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.19045942746656397, + "gripper_z": 1.0486715466481493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34768101425623243, + -0.05540947821339959, + 1.0486715466481493 + ], + "object_minus_gripper": [ + 0.004271424005365065, + 0.004401362068271665, + -0.0016256713776647835 + ], + "object_to_gripper_xy": 0.0061332740921655835, + "object_to_gripper_z": -0.0016256713776647835, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3519524382615975, + -0.0748852658312131, + 1.0470458752704845 + ], + "finger_b": [ + 0.3407927656598039, + -0.05100811614512792, + 1.0470458752704845 + ], + "finger_midpoint": [ + 0.3463726019607007, + -0.06294669098817052, + 1.0470458752704845 + ], + "object_minus_finger_midpoint": [ + 0.005579836300896812, + 0.011938574843042594, + 0.0 + ], + "finger_gap": 0.026356338321378046, + "fingertip_max_gap": 0.09484372589791532, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013178169160689026, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470458752704845, + "object_top_z": 1.0935230478685531, + "finger_top_clearance": 0.046477172598068606, + "fingertip_min_top_clearance": 0.013943151779420581, + "object_projection_between_fingers": 0.8207196217390619, + "object_to_finger_line_xy": 0.010109946606073086, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04992186294895766, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4539147034275386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35298427188101505, + -0.05477318633159596, + 1.2392809083662 + ], + "held_position": [ + 0.35758692613817694, + -0.05075734478113469, + 1.2375654650290808 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00634461625413611, + "max_held_gripper_dist": 0.0063459232905584695, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001715443337119149, + "max_held_gripper_z_dist": 0.0017156870696042326, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735995331360333, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35758692613817694, + -0.07591205759854197, + 1.2375654650290808 + ], + "held_grasp_finger_b": [ + 0.3489964775595037, + -0.05075734478113469, + 1.2375654650290808 + ], + "held_grasp_midpoint": [ + 0.3532917018488403, + -0.06333470118983833, + 1.2375654650290808 + ], + "held_grasp_object_position": [ + 0.35758692613817694, + -0.05075734478113469, + 1.2375654650290808 + ], + "held_grasp_finger_gap": 0.02658110952742687, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024705008431861252, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048831828286604234, + -0.9987987509192932, + 0.004062967911185433 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036762859507130786, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032428233439981476, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31762813790756006, + -0.052297481476373905, + 0.7565874345308612 + ], + "target_position": [ + 0.3282064572523892, + -0.054680840176162634, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010843488315714902, + "xy_threshold": 0.08, + "gripper_dist": 0.20892261905339837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874345308612, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517377787099498, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08969387890330731, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18167241149392432, + "release_required_pad_clearance": 0.054846939451653656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.7522218790708655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a97927642b822e1ab1dbade1c465d2adb66b9c7777ac29bbf330acb374bcdae6", + "visual_seed": 4007080053703810279, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..85c2d67d1aa7c133cf699c226d46428d749682b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3531290929234763, + -0.042151069308502584, + 1.0490912503698862 + ], + "current_z": 1.0490912503698862, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19250474296132059, + "gripper_z": 1.0504320447672928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34901030164663216, + -0.04649737821726331, + 1.0504320447672928 + ], + "object_minus_gripper": [ + 0.004118791276844114, + 0.0043463089087607265, + -0.0013407943974066416 + ], + "object_to_gripper_xy": 0.005987891341079932, + "object_to_gripper_z": -0.0013407943974066416, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3531290929234763, + -0.06590041302886863, + 1.0490912503698862 + ], + "finger_b": [ + 0.3420246758149912, + -0.042151069308502584, + 1.0490912503698862 + ], + "finger_midpoint": [ + 0.34757688436923373, + -0.05402574116868561, + 1.0490912503698862 + ], + "object_minus_finger_midpoint": [ + 0.005552208554242544, + 0.011874671860183025, + 0.0 + ], + "finger_gap": 0.026217158626886068, + "fingertip_max_gap": 0.09430582474648844, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108579313443034, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490912503698862, + "object_top_z": 1.095227210661769, + "finger_top_clearance": 0.04613596029188294, + "fingertip_min_top_clearance": 0.01384078808756488, + "object_projection_between_fingers": 0.8206008877724932, + "object_to_finger_line_xy": 0.010059160966943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04965291237324422, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4396172273742396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35424256285726374, + -0.045637743197214295, + 1.240446538800503 + ], + "held_position": [ + 0.35869346857647816, + -0.04166048080294669, + 1.239017941117791 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0061375947416916436, + "max_held_gripper_dist": 0.0061385857362972985, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001428597682711974, + "max_held_gripper_z_dist": 0.0014291575359366426, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08699838551470535, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35869346857647816, + -0.06669463334872407, + 1.239017941117791 + ], + "held_grasp_finger_b": [ + 0.3501152935185692, + -0.04166048080294669, + 1.239017941117791 + ], + "held_grasp_midpoint": [ + 0.3544043810475237, + -0.05417755707583538, + 1.239017941117791 + ], + "held_grasp_object_position": [ + 0.35869346857647816, + -0.04166048080294669, + 1.239017941117791 + ], + "held_grasp_finger_gap": 0.02646306635689416, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024606465894550473, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04667658220112045, + -0.9989100187054097, + 0.0002668407392633076 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037001598487203433, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03249659212530945, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31666083315928895, + -0.041323819613857636, + 0.7565863876126084 + ], + "target_position": [ + 0.3295624499517589, + -0.046828847691878075, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014027011442197352, + "xy_threshold": 0.08, + "gripper_dist": 0.20902870458630987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863876126084, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575611664611287, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09337125022646146, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1816509683286599, + "release_required_pad_clearance": 0.056685625113230734, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.790681570012028, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7c783503e08b2036247ddbb2be3bb62db807a7a3dd465d765f2ec9c7de2912c6", + "visual_seed": 1798985481961273969, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe31e2181ffbb2efd3cf839064ac4d2d023ed26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36063363222042955, + -0.046536415909839736, + 1.0463490871872707 + ], + "current_z": 1.0463490871872707, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1897626989879947, + "gripper_z": 1.0481738275882726, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3560132116138973, + -0.050935851334146146, + 1.0481738275882726 + ], + "object_minus_gripper": [ + 0.004620420606532227, + 0.00439943542430641, + -0.0018247404010018897 + ], + "object_to_gripper_xy": 0.006379915252878345, + "object_to_gripper_z": -0.0018247404010018897, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36063363222042955, + -0.07090362712663892, + 1.0463490871872707 + ], + "finger_b": [ + 0.34979417493973974, + -0.046536415909839736, + 1.0463490871872707 + ], + "finger_midpoint": [ + 0.35521390358008464, + -0.058720021518239324, + 1.0463490871872707 + ], + "object_minus_finger_midpoint": [ + 0.005419728640344901, + 0.012183605608399588, + 0.0 + ], + "finger_gap": 0.026669361008918136, + "fingertip_max_gap": 0.09621060140721968, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013334680504459066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463490871872707, + "object_top_z": 1.0929187559870857, + "finger_top_clearance": 0.046569668799814945, + "fingertip_min_top_clearance": 0.013970900639944467, + "object_projection_between_fingers": 0.8348076787759583, + "object_to_finger_line_xy": 0.009903774782819773, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05060530070360984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.6997932435158583, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36087866082630216, + -0.04927850583007308, + 1.237614726374021 + ], + "held_position": [ + 0.3656482614199796, + -0.04509170676999357, + 1.2357028548889561 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006628244772795774, + "max_held_gripper_dist": 0.0066384109091517695, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019118714850647756, + "max_held_gripper_z_dist": 0.0019118714850647756, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08708943012408737, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3656482614199796, + -0.07006016924688316, + 1.2357028548889561 + ], + "held_grasp_finger_b": [ + 0.356329642738825, + -0.04509170676999357, + 1.2357028548889561 + ], + "held_grasp_midpoint": [ + 0.3609889520794023, + -0.05757593800843837, + 1.2357028548889561 + ], + "held_grasp_object_position": [ + 0.3656482614199796, + -0.04509170676999357, + 1.2357028548889561 + ], + "held_grasp_finger_gap": 0.026650718050075243, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02511758187005251, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01640635336440116, + -0.999849203458495, + 0.0056922677989788 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004864018907828763, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03279431858173565, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33686856422731587, + -0.04660743001848163, + 0.7565868064569348 + ], + "target_position": [ + 0.3367244087451956, + -0.049679728140747365, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003075678226847353, + "xy_threshold": 0.08, + "gripper_dist": 0.21470266117045786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868064569348, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759337792420918, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0909497231185593, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18551298662214039, + "release_required_pad_clearance": 0.05547486155927965, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.0880222477212165, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4cfabda88750379c249828a71d21a4e67bec3f154d9cb447e7175a3dac018754", + "visual_seed": 373247294305693657, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4917759a7d81ee31da89cd69e9f023700f79a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35261567432364777, + -0.050034914998942845, + 1.0489976428825536 + ], + "current_z": 1.0489976428825536, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19241107586934325, + "gripper_z": 1.0515057456131953, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34805854695582106, + -0.05450746719354076, + 1.0515057456131953 + ], + "object_minus_gripper": [ + 0.004557127367826708, + 0.004472552194597912, + -0.002508102730641726 + ], + "object_to_gripper_xy": 0.006385227715594626, + "object_to_gripper_z": -0.002508102730641726, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35261567432364777, + -0.07443859351495707, + 1.0489976428825536 + ], + "finger_b": [ + 0.34178948582288743, + -0.050034914998942845, + 1.0489976428825536 + ], + "finger_midpoint": [ + 0.3472025800732676, + -0.06223675425694996, + 1.0489976428825536 + ], + "object_minus_finger_midpoint": [ + 0.005413094250380168, + 0.012201839258007115, + 0.0 + ], + "finger_gap": 0.026697301035253914, + "fingertip_max_gap": 0.09626058620853908, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348650517626957, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0489976428825536, + "object_top_z": 1.095318549034466, + "finger_top_clearance": 0.04632090615191231, + "fingertip_min_top_clearance": 0.013896271845573693, + "object_projection_between_fingers": 0.8355565983322498, + "object_to_finger_line_xy": 0.009896087375178858, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050630293104269544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5915150984216586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35293188869856207, + -0.053027217250751546, + 1.2433433725143193 + ], + "held_position": [ + 0.35766858590721107, + -0.04877596188966397, + 1.2407658186145019 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006866822896948993, + "max_held_gripper_dist": 0.006872494154930518, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025775538998173975, + "max_held_gripper_z_dist": 0.002578450284454581, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735048293847189, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35766858590721107, + -0.07388711943552687, + 1.2407658186145019 + ], + "held_grasp_finger_b": [ + 0.34837341305691805, + -0.04877596188966397, + 1.2407658186145019 + ], + "held_grasp_midpoint": [ + 0.35302099948206456, + -0.06133154066259541, + 1.2407658186145019 + ], + "held_grasp_object_position": [ + 0.35766858590721107, + -0.04877596188966397, + 1.2407658186145019 + ], + "held_grasp_finger_gap": 0.026776304293348097, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025221626541082263, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012084460956360767, + -0.9999260026874813, + -0.0013981962771549836 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004799006426534887, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032701738848661635, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31608407057138177, + -0.05423500286110446, + 0.7565872849480694 + ], + "target_position": [ + 0.3287337131865369, + -0.051874307377107035, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012868035648820456, + "xy_threshold": 0.08, + "gripper_dist": 0.20789091172304036, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872849480694, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564470412630055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08990452796121783, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1792263265039265, + "release_required_pad_clearance": 0.054952263980608915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.9728065711557115, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a20bf5505c351758c4c774b5b8afa7ffb10945e3c735cb1fe69a0d0d23e2a398", + "visual_seed": 852430562560332327, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5c586e1ed419813f315d8c44646a19cfbf8c694a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3559953743402064, + -0.04519273721136672, + 1.0477703922529273 + ], + "current_z": 1.0477703922529273, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.1911840040536512, + "gripper_z": 1.0497836426404121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3513952282719618, + -0.04960361700601512, + 1.0497836426404121 + ], + "object_minus_gripper": [ + 0.004600146068244604, + 0.004410879794648402, + -0.0020132503874847885 + ], + "object_to_gripper_xy": 0.006373162826417022, + "object_to_gripper_z": -0.0020132503874847885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3559953743402064, + -0.06956671715282743, + 1.0477703922529273 + ], + "finger_b": [ + 0.3451725964480707, + -0.04519273721136672, + 1.0477703922529273 + ], + "finger_midpoint": [ + 0.35058398539413854, + -0.05737972718209708, + 1.0477703922529273 + ], + "object_minus_finger_midpoint": [ + 0.005411388946067852, + 0.01218698997073036, + 0.0 + ], + "finger_gap": 0.026668772365619504, + "fingertip_max_gap": 0.09444164154233584, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013334386182809755, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477703922529273, + "object_top_z": 1.0934364531507776, + "finger_top_clearance": 0.0456660608978503, + "fingertip_min_top_clearance": 0.013699818269355091, + "object_projection_between_fingers": 0.8353084022646207, + "object_to_finger_line_xy": 0.009891500352444951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04972082077116792, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3919436742987137, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35618992471102157, + -0.04805609886259822, + 1.241245854815217 + ], + "held_position": [ + 0.3609566180599922, + -0.04386348249801947, + 1.239162513437361 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006681295440282625, + "max_held_gripper_dist": 0.006687152400261652, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020833413778560406, + "max_held_gripper_z_dist": 0.002086646274493953, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0877795938020554, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3609566180599922, + -0.06889921493229062, + 1.239162513437361 + ], + "held_grasp_finger_b": [ + 0.3515961333491605, + -0.04386348249801947, + 1.239162513437361 + ], + "held_grasp_midpoint": [ + 0.3562763757045764, + -0.056381348715155044, + 1.239162513437361 + ], + "held_grasp_object_position": [ + 0.3609566180599922, + -0.04386348249801947, + 1.239162513437361 + ], + "held_grasp_finger_gap": 0.026728385146546546, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02513384011496688, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010652042855702119, + -0.9999360672351649, + -0.003794130371004512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0048135510527964175, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03273301319261726, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3178372404402688, + -0.039125885773818106, + 0.756589944260209 + ], + "target_position": [ + 0.33210489048855707, + -0.04842429098209728, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0170301549410971, + "xy_threshold": 0.08, + "gripper_dist": 0.20552374032130563, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756589944260209, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571655488069233, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08964974149671522, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17984072070102297, + "release_required_pad_clearance": 0.05482487074835761, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.685677239987076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3927bd5b3a77ed3f79075e2968af8e84ebd3c0bdb60eb1e362bfc43f0acbecd9", + "visual_seed": 6352310079620256463, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27295fac0da61b886ff890afaa58c12cb617fb6b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_83_success.json @@ -0,0 +1,684 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35355456771793725, + -0.04736880132884254, + 1.047223010071578 + ], + "current_z": 1.047223010071578, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1906363834537229, + "gripper_z": 1.0492030076913144, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34882052670145214, + -0.05190724870292836, + 1.0492030076913144 + ], + "object_minus_gripper": [ + 0.004734041016485113, + 0.004538447374085819, + -0.001979997619736329 + ], + "object_to_gripper_xy": 0.006558097964586216, + "object_to_gripper_z": -0.001979997619736329, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35355456771793725, + -0.0717550453995262, + 1.047223010071578 + ], + "finger_b": [ + 0.342440173718764, + -0.04736880132884254, + 1.047223010071578 + ], + "finger_midpoint": [ + 0.34799737071835063, + -0.059561923364184366, + 1.047223010071578 + ], + "object_minus_finger_midpoint": [ + 0.005557196999586622, + 0.012193122035341827, + 0.0 + ], + "finger_gap": 0.026799601747858344, + "fingertip_max_gap": 0.09670950703499051, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013399800873929172, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047223010071578, + "object_top_z": 1.0942790912385494, + "finger_top_clearance": 0.04705608116697135, + "fingertip_min_top_clearance": 0.014116824350091406, + "object_projection_between_fingers": 0.8280053667393026, + "object_to_finger_line_xy": 0.010113520615403953, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05085475351749526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3300774892574685, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3536659689882905, + -0.050289366528492446, + 1.2399978977863104 + ], + "held_position": [ + 0.35859925221117733, + -0.04600621359528652, + 1.237940001527437 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006849643743928001, + "max_held_gripper_dist": 0.0068508699388618545, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002057896258873315, + "max_held_gripper_z_dist": 0.0020654980333545403, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08747235079888947, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35859925221117733, + -0.07114124134064242, + 1.237940001527437 + ], + "held_grasp_finger_b": [ + 0.3491639268084391, + -0.04600621359528652, + 1.237940001527437 + ], + "held_grasp_midpoint": [ + 0.3538815895098082, + -0.05857372746796447, + 1.237940001527437 + ], + "held_grasp_object_position": [ + 0.35859925221117733, + -0.04600621359528652, + 1.237940001527437 + ], + "held_grasp_finger_gap": 0.026847625317993555, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025126623524862227, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0007450914777189716, + -0.9999453336610362, + 0.010429502778599995 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004710122051544437, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032629883022832575, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32425858981693423, + -0.047773738946909186, + 0.7565860508784347 + ], + "target_position": [ + 0.3294947273704139, + -0.04968144794967288, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005572835016235975, + "xy_threshold": 0.08, + "gripper_dist": 0.21320508871550517, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565860508784347, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755600971909791, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603713317000332, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1847924140053699, + "release_required_pad_clearance": 0.05301856658500166, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.067516668280782, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1c1bff3a9b6b681a44f323710fca792d83852bc1dcdf25ba4ae99232bdeef094", + "visual_seed": 1033832849010597190, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3935ecc8e73089653bf717bf8aa85f213b26ac98 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3573130263657362, + -0.044771345527389254, + 1.047670005158422 + ], + "current_z": 1.047670005158422, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19108355735450122, + "gripper_z": 1.0497472122737634, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35270704776417683, + -0.049151494545923574, + 1.0497472122737634 + ], + "object_minus_gripper": [ + 0.0046059786015593684, + 0.00438014901853432, + -0.0020772071153414284 + ], + "object_to_gripper_xy": 0.006356157982821852, + "object_to_gripper_z": -0.0020772071153414284, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3573130263657362, + -0.06915682740426515, + 1.047670005158422 + ], + "finger_b": [ + 0.34653870316863084, + -0.044771345527389254, + 1.047670005158422 + ], + "finger_midpoint": [ + 0.3519258647671835, + -0.05696408646582721, + 1.047670005158422 + ], + "object_minus_finger_midpoint": [ + 0.005387161598552681, + 0.012192740938437953, + 0.0 + ], + "finger_gap": 0.026659665540346256, + "fingertip_max_gap": 0.09786736504885599, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013329832770173132, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047670005158422, + "object_top_z": 1.0951723669178455, + "finger_top_clearance": 0.04750236175942346, + "fingertip_min_top_clearance": 0.014250708527827038, + "object_projection_between_fingers": 0.8366682540441036, + "object_to_finger_line_xy": 0.009855227278114024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051433682524427995, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.774874079358234, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.357545090337571, + -0.047438156865619405, + 1.238662431679483 + ], + "held_position": [ + 0.36229626223613925, + -0.04325384049292861, + 1.2365063726324312 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006688103507788046, + "max_held_gripper_dist": 0.006689315382092002, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021560590470517393, + "max_held_gripper_z_dist": 0.0021639335584011654, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.087176223660635, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36229626223613925, + -0.06822863592898991, + 1.2365063726324312 + ], + "held_grasp_finger_b": [ + 0.35301178400517413, + -0.04325384049292861, + 1.2365063726324312 + ], + "held_grasp_midpoint": [ + 0.3576540231206567, + -0.05574123821095926, + 1.2365063726324312 + ], + "held_grasp_object_position": [ + 0.36229626223613925, + -0.04325384049292861, + 1.2365063726324312 + ], + "held_grasp_finger_gap": 0.02664473574825567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02511380824654604, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015551423408550733, + -0.9997848213961861, + 0.01372822405719576 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00483889458103353, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03278770769463497, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32825548533141286, + -0.05442511401257241, + 0.756587247326719 + ], + "target_position": [ + 0.3334111968988673, + -0.04877713105744819, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007647291888515637, + "xy_threshold": 0.08, + "gripper_dist": 0.21078895056248945, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587247326719, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568959101029313, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0923447794921287, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18075783901511347, + "release_required_pad_clearance": 0.05617238974606435, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.6229229865789065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68bca9b0c2f5784d38cad656cfbd7ecbe194960079e3536b92e48c887709f7d4", + "visual_seed": 3316303690073676477, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f6951e5cd50800df5ea5317885ff2917ac65de6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35551217138826696, + -0.051031075930173, + 1.0465228833591766 + ], + "current_z": 1.0465228833591766, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18993643555525586, + "gripper_z": 1.0481805869472405, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3509910783320406, + -0.05556395997514717, + 1.0481805869472405 + ], + "object_minus_gripper": [ + 0.0045210930562263885, + 0.004532884044974164, + -0.0016577035880638302 + ], + "object_to_gripper_xy": 0.006402134033917113, + "object_to_gripper_z": -0.0016577035880638302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35551217138826696, + -0.07515781837208006, + 1.0465228833591766 + ], + "finger_b": [ + 0.34426148431094034, + -0.051031075930173, + 1.0465228833591766 + ], + "finger_midpoint": [ + 0.3498868278496037, + -0.06309444715112653, + 1.0465228833591766 + ], + "object_minus_finger_midpoint": [ + 0.0056253435386632855, + 0.012063371220953523, + 0.0 + ], + "finger_gap": 0.026621000367567777, + "fingertip_max_gap": 0.09435427684232253, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013310500183783871, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465228833591766, + "object_top_z": 1.0924738868960757, + "finger_top_clearance": 0.04595100353689907, + "fingertip_min_top_clearance": 0.013785301061069755, + "object_projection_between_fingers": 0.8213885285870193, + "object_to_finger_line_xy": 0.010196552558552575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04967713842116127, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7852424806038334, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35610674839178025, + -0.05442123752336264, + 1.241365999699903 + ], + "held_position": [ + 0.3609244056054435, + -0.05023770008778447, + 1.2396246184669018 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006613940966012168, + "max_held_gripper_dist": 0.00661554147397414, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017413812330011602, + "max_held_gripper_z_dist": 0.0017442706390169427, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873357362713908, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3609244056054435, + -0.07546009150352082, + 1.2396246184669018 + ], + "held_grasp_finger_b": [ + 0.3517912567649557, + -0.05023770008778447, + 1.2396246184669018 + ], + "held_grasp_midpoint": [ + 0.3563578311851996, + -0.06284889579565264, + 1.2396246184669018 + ], + "held_grasp_object_position": [ + 0.3609244056054435, + -0.05023770008778447, + 1.2396246184669018 + ], + "held_grasp_finger_gap": 0.026825052403883828, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024959771034389473, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027691464377449924, + -0.9996150200265904, + 0.0017304733086088704 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00421565779767355, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032467429182845724, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3208891590689585, + -0.05118437522024469, + 0.7565889946510429 + ], + "target_position": [ + 0.3316030382449104, + -0.05437340882602924, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011178423070170454, + "xy_threshold": 0.08, + "gripper_dist": 0.21001337817465698, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565889946510429, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570935656324541, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09510046697569678, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18205289015357448, + "release_required_pad_clearance": 0.05755023348784839, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.831967514146923, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f395f56871d4a2c288835f4f43f94a0d464d314cc3b05c2023dbc9ebcdcbb970", + "visual_seed": 126066582899046292, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1eec54c179938659e4c2ae48f0100d85151ed037 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3600638016844119, + -0.04588210848650602, + 1.0446244016200874 + ], + "current_z": 1.0446244016200874, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18803789421152184, + "gripper_z": 1.047578854843766, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35527670720348464, + -0.05040852025126913, + 1.047578854843766 + ], + "object_minus_gripper": [ + 0.004787094480927234, + 0.004526411764763108, + -0.002954453223678488 + ], + "object_to_gripper_xy": 0.006588222600482611, + "object_to_gripper_z": -0.002954453223678488, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3600638016844119, + -0.07030227831750413, + 1.0446244016200874 + ], + "finger_b": [ + 0.348954103276107, + -0.04588210848650602, + 1.0446244016200874 + ], + "finger_midpoint": [ + 0.35450895248025943, + -0.058092193402005075, + 1.0446244016200874 + ], + "object_minus_finger_midpoint": [ + 0.0055548492041524455, + 0.012210084915499055, + 0.0 + ], + "finger_gap": 0.026828531329505953, + "fingertip_max_gap": 0.09677685601067346, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013414265664752976, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446244016200874, + "object_top_z": 1.0914856472775725, + "finger_top_clearance": 0.04686124565748506, + "fingertip_min_top_clearance": 0.014058373697245552, + "object_projection_between_fingers": 0.828521079338117, + "object_to_finger_line_xy": 0.010112395589973986, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05088842800533673, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.824306796905379, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36016564077406266, + -0.04878687967115368, + 1.2385643326175384 + ], + "held_position": [ + 0.36512475358623975, + -0.04451127776008673, + 1.235526756378794 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007218063520917728, + "max_held_gripper_dist": 0.007222336037345627, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003037576238744455, + "max_held_gripper_z_dist": 0.0030420403487274594, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08733719007519711, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36512475358623975, + -0.06968399461247785, + 1.235526756378794 + ], + "held_grasp_finger_b": [ + 0.3556698017644451, + -0.04451127776008673, + 1.235526756378794 + ], + "held_grasp_midpoint": [ + 0.36039727767534246, + -0.05709763618628229, + 1.235526756378794 + ], + "held_grasp_object_position": [ + 0.36512475358623975, + -0.04451127776008673, + 1.235526756378794 + ], + "held_grasp_finger_gap": 0.026889808249281232, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025265407850741464, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010114979976276396, + -0.9998829824360622, + 0.011476437375985471 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004856685187691018, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03266315768879416, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32226535342945273, + -0.045654990259906506, + 0.7565878225778804 + ], + "target_position": [ + 0.33596807596399625, + -0.04797600137797315, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013897902628413965, + "xy_threshold": 0.08, + "gripper_dist": 0.2062747713581224, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878225778804, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538821402323197, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08960538363558189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17924370362317904, + "release_required_pad_clearance": 0.05480269181779095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.659891801031101, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6e214cadaa7b31dad8207a5c148dd8a73f686dedd040a868b995e9bab6a9b55f", + "visual_seed": 3335658337376406962, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95bd115663cb738faf72041a3c0e27af54780ad8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_88_success.json @@ -0,0 +1,684 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3527848164083714, + -0.050919029927920564, + 1.0455172463207363 + ], + "current_z": 1.0455172463207363, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18893073891217071, + "gripper_z": 1.0489198650370535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34788426311636744, + -0.05546604290121489, + 1.0489198650370535 + ], + "object_minus_gripper": [ + 0.004900553292003951, + 0.004547012973294323, + -0.003402618716317196 + ], + "object_to_gripper_xy": 0.006685114026482842, + "object_to_gripper_z": -0.003402618716317196, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3527848164083714, + -0.07542270457885833, + 1.0455172463207363 + ], + "finger_b": [ + 0.3416599225195691, + -0.050919029927920564, + 1.0455172463207363 + ], + "finger_midpoint": [ + 0.3472223694639702, + -0.06317086725338944, + 1.0455172463207363 + ], + "object_minus_finger_midpoint": [ + 0.005562446944401167, + 0.012251837325468876, + 0.0 + ], + "finger_gap": 0.02691084048178578, + "fingertip_max_gap": 0.09779481287678818, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013455420240892895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455172463207363, + "object_top_z": 1.092842459224323, + "finger_top_clearance": 0.04732521290358682, + "fingertip_min_top_clearance": 0.01419756387107608, + "object_projection_between_fingers": 0.8291019014106527, + "object_to_finger_line_xy": 0.010129775789125687, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05139740643839409, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.96220693133558, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3525148958914852, + -0.05339399239228235, + 1.2396955050472778 + ], + "held_position": [ + 0.35744429697943364, + -0.0490936729271223, + 1.236142666296055 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007444085288367616, + "max_held_gripper_dist": 0.0075504559391562686, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035528387512226978, + "max_held_gripper_z_dist": 0.003559106948251012, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716283495011641, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35744429697943364, + -0.0741718964464609, + 1.236142666296055 + ], + "held_grasp_finger_b": [ + 0.34786988456643136, + -0.0490936729271223, + 1.236142666296055 + ], + "held_grasp_midpoint": [ + 0.3526570907729325, + -0.0616327846867916, + 1.236142666296055 + ], + "held_grasp_object_position": [ + 0.35744429697943364, + -0.0490936729271223, + 1.236142666296055 + ], + "held_grasp_finger_gap": 0.02684374541564868, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025250393173997784, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019198203009055975, + -0.9995357781810551, + 0.023657073724697053 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0050357327600286175, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032758839892009124, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31564010899073575, + -0.05235412501978373, + 0.7565863829520219 + ], + "target_position": [ + 0.3286387177047614, + -0.05462402683465132, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01319531290835812, + "xy_threshold": 0.08, + "gripper_dist": 0.20833604508782366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863829520219, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593862463230683, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09168537883296461, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1803230714858259, + "release_required_pad_clearance": 0.05584268941648231, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.8908614890914315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ad832580998883c5faf2fd6f784e35086bdb829d367d4d271f9ee05fcd4b8f4", + "visual_seed": 6344425222223463702, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..81989cb041aa8423aaa40e23b74df97478162e2d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_8_success.json @@ -0,0 +1,684 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3555904939237827, + -0.04440770408900591, + 1.0481091400325113 + ], + "current_z": 1.0481091400325113, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19152269222859053, + "gripper_z": 1.0503236720957003, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35111191338985676, + -0.048835622136845724, + 1.0503236720957003 + ], + "object_minus_gripper": [ + 0.004478580533925969, + 0.004427918047839811, + -0.002214532063189001 + ], + "object_to_gripper_xy": 0.0062979474304924255, + "object_to_gripper_z": -0.002214532063189001, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3555904939237827, + -0.06877345052203906, + 1.0481091400325113 + ], + "finger_b": [ + 0.3448499959122794, + -0.04440770408900591, + 1.0481091400325113 + ], + "finger_midpoint": [ + 0.35022024491803105, + -0.056590577305522485, + 1.0481091400325113 + ], + "object_minus_finger_midpoint": [ + 0.0053702490057516705, + 0.012182873216516572, + 0.0 + ], + "finger_gap": 0.02662795329675142, + "fingertip_max_gap": 0.094047058572273, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013313976648375707, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481091400325113, + "object_top_z": 1.0936842772056674, + "finger_top_clearance": 0.04557513717315609, + "fingertip_min_top_clearance": 0.013672541151946827, + "object_projection_between_fingers": 0.8373053526285541, + "object_to_finger_line_xy": 0.009828027268799295, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495235292861365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4828295479143163, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3559806701216196, + -0.047254434635965764, + 1.2392282536303791 + ], + "held_position": [ + 0.3606127312995832, + -0.04304507404502349, + 1.2369413654463586 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006663675030130776, + "max_held_gripper_dist": 0.006676374948748387, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022868881840205635, + "max_held_gripper_z_dist": 0.002295113958531436, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08726829149962928, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3606127312995832, + -0.06806538237200549, + 1.2369413654463586 + ], + "held_grasp_finger_b": [ + 0.35147938362657194, + -0.04304507404502349, + 1.2369413654463586 + ], + "held_grasp_midpoint": [ + 0.3560460574630776, + -0.05555522820851449, + 1.2369413654463586 + ], + "held_grasp_object_position": [ + 0.3606127312995832, + -0.04304507404502349, + 1.2369413654463586 + ], + "held_grasp_finger_gap": 0.026635199802016604, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025107375495094227, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01002037231282437, + -0.9998220495137138, + -0.01598316129272925 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004696044164344672, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0327380567624097, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31648711472017416, + -0.051533789894358764, + 0.7565889736717921 + ], + "target_position": [ + 0.3318028528609908, + -0.04830377448604349, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01565263026893628, + "xy_threshold": 0.08, + "gripper_dist": 0.2060225501260964, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565889736717921, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551454575669073, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0945602270815009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17773368922913907, + "release_required_pad_clearance": 0.05728011354075045, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.182781679781266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "689872390a50d8d0c841a3f5346db10d52e6bac5a53e6c63822574d11554dac8", + "visual_seed": 8046693313436279572, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4622c0688a27443d2431565689c8769aa865d9c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35680197333675845, + -0.04340156820712328, + 1.0461969080474716 + ], + "current_z": 1.0461969080474716, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18961046024355066, + "gripper_z": 1.0477787819460567, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35214513298991434, + -0.047999057203947953, + 1.0477787819460567 + ], + "object_minus_gripper": [ + 0.004656840346844104, + 0.004597488996824675, + -0.0015818738985851066 + ], + "object_to_gripper_xy": 0.006543933609987122, + "object_to_gripper_z": -0.0015818738985851066, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35680197333675845, + -0.06762171985843152, + 1.0461969080474716 + ], + "finger_b": [ + 0.34544981587820395, + -0.04340156820712328, + 1.0461969080474716 + ], + "finger_midpoint": [ + 0.3511258946074812, + -0.0555116440327774, + 1.0461969080474716 + ], + "object_minus_finger_midpoint": [ + 0.005676078729277223, + 0.01211007582565412, + 0.0 + ], + "finger_gap": 0.0267485929532038, + "fingertip_max_gap": 0.09538352253735286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013374296476601887, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461969080474716, + "object_top_z": 1.0927366595062213, + "finger_top_clearance": 0.04653975145874978, + "fingertip_min_top_clearance": 0.01396192543762495, + "object_projection_between_fingers": 0.8198829071083634, + "object_to_finger_line_xy": 0.01027908180803163, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05019176126867643, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.849306258729268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35724207044545503, + -0.04697254837867382, + 1.2394269278728165 + ], + "held_position": [ + 0.3621926937980276, + -0.04273902562657714, + 1.2377525769584348 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0067256849060930626, + "max_held_gripper_dist": 0.00673175133916624, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016743509143817281, + "max_held_gripper_z_dist": 0.001681125674452666, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08712332387156616, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3621926937980276, + -0.06801653336666748, + 1.2377525769584348 + ], + "held_grasp_finger_b": [ + 0.3529959327174617, + -0.04273902562657714, + 1.2377525769584348 + ], + "held_grasp_midpoint": [ + 0.35759431325774466, + -0.05537777949662231, + 1.2377525769584348 + ], + "held_grasp_object_position": [ + 0.3621926937980276, + -0.04273902562657714, + 1.2377525769584348 + ], + "held_grasp_finger_gap": 0.026898565239122672, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025014664576105454, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02746931187217403, + -0.9995959069322032, + 0.007311617444549112 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004250482161669882, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03244026397942211, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33100267267418065, + -0.03813641546843875, + 0.7565868553340029 + ], + "target_position": [ + 0.3327543939088456, + -0.0481875901450232, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010202678063292425, + "xy_threshold": 0.08, + "gripper_dist": 0.21458394951161647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868553340029, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07713382771855379, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09182315692615149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18706199320228492, + "release_required_pad_clearance": 0.05591157846307575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.041064272982429, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83d64643a85c013592f46eb2884771e6041bb716c25bc2b03a21eeb1a973f390", + "visual_seed": 4668097270957057006, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e73beb38a1ca4e992f50daee725c216beadd86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35102567866644324, + -0.04800762335485083, + 1.0461413363860939 + ], + "current_z": 1.0461413363860939, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.18955494818681806, + "gripper_z": 1.0478602839755775, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34645106786838475, + -0.05257160824994957, + 1.0478602839755775 + ], + "object_minus_gripper": [ + 0.004574610798058487, + 0.004563984895098738, + -0.0017189475894836548 + ], + "object_to_gripper_xy": 0.00646196735339964, + "object_to_gripper_z": -0.0017189475894836548, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35102567866644324, + -0.07218523981565157, + 1.0461413363860939 + ], + "finger_b": [ + 0.33974409557415464, + -0.04800762335485083, + 1.0461413363860939 + ], + "finger_midpoint": [ + 0.3453848871202989, + -0.0600964315852512, + 1.0461413363860939 + ], + "object_minus_finger_midpoint": [ + 0.00564079154614433, + 0.012088808230400372, + 0.0 + ], + "finger_gap": 0.026680165943895388, + "fingertip_max_gap": 0.09402362646206233, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340082971947704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461413363860939, + "object_top_z": 1.0920093070370545, + "finger_top_clearance": 0.0458679706509606, + "fingertip_min_top_clearance": 0.013760391195288213, + "object_projection_between_fingers": 0.8212018421345082, + "object_to_finger_line_xy": 0.01022339177535806, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04951181323103117, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5860214463587297, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.351656825960576, + -0.05170989364695443, + 1.2381549577867266 + ], + "held_position": [ + 0.35653569169097815, + -0.047515829806044615, + 1.2363415822269026 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006684447115348168, + "max_held_gripper_dist": 0.0066871753614661114, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001813375559823971, + "max_held_gripper_z_dist": 0.0018150122519617895, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716635265688613, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35653569169097815, + -0.07281497895157579, + 1.2363415822269026 + ], + "held_grasp_finger_b": [ + 0.3475712269172284, + -0.047515829806044615, + 1.2363415822269026 + ], + "held_grasp_midpoint": [ + 0.35205345930410326, + -0.060165404378810204, + 1.2363415822269026 + ], + "held_grasp_object_position": [ + 0.35653569169097815, + -0.047515829806044615, + 1.2363415822269026 + ], + "held_grasp_finger_gap": 0.026840428017593735, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024960270268651205, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03596519302442445, + -0.9993489832074325, + -0.0028486229983639695 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040245515600829075, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032397681125536607, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32338543662170655, + -0.05243727092947795, + 0.7565867558395698 + ], + "target_position": [ + 0.32701231543844234, + -0.051669228317208465, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003707308916929979, + "xy_threshold": 0.08, + "gripper_dist": 0.21380921582019363, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867558395698, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539820141255589, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09415347400857414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18494865616454506, + "release_required_pad_clearance": 0.05707673700428707, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.69833988707716, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7327c717337af8c5e3bfc56bc9b78a05781d0959545a8103f5c0d2792adf84f1", + "visual_seed": 8377068006667838519, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ca8f61f5e8e99bcbf399f7e47b241fdb9dd8bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3517256048025047, + -0.048042638614221304, + 1.0485965814788505 + ], + "current_z": 1.0485965814788505, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19201019327957447, + "gripper_z": 1.0510879663948374, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3470107814305679, + -0.05251695650507021, + 1.0510879663948374 + ], + "object_minus_gripper": [ + 0.004714823371936794, + 0.004474317890848907, + -0.002491384915986883 + ], + "object_to_gripper_xy": 0.006499929231686454, + "object_to_gripper_z": -0.002491384915986883, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3517256048025047, + -0.07245836821153677, + 1.0485965814788505 + ], + "finger_b": [ + 0.34076702142452103, + -0.048042638614221304, + 1.0485965814788505 + ], + "finger_midpoint": [ + 0.34624631311351284, + -0.06025050341287903, + 1.0485965814788505 + ], + "object_minus_finger_midpoint": [ + 0.005479291688991861, + 0.012207864798657729, + 0.0 + ], + "finger_gap": 0.026762257031525693, + "fingertip_max_gap": 0.09797176986078063, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013381128515762853, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485965814788505, + "object_top_z": 1.0959533712185368, + "finger_top_clearance": 0.04735678973968627, + "fingertip_min_top_clearance": 0.014207036921905879, + "object_projection_between_fingers": 0.8323269139498768, + "object_to_finger_line_xy": 0.009997729571586575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051485884930390316, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.868232774473694, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3516249553525118, + -0.05064657835455644, + 1.242313251656891 + ], + "held_position": [ + 0.3564876678902438, + -0.04636022589918062, + 1.23976080192309 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006966619714029448, + "max_held_gripper_dist": 0.006968741829570159, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025524497338011987, + "max_held_gripper_z_dist": 0.002558708896555739, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08652202673840112, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3564876678902438, + -0.07135826549813375, + 1.23976080192309 + ], + "held_grasp_finger_b": [ + 0.34685205501586946, + -0.04636022589918062, + 1.23976080192309 + ], + "held_grasp_midpoint": [ + 0.3516698614530566, + -0.05885924569865718, + 1.23976080192309 + ], + "held_grasp_object_position": [ + 0.3564876678902438, + -0.04636022589918062, + 1.23976080192309 + ], + "held_grasp_finger_gap": 0.026790801019298337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0251961825221067, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02134651941262377, + -0.9996982213708429, + 0.012156985520255792 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0050857709759725206, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032807820502032785, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3084918385476412, + -0.03949879609394654, + 0.7565878843250557 + ], + "target_position": [ + 0.3277483280007812, + -0.0517264477892395, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022810696000786414, + "xy_threshold": 0.08, + "gripper_dist": 0.20423032843397507, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878843250557, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07748192498870096, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09068671710889235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17995179283551166, + "release_required_pad_clearance": 0.05534335855444618, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.803829885288091, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "774535c4c8dd0eab87898c13f3276235a6fa078ed7b16346963af6871372988f", + "visual_seed": 3168684038006329737, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6f2326977c171509d440f7ab52a958f80b5720 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_95_success.json @@ -0,0 +1,684 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36002385621316607, + -0.046553339736692165, + 1.0487433562959103 + ], + "current_z": 1.0487433562959103, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19215690849198952, + "gripper_z": 1.0501591141484887, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35554540820729763, + -0.05105503423917945, + 1.0501591141484887 + ], + "object_minus_gripper": [ + 0.004478448005868441, + 0.004501694502487288, + -0.0014157578525784142 + ], + "object_to_gripper_xy": 0.006349940939488436, + "object_to_gripper_z": -0.0014157578525784142, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36002385621316607, + -0.07068640238335577, + 1.0487433562959103 + ], + "finger_b": [ + 0.34886402954009543, + -0.046553339736692165, + 1.0487433562959103 + ], + "finger_midpoint": [ + 0.3544439428766307, + -0.05861987106002397, + 1.0487433562959103 + ], + "object_minus_finger_midpoint": [ + 0.005579913336535347, + 0.012066531323331804, + 0.0 + ], + "finger_gap": 0.026588464492722577, + "fingertip_max_gap": 0.09541903955691908, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0132942322463613, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487433562959103, + "object_top_z": 1.095194508495014, + "finger_top_clearance": 0.046451152199103785, + "fingertip_min_top_clearance": 0.013935345659731134, + "object_projection_between_fingers": 0.8238314480315148, + "object_to_finger_line_xy": 0.010129234664936614, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05020951977845954, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.961720648137668, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36071960607997766, + -0.04979132117056885, + 1.2428419837516984 + ], + "held_position": [ + 0.3654776440410523, + -0.04562067521517173, + 1.2413391974303323 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006503197648232984, + "max_held_gripper_dist": 0.0065060798310475855, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001502786321366134, + "max_held_gripper_z_dist": 0.0015078204960647934, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08717663389318801, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3654776440410523, + -0.07079675743109629, + 1.2413391974303323 + ], + "held_grasp_finger_b": [ + 0.3564018227628594, + -0.04562067521517173, + 1.2413391974303323 + ], + "held_grasp_midpoint": [ + 0.36093973340195584, + -0.058208716323134006, + 1.2413391974303323 + ], + "held_grasp_object_position": [ + 0.3654776440410523, + -0.04562067521517173, + 1.2413391974303323 + ], + "held_grasp_finger_gap": 0.026762018750772366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02496650813625136, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02235193124239467, + -0.9997333998817924, + 0.005789674475089268 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004256038960251932, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032514108764506666, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3374676517454118, + -0.04785911287285281, + 0.7565863604769021 + ], + "target_position": [ + 0.3361618086679542, + -0.0503100597222509, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0027771147980446215, + "xy_threshold": 0.08, + "gripper_dist": 0.218089270405471, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863604769021, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564913787727118, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0913856349009076, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1889459686799163, + "release_required_pad_clearance": 0.055692817450453805, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.562076105827373, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8c6518a1e92d5c27da00857d36e53a776bd7cf3f18988b140e06967ba8bfac05", + "visual_seed": 7500916455763719354, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..adb38306d959af780fd98c36388ba0ae6cc01a24 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_97_success.json @@ -0,0 +1,684 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3542823356863237, + -0.0477419278196627, + 1.047002275407824 + ], + "current_z": 1.047002275407824, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19041576799925852, + "gripper_z": 1.0485731247544903, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3497935392680329, + -0.052270997064548255, + 1.0485731247544903 + ], + "object_minus_gripper": [ + 0.004488796418290808, + 0.004529069244885553, + -0.001570849346666181 + ], + "object_to_gripper_xy": 0.006376657549988754, + "object_to_gripper_z": -0.001570849346666181, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3542823356863237, + -0.07176745843511174, + 1.047002275407824 + ], + "finger_b": [ + 0.34293176030964345, + -0.0477419278196627, + 1.047002275407824 + ], + "finger_midpoint": [ + 0.3486070479979836, + -0.05975469312738722, + 1.047002275407824 + ], + "object_minus_finger_midpoint": [ + 0.005675287688340136, + 0.012012765307724521, + 0.0 + ], + "finger_gap": 0.026571821216009636, + "fingertip_max_gap": 0.09371851933707273, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013285910608004818, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047002275407824, + "object_top_z": 1.092879853302839, + "finger_top_clearance": 0.0458775778950149, + "fingertip_min_top_clearance": 0.01376327336850447, + "object_projection_between_fingers": 0.8175293114865865, + "object_to_finger_line_xy": 0.010262886913114128, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04935925966853637, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3399685493796425, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35504415776044496, + -0.05138915231186689, + 1.2391996780638035 + ], + "held_position": [ + 0.3598580705842655, + -0.047245637465091424, + 1.2375351393608967 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00656606130448592, + "max_held_gripper_dist": 0.006568500969239904, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001664538702906837, + "max_held_gripper_z_dist": 0.0016651933196805135, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08714270659503091, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3598580705842655, + -0.07247168070992012, + 1.2375351393608967 + ], + "held_grasp_finger_b": [ + 0.35094145026534196, + -0.047245637465091424, + 1.2375351393608967 + ], + "held_grasp_midpoint": [ + 0.3553997604248037, + -0.059858659087505775, + 1.2375351393608967 + ], + "held_grasp_object_position": [ + 0.3598580705842655, + -0.047245637465091424, + 1.2375351393608967 + ], + "held_grasp_finger_gap": 0.026755548503101325, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024800253765053022, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0448952128358429, + -0.9989900947788781, + -0.0017917583856061894 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038876172938856627, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03239978451628978, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3187583838660019, + -0.049042564573575004, + 0.7565903766615074 + ], + "target_position": [ + 0.33035113361048224, + -0.05063982991019359, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01170226914720867, + "xy_threshold": 0.08, + "gripper_dist": 0.20870672595114573, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565903766615074, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530960232233484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09278052382170097, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1811685652354444, + "release_required_pad_clearance": 0.05639026191085049, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.095435042914888, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1291c155d1f3abc83639589f53d477ad12186509113f729d4021083db6490230", + "visual_seed": 2004712902109440717, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa072c8c2a8bb71084e7bd018c5886fdc75f0f7a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_98_success.json @@ -0,0 +1,684 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3550355325471741, + -0.05141339014609153, + 1.0483614719946206 + ], + "current_z": 1.0483614719946206, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19177508379534458, + "gripper_z": 1.0498197729114007, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35067848823739045, + -0.055914832731188066, + 1.0498197729114007 + ], + "object_minus_gripper": [ + 0.004357044309783675, + 0.004501442585096535, + -0.0014583009167801197 + ], + "object_to_gripper_xy": 0.006264728283360651, + "object_to_gripper_z": -0.0014583009167801197, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3550355325471741, + -0.0752584418664788, + 1.0483614719946206 + ], + "finger_b": [ + 0.3436090903086492, + -0.05141339014609153, + 1.0483614719946206 + ], + "finger_midpoint": [ + 0.3493223114279117, + -0.06333591600628516, + 1.0483614719946206 + ], + "object_minus_finger_midpoint": [ + 0.005713221119262424, + 0.011922525860193628, + 0.0 + ], + "finger_gap": 0.02644144613628933, + "fingertip_max_gap": 0.09380060690108785, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013220723068144646, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483614719946206, + "object_top_z": 1.0944217247724324, + "finger_top_clearance": 0.04606025277781178, + "fingertip_min_top_clearance": 0.013818075833343534, + "object_projection_between_fingers": 0.8132538533182655, + "object_to_finger_line_xy": 0.010304432849597539, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04940030345054393, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1868805567334504, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35619703343216114, + -0.05559274526374018, + 1.2401603943479063 + ], + "held_position": [ + 0.3609427716785245, + -0.051541902338589685, + 1.2386025282725164 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006431042420641355, + "max_held_gripper_dist": 0.0064346167286896076, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0015578660753898799, + "max_held_gripper_z_dist": 0.001558172539260605, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0865344227778978, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3609427716785245, + -0.07683497159041422, + 1.2386025282725164 + ], + "held_grasp_finger_b": [ + 0.3523559592234335, + -0.05147856332059005, + 1.2386025282725164 + ], + "held_grasp_midpoint": [ + 0.35664936545097903, + -0.06415676745550214, + 1.2386025282725164 + ], + "held_grasp_object_position": [ + 0.3609427716785245, + -0.051541902338589685, + 1.2386025282725164 + ], + "held_grasp_finger_gap": 0.02677089442818289, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024755840939373407, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06390274423025208, + -0.9979552920181666, + 0.001293991027345731 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034785457033546553, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03233679312425721, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33459361908052687, + -0.05835278864928599, + 0.7565872789390908 + ], + "target_position": [ + 0.33114684720104537, + -0.052906072185548166, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006445692873969184, + "xy_threshold": 0.08, + "gripper_dist": 0.21719227189500187, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872789390908, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07594797569197267, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660651342487778, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1859909200126858, + "release_required_pad_clearance": 0.05330325671243889, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6226472985238085, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "86297aaca089ab56d14b92c898d6e601b7e1dbc7977a862451bf7d423ebecf6d", + "visual_seed": 9101931834627623287, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ccbb4c662ca1a591d83c0ef06232590f61821bab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_99_success.json @@ -0,0 +1,684 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3508563901929558, + -0.05169945145002637, + 1.0491520699587127 + ], + "current_z": 1.0491520699587127, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19256568175943667, + "gripper_z": 1.0510043428020521, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3463234509369084, + -0.05620114400125359, + 1.0510043428020521 + ], + "object_minus_gripper": [ + 0.004532939256047364, + 0.004501692551227218, + -0.001852272843339442 + ], + "object_to_gripper_xy": 0.006388487624218259, + "object_to_gripper_z": -0.001852272843339442, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3508563901929558, + -0.07592972398448777, + 1.0491520699587127 + ], + "finger_b": [ + 0.3397796705556893, + -0.05169945145002637, + 1.0491520699587127 + ], + "finger_midpoint": [ + 0.3453180303743225, + -0.06381458771725707, + 1.0491520699587127 + ], + "object_minus_finger_midpoint": [ + 0.005538359818633265, + 0.012115136267230694, + 0.0 + ], + "finger_gap": 0.02664206870753244, + "fingertip_max_gap": 0.09627107705307344, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013321034353766225, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491520699587127, + "object_top_z": 1.0960524398248788, + "finger_top_clearance": 0.04690036986616608, + "fingertip_min_top_clearance": 0.014070110959849823, + "object_projection_between_fingers": 0.8271432119334673, + "object_to_finger_line_xy": 0.010073990069806624, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050635538526536725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0133367566764218, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3512355568762916, + -0.05492852784707422, + 1.240459607045502 + ], + "held_position": [ + 0.35599305379940677, + -0.05070643580080669, + 1.238527734439053 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006647704114064785, + "max_held_gripper_dist": 0.006652173677170425, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019318726064490033, + "max_held_gripper_z_dist": 0.0019364011007210191, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700251025903549, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35599305379940677, + -0.07577791923357098, + 1.238527734439053 + ], + "held_grasp_finger_b": [ + 0.34683094499119016, + -0.05070643580080669, + 1.238527734439053 + ], + "held_grasp_midpoint": [ + 0.35141199939529844, + -0.06324217751718883, + 1.238527734439053 + ], + "held_grasp_object_position": [ + 0.35599305379940677, + -0.05070643580080669, + 1.238527734439053 + ], + "held_grasp_finger_gap": 0.026693136183913918, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02494747848586131, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.013251633329015721, + -0.9998966139972173, + 0.005581713985251425 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004415090278496042, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03260507281643309, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3172783063727932, + -0.04792221138322959, + 0.7565868994310916 + ], + "target_position": [ + 0.3269585818599349, + -0.05326909514261319, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01105879285651545, + "xy_threshold": 0.08, + "gripper_dist": 0.21072646435449363, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868994310916, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583182909797494, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09275979374576991, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829795493764115, + "release_required_pad_clearance": 0.05637989687288496, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.088180860964533, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5ef988dc9a3a9e31cf5d167e93664f721813638246d6460acc3124c723a33c59", + "visual_seed": 5446361714007457068, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..5cff6d1b45445c6d1d160540982abc00bd6dc1b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_poo_00016", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fdaa4af67e08162494f69f11ad9699f4d6d5727 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c811ffaf8abe367d2094daa02a3af9049a342b61978915dac6b31567235fbfb +size 5404148 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad8b9b787b8ab243dfc3b8bc16df9fad3268587a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3d2f1b14c5e17b96983bc0e6bafc082a6a98506b9c1fbe5abad4b379f2a0678 +size 4493113 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8cb81b8aa3b04ca35d5ed2d05b1005b161a2d95 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dafff03f6770c02e3243aab6e9a6ebd36e194c0db6318aed745317941069f58e +size 4888933 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60c27ef2d13a6f6fa1f0e13aaa00a639709ec48a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcde3c7c590a73fa123d371edc4497333abcfb17e43f32251a1b15eb4f708706 +size 4497277 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7f4a428d0c81af7e60d5bea78c6e54997d702c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e94fc39d42116e3bfc869dd47e4b70059ac9d972c647af52da7005d239465a9e +size 4891553 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5e332a5f1d92d478cf7a98c29f9a46f08c5fe1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c700e9bfd74959b4d40181ba0f7fff18ec15531b8318c9e025e93c11bbe597d2 +size 5488416 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99c4f1399bd884fabbe8fb7dfc1bb6270594c3b0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:771c97bb9181e35631158f03f00e3cc4a1e7c86204370ed8de43d4ee5571e7ad +size 4934040 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a065a540925e280b0500a2c7a49caff8f5bef6b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6aae856863230467563c832a4a7f56c6b99ce97b24c71a1efeb41f0a09fec0b5 +size 4902604 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c21fd4d35dad8be71a7eb48a3f0fa6f73ecc67a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:396b2ed4892bfd796e0e0a2360ba6794ecbebbadfd2fb0d1a251fddcc9cebaec +size 4607280 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..467bfa43410be1d643cf11cfbac209742e14faa9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcd48163490dfeb9fa69e5ef5246438da3090d2f1fc7639dcdf3b0addad15722 +size 4780491 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f1ee63471ab5fec0fd533adff53c21550a67c6f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d44616136c9638cb32429112df9e5faaf4a58b42e7d1f5272cc62b96a44b99fc +size 4492793 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38137e4d5f5ad106580b6312308375c655805c52 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:123da7a796547b14951fa7b463199f2fd8472936059e4cdea3c00fc3f592c637 +size 4772284 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd2b3ed7d768c4a763819630573bb4455df6638a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ffb9bb9c320d4ea16151316d19450e62a108b7e4d8648dc6af81ea9ff177169 +size 3835549 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a13c6bf534ce20c1730eca33b171c796b15a688 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f360a3b0c7c129ba648da38a550bef50f801571f6f9316f4e1d4e5b0921d0c55 +size 5910033 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cda5c8ad27438b159d4c229408ba0890e09c71e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebed3b6e24acbe9ad9d02b871991787db80d91339a5b2c47004a3d69e1fd82d8 +size 5086170 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c880cfc04472052cfd5c27b042864af01b3d0b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9e60168876824dbb68862a2a555ab617b6e6a10738fcdb499f480eea4ceda80 +size 6398575 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb423362ad50b7f10944708407039b40b0946808 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:485d03ddf4e4625497330e6f3337ced43c09debbdbb6778f2ae1be766343574b +size 3468293 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2ac9553e076a26c22c7f561581ec4fc6500c341 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b1fa1628dcb9b971a3abfaa2adfb23bffead0e03dd1ba1af3674eec64df045f +size 4606107 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88d1b7bb8858dab25b437fb3924ceb924bd0fe9f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d763d60b36a35dc92bdfef83501572445ef17d7d43f4f8cdd541c07ca23cb685 +size 4123329 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0945f3b03e661db6a0a84b5d6d94bb30d9f7a995 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43ce55361bfaccbb66abe3f0c1a86cd0e0ec36b73e52d0ce7bb82e1e5eff7d2b +size 3989325 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5438049ab0a7942f059a679257d10c54d3d0fe07 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6061a9d56d8eec482fa1b142adb257550bbac77a6900efdc3f83692abfc855e6 +size 4638031 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d513215156a7f970e96f821dce3280abdd0ca38 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67357995750bbcd8301010618a193369504d1594c419db5f61231a5c93fe50bd +size 5041115 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7da0430f8f7005dd1efead0d4a608d5588c759d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d69f54c991fe597d6d96079adec92a5e4ea06c99361d8eb965ca25754ef2d9e8 +size 4599479 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e1aa65abf92404b39e09eee8ed1df5dc746b292 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb5198c04f16428e80fe6fc2eacd05b183dfc5b216bd807bec53b30a17d902bb +size 5112802 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..59cbac1c38939bf75f3d0e08dfde4f7899b691e0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36b9e12fa8b7be87f614673a2637b5a9c3adb70f95ec304da39f98272b332a88 +size 4955685 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..88caf92139fce8e0dea4e2d886eb13ff83eb9caa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43177537157e8828dd4fbe5cf11672819281756c82567d5f859a3fd7cfe80f90 +size 5636687 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d825bc2f23f6cbeffddf40d1be0274a34a43d99c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ac45df05d6c12cc7fc9d122fe830213fef587a6ec0ba4539a667f08db70d451 +size 6504012 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..85c5df8be30bae6aa1d4be09f4b9d1e679583f34 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18d2e492eb50854e2367c0457585ccaf09f8a0fc4790fc786861688b95f950bf +size 4048993 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0c0a9eaf8f39b31695cced7642f1f423af5d69e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a656f0f5af348fd00de8902ad85a0c955116f3395c9ee535fc0dc36e795d395f +size 3736106 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b5cc46633f4d84c8e1668e84cbe7fb6f2e2f4f74 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:211c4d4b6231e9692b6503c3413b3e2e875856e7b3e42e61a57ffbc0d91984f7 +size 5186825 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e23634c453a3d6de0a892129cfeb35406a5e5f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d3ba371fbc6679c058eca526928e98c12f820d0772aa0c3cdc49fbb9363f7a5 +size 4668889 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9ca488d58e1db56cf99f2af2abe55cb0b21987f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9764bc6ffc864085ba11088c845d5db9fdcc3ee13a8d7310393acc2b25f9fe2 +size 4665458 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ba919d2d34c5e9260ad14e71077bac1a1eb7bdb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50e4646e2938f19781ead2c6ec0a880891fe9f9fda3558423be7ad26dec10dff +size 5037323 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c66f9af21e7565551fafa1b8333b9ac1d01b46e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:356fb81444420317b671778dab158340e6dd52e94879675681ef0ed71c6f8b09 +size 5267375 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22a827f2ea95d8cccf11b8311ddf426fcd26bc2d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:624257793a5fecdc2e24613ee6a507cc6b5b80fb12869d5c226e2c32b47ac0e8 +size 4807683 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9cf7f693c4dd0a3a4138f71413fd6c227ffbbb8a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf4c30dac01f828b10fb8a7d877b692448597e6d8ee06958d4bcf5902a16fe51 +size 3845687 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49943746d1e3a25fd10392b2cfd4a537d321fda2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ba4a34a9a0924176457b6461327091f20052db2ab1a51fd2295bf31a8f2c8a7 +size 4351981 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9652e18c1df641d6b839d3093f4e5079553ff72e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39302b7615992e6c75727ec56abd354fefa34ac6dc44dd7f3726e7e5a6c0fb2c +size 6240774 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff6492e59a97d83f75dd910d7710c2c45f1ddc52 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e973651ca9f3cd33d0ad5fe18f33ad599d4814913eb5d7f8f122d81383dc7ea +size 3814556 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb46a714f8d8388d74011f1fb22e471ce7977baa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0be6c6deaec28e0aace8524c742f60b36f5ba8b7a0a3a0cab2355d3a2a7a476e +size 4975825 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f190816269f6b5cea84c9d5a35bccba162104db1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6409bebd7666af6488124369dde417bea0d1aa42431218606b3527452a70155 +size 4558646 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d486abbf44a10e9140b593da0444cfafd2107ff4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2bde33588544328464d87ed0b618d8a5f05b58c08c30ee7ebeb85901f309f41 +size 4709422 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0dd7add4ad67989d413410b4ab465ea07558b397 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45cbe5961a4ec533948eb7d529c8d7d63734ea0e6f7f058ee607bb101764eb78 +size 3886932 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7503080b4b718a802fd7c577d77f579e7e838fc2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70809c99b22f35278b9f9da0b71cbc6649fc19763fdc994f8797f9d5ec4b2321 +size 4927674 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a72157fecdff960eea89c4038540025ef9712316 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d35542bed9579fc5b72077e0b358b69f02574659de3393fa53e96becb46e794a +size 4194632 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6db1b314b39f3c8ed3c5fa11e1e8c37c0f9b7cb7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7671169ca01ae95ca21930bf6fc56f6c517fc1d9c43154ecde2cec43badf524d +size 4227807 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..050dc74e0f66536ceb783432f55c24cb924646d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e52bc7976e6bc287668d450ec4859502e38492bea7612cf80250698bbfa3855 +size 6268057 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..228a61fd5b3a35c7ad16f24302f89c942b24eddc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07411ddad8d15e8464dda02adc0c6bbbf69325dff66cd52e688aa417f717464a +size 6136880 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..906bce27e3d12b5720654d2287c4876e131a9e3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a34612f7e9bd183afa3917f5cd036d8bf972c53faff8bd59d60bdc91fbba9d34 +size 5362954 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2eb1542a84380a240a76032383ab52daa8112b57 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d75542cb14f85870cdd57a73b926dd6a2588450098e6a943724021dbc9a880b +size 4372036 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1347889a1b7cbfd2578b96adc06af6b1448d00b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4db322dc3dc741cd1ab0ebdfc332ebc941ae2e0c8c3d40aeec532d7266a2ff04 +size 5476415 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fca162f3c13724883637b1a7284f16e5a8650f1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b57e8e769bcbb0171ebd3587142f3d99a4393d954a9ea479c97473b5194b0d1 +size 3820996 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..083fa7785b9d9864515fe961ae60015ebce5d7ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8f4f1d6f06e1c529de5c899dfb5a17bcfd372b48f722d5fd6385a8b5ec2e2a6 +size 3841643 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..be5b3000258ccf9642c6a02476f0393742490d43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76c2a63d53db316c11f0d3ba2f04704541c465a76948118f9eb2bf23b35f2216 +size 4621877 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c93d4e3f713c699f478ee882e09172231d4fefa7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:408071bbab4f3c3864f75f9fd04d91cade2b0d1539ff271c216869840d63ba12 +size 6115732 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..db20a2b0ad1386525537f7bc96f9bb3def9cd18d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8635b33a063dd27505dd410cb5b7eccf3e1b08eb4f8ba074431d362d9b80f401 +size 4298586 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..113ee673723249c42073a8a4970aad66c0ba24a6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50c42f61f37c3657e64486eeb1123ffab6ef1be5929b3061f4bcfd81dbaad457 +size 3685724 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..25fac0e697ac40913bd8eeae36bc98bc9c15e43b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aba724e64c4cb03d7712f1d00c5d516bae5c692dae0413b15a44896f8ed1dfb5 +size 5123013 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b3386f253835999118b19911de77ea32e191845 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69c43cfcfad2910b6f579dbcf45fb4c6ee1420e03030d9f4e68ac230b828b115 +size 5892547 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d36930e6c92530fe1b7bf18b9bed2af490a724b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb5357142506ef14e43de22a3028012efcc1e49c56822eb3ed8958bc82bc7a61 +size 4527983 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..02724f0f33aed38642865a609bae64b70a41d08a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a532d2291a25a1d4b932a46a93e7b76010125ebb442a6d8a536951521a657c73 +size 4446601 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ace0eebd88094226f1ac044ede0f4ae90d0254dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bba449702295851525b0e68fdf38aa3d4aa90e055d0234b31935558c93448a4 +size 4456916 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..592fed3095fba7f48535f3f6f03e4724300caa56 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a071d6b377703ad231cea9700559ff3139d60a67d3ab14b084fc1ce2e912738 +size 5195266 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..798accd56bdbbfa57c467471beca5912a83e0626 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03d0448136e64839ab1cb54df7bd0e9f4e8ac00bd2d8a07972a1755036efb3ec +size 5326552 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbe9da07c118661a8ae0f1a4a4dd32463ab1f8a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed9b3dc84b1417de670f084d12f7bd2c75d27e4fc8d1c0936a7dc9db3a6a0f18 +size 5329255 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef012d8dd771148c2cd1c27ef576f8de89b5c9cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54ebbdde96994288265745bce662d2d4a1359453e1e5a636e89a21929cbd15b7 +size 4605557 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..04211fb4719167e40786c7094ed22434526b1e6a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4cca0dd2d6781f913b95882c2c8e02b72cd784ad544d80dc3395cfcd68de6f5 +size 6270877 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0113.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc2fe0e155ef94c8f4bf62eccf84095eb1cf28d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0113.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f9dde6b0e02af27d5f4e1aef9451c39ef55243d56268b161f560ab540b52015 +size 4563967 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2a291ee3623fb734b2f27ea170fc7be89456bc0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43fd312130ed6cae1c2fcbf238aa04f6657c1bd975f15aad0939ffc3a5f3e4ef +size 5320139 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5eaaa3671fbae169163344bd8825cf5f1199b43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f0370ada08133721bd0eb55bbb13973dca5e568efc3df1b6f49020a4b3cda5b +size 4422869 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0119.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0119.h5 new file mode 100644 index 0000000000000000000000000000000000000000..83cb2d77dfc0d97eecdcb28197b43e0f33c6774b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0119.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94dc8382ce9490c4bf5e62d855ca773e0c459e0feaac23185065841c040a9cad +size 4885705 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0120.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0120.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f53be72b6776af9712bf63e41ad83fa86d56a99c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0120.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82a709636a2aafe35178c74425b81a63a0a9edb55dda2fa98c3b4c04e54e1293 +size 5689483 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0123.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0123.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4b96e3fafa1edc1912fe8fe9ef6c161643ca482 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0123.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bf0d2a2297d0d5b6b711803851b7bbf697680177cac1ad54d319118b6da539e +size 3824335 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0124.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5019d49122bb58a237fc01e6e2b33bf4b25303bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0124.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:131272b77772c9118056f34d234124e9e2a976d74798fc733b9490c28fe3aa32 +size 4751795 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0125.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0125.h5 new file mode 100644 index 0000000000000000000000000000000000000000..86601ab0f079db434bc94e601f33e516a5a95719 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0125.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52b1bb1728831ce71a65df0046cd2a3b2c2ad92a480cdf2acef6f8cccb6a200e +size 4742766 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0126.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0126.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b45f92e841c5c5d2c77d7976bb8843635782e9c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0126.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87f2ec4ef5e4175dd198a86d5adda0e5841f0149d038641f83a1392dc72fb148 +size 4535491 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0127.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0127.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55a8f5d8cac2ec994ea882e8e4108a04bb8e7f39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0127.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b1ae1df5b1022a6beba96b7fe7d73dfb31a9041450c0159192d4d8b29d44abe +size 5389718 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0128.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0128.h5 new file mode 100644 index 0000000000000000000000000000000000000000..66ee31907f2064c1e8f331a78c30853e288844d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0128.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:488771c025f288c4a9f87609ac042c0b10c4c6e31de8c3e4f7fb8adfc5f67f12 +size 3968232 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0130.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0130.h5 new file mode 100644 index 0000000000000000000000000000000000000000..300a281963fcdf6e857f17d045ab67121442db97 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0130.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b667c959970fbf84ddb85b11feb09dcf9339c397fe313d4bb496da115d91cf +size 4824829 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0133.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0133.h5 new file mode 100644 index 0000000000000000000000000000000000000000..80913cd173b79ae1e1d54e57f686cc74581e7407 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0133.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1995af2538ef324e4140482cbd52e918a207976ccb1e92a0b5b0fb10bb6d7d7 +size 3703214 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0135.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0135.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3fcaaf385ff8ca9b3eee360033d3a5ce2bd45af4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0135.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90b48f36c5e8bcc7fb5e8cd3e6352a98aac3de55f762cb8b6d84f06fbcf243d7 +size 3871349 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0137.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0137.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dfe9e87394f12ff1bb0c8128583f98a5f00a0afb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0137.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4b43f27ec5fb6510ec87a08b1d8bf704b3851d0aacea43cf1cee7ac03c7eb5a +size 6127348 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0139.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0139.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2668ea8d212f6928f3df91b33b21dd8e0b2a9e08 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0139.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dc769bff9ba6f837d794c0b0d68a815e84fcd9c39f8f50b9c60da68b9ee1295 +size 4611730 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0141.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0141.h5 new file mode 100644 index 0000000000000000000000000000000000000000..28f32c6f7c4a319c806d75465f0631748e65ed31 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0141.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af0a1107bb14286a5e46cb8ebda9c5b5af4add55c17aee13f84460b276a9aa78 +size 4189629 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0146.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0146.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3194f82b7989b2063b73dd6163a8106abb2207bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0146.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a8da243dad18d8e5172d8710c77fae200ceadaf5a3646066afd28e85344501e +size 3833710 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0147.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0147.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c43671c3393990d929969b9b60705dd785190e3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0147.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76f282abad8bd338edce07258f92956cb29318e50bda079002d094fe1e9f7660 +size 4982981 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0148.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0148.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d03c199f487752e61bc1ada14549fdc9bc9c6de8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0148.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14c7874984543914c3c1c3aff65a4648d704c723d3ed1ced5bd78888fd49c8e4 +size 5503221 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0149.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0149.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5b16a8aeb555a68f3687c1ba0c5e840d3719cf72 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0149.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25244f4fa41d856ff4c262bd3fca83cc8fae3ce3933cc5aba1759489411cc688 +size 3443078 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0150.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0150.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64845af00308a3d6e46aa805c726f764f14a60b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0150.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3e560fcbf958f4ee2a0e252f522502c4f60e78e1980e2273ae58c2ff93ee04d +size 4930871 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0151.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0151.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f26c71549d27559bdfb49ec4768c7bdf8596f99 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0151.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e63104977eb02b4b7617bf0e6eba786928480d9ae37796b7ff54e67c12b6f70 +size 5898822 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0153.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0153.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6fa9c81f9227042b1eff3402e47742b37f40820 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0153.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c328bb19f3a58041c60ff2169266117413c52a3589e8af890449ecf358b3e886 +size 4195298 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0154.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0154.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ba557ec486f7e9164fe3fc93abe5985f15d0f9c2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0154.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0b2084fba1928ea2b8d93f057bafe910dcbac14ef0dd32ab146bd505d1970f1 +size 5888055 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0155.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0155.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eae66c20c4cc5d83a241d4962189d311d82ee382 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0155.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c082171408e548e01d4050a3b3140218536c7436f7ef924fbd3e1c6b85a7792 +size 4736556 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0156.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0156.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a465dc7add435ac9ff1776766b71f6b023c151fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0156.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c02fd920fd59d132001e7b2148b2036340da1bd4ff1bf91267bf124da6c7e852 +size 4371477 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0157.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0157.h5 new file mode 100644 index 0000000000000000000000000000000000000000..61bfecb5fc87137cbd99e7b3c53b76c1c86734e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0157.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed482e3fe76876aadf1acb489e02cd3df8d7e08f5528c3bc3677812d7a9fa051 +size 5283026 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0158.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0158.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7175dd944fbc2cfc649efa9aab6852c8df6c248 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0158.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cd37973b1c2fbe768b788011d3ec2a5cbdc4fe45f1150c9bb8960406356a774 +size 3939616 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0159.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0159.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de5289c10fbdab2b14e48286cb65cfaf0b09d64b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0159.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:102899a084cea95a83b6805e53f6d3bdb89f0eed778ce97998977860e183d95d +size 4257634 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0160.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0160.h5 new file mode 100644 index 0000000000000000000000000000000000000000..14287cd49f4e7a49d48ebaa87291e2cccf72b6e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0160.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7cbd479447deff387eff53d128d2814379c0a08d86705a7fa5b8eaa45ed8a9 +size 3507481 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0161.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0161.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aa4d2ca48d82ec68b3e3448bbf6f53e4b75c08f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0161.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95493373e9dde8869f8b16ea5c5b5ae062d0a2ff81456ec839d08da01a5ccdac +size 4025842 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0162.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0162.h5 new file mode 100644 index 0000000000000000000000000000000000000000..11c93f867503e7ad4b5b5a6a4948e6f0e7a2318a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0162.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22785fdd0fda76e6cd0ff59be6df66dea6ac8fd2289b4df7f806841d1bda6bde +size 5058535 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..674501d3132fc62b788a52b9a45bfc5fec30b19e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":804,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":113,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":114,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":119,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":120,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":123,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":124,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":125,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":834,"success":true,"robot_type":"ur5e"} +{"episode_index":126,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":127,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":128,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":130,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":133,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":135,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":137,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":139,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":141,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":146,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":147,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":148,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":149,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":150,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":151,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":153,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":154,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":810,"success":true,"robot_type":"ur5e"} +{"episode_index":155,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":156,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":157,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":158,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":159,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":160,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":161,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":162,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..600758651f248a31647a68228fefd0d6a77a435b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T06:52:02","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[0.5413530824419388,-0.4992183026071899,0.71338606911949],"aabb_xy":[[0.4913530828656041,-0.5491988815592959],[0.5913530820182735,-0.44923772365508396]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.02215075498859098,-1.0458490843658836,0.71338606911949],"aabb_xy":[[-0.08715075594571818,-1.0977972962995892],[0.042849245968536225,-0.9939008724321782]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.14307978745889616,-1.2195489276814635,0.71338606911949],"aabb_xy":[[0.13151080671195958,-1.2445489277983952],[0.15464876820583273,-1.1945489275645318]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.20494632179718753,-2.3240513107444705,0.71338606911949],"aabb_xy":[[-0.2599200438335204,-2.3790513103087036],[-0.14997259976085464,-2.2690513111802373]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[0.10489264581676017,1.2271653272885654,0.71338606911949],"aabb_xy":[[0.08600826204824996,1.2082794025082126],[0.12377702958527037,1.2460512520689182]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[-0.06624465881712727,-0.6081531536153375,0.71338606911949],"aabb_xy":[[-0.1302446595205966,-0.6541715360882585],[-0.0022446581136579134,-0.5621347711424165]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.22558772812950856,-1.7865659542824528,0.71338606911949],"aabb_xy":[[0.2175614574988826,-1.7953174492598056],[0.23361399876013458,-1.7778144593051004]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.10379619613863311,-0.07114605648098848,0.71338606911949],"aabb_xy":[[-0.14504500716854782,-0.12614605599320594],[-0.06254738510871836,-0.016146056968771038]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[0.0020097903299755027,-2.414116577103562,0.71338606911949],"aabb_xy":[[-0.061990211719756494,-2.4542110601928706],[0.0660097923797075,-2.3740220940142547]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.1324002816648162,1.5248618821728805,0.71338606911949],"aabb_xy":[[0.10740028239285392,1.5085165185767182],[0.15740028093677846,1.5412072457690429]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.6845172972458007,-2.263218759992751,0.71338606911949],"aabb_xy":[[-0.6946703127999498,-2.2992883015654906],[-0.6743642816916511,-2.22714921842001]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.3041798852665327,-1.573359293286521,0.71338606911949],"aabb_xy":[[-0.3291798851990506,-1.5802419615074443],[-0.27917988533401483,-1.5664766250655977]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.5391992177734457,-1.5470464546076348,0.71338606911949],"aabb_xy":[[0.4751992184792775,-1.611032594976489],[0.6031992170676139,-1.4830603142387806]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.15088742981537695,-1.6980386756602917,0.71338606911949],"aabb_xy":[[-0.18838743010755177,-1.7020801510608954],[-0.11338742952320213,-1.6939972002596884]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.3822157159714118,0.34819887128173077,0.71338606911949],"aabb_xy":[[-0.44621571455798426,0.3011919078822221],[-0.31821571738483934,0.39520583468123954]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.3103957565819313,1.3811482355001572,0.71338606911949],"aabb_xy":[[0.30315199053568603,1.3011482372965548],[0.3176395226281767,1.4611482337037596]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.23948153483958967,-2.0195200552228276,0.71338606911949],"aabb_xy":[[-0.2744815331502851,-2.0272350701463737],[-0.20448153652889423,-2.0118050402992824]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.4369024132093704,1.7269761073719008,0.71338606911949],"aabb_xy":[[0.4194024140750032,1.717096480334313],[0.45440241234373757,1.7368557344094886]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.5151858238920433,1.080319084829922,0.71338606911949],"aabb_xy":[[-0.5326858241370926,1.062819296990355],[-0.49768582364699393,1.0978188726694886]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.1034031699098239,0.9055392048029209,0.71338606911949],"aabb_xy":[[-0.12090316918791078,0.8882011047365749],[-0.08590317063173702,0.9228773048692668]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.2115465750456197,1.2645315074120864,0.71338606911949],"aabb_xy":[[-0.26154585021405585,1.2145315061361392],[-0.16154729987718353,1.3145315086880336]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.6611323806057015,-0.5122797801037104,0.71338606911949],"aabb_xy":[[-0.6836460724291585,-0.5822797807047179],[-0.6386186887822441,-0.4422797795027028]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.03414679283255684,-1.4584179536020052,0.71338606911949],"aabb_xy":[[-0.04177106092273508,-1.4660511771385487],[-0.026522524742378595,-1.4507847300654613]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.6487550944473168,-2.1553718469800756,0.71338606911949],"aabb_xy":[[0.5911246255600457,-2.215371845906786],[0.7063855633345875,-2.095371848053365]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.35855881479232005,-0.7545890345641535,0.71338606911949],"aabb_xy":[[-0.36263697269936973,-0.7586700148124168],[-0.35448065688527025,-0.7505080543158902]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.025825923284504837,-1.8906086508626676,0.71338606911949],"aabb_xy":[[-0.0608259224144605,-1.8963538719383317],[0.009174075845450828,-1.8848634297870035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6927765777383978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1492.png","name":"1492"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1492.png","name":"1492"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/66.png","name":"66"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6885.png","name":"6885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5157.png","name":"5157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8987.png","name":"8987"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":822.3364325813969,"rotation_z_degrees":184.27877548075003,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01769630412107514,0.01731575175572338,-0.01891497056202732]},{"name":"camera_2","offset_m":[0.006576779670039234,0.013864927764970284,-0.019228316241311015]},{"name":"camera_3","offset_m":[0.019613579328328825,-0.012172564282236316,0.013791303776785852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016065896612099365,0.0006834230495295309,-0.0002267896651974989],"end_effector_yaw_offset_degrees":0.2941262218510239},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005898730507778779,0.001355253910840183,-0.0018817285916017618],"end_effector_yaw_offset_degrees":-0.6043871960225278},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004966153594713162,-0.00084415837355639,0.0013016665644388177],"end_effector_yaw_offset_degrees":-0.11151024799855724}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021827839192156153,-0.003866893023997048],"position_m":[0.3081172160807844,0.08723310697600295,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044546213664142095,-0.0027352284165339893],"position_m":[0.3174546213664142,-0.119035228416534,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023928534005451104,-0.0031151023474940455],"position_m":[0.35749285340054515,0.29358489765250595,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004227301140599312,-0.003338491650408656],"position_m":[0.2482273011405993,-0.35513849165040867,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f525c1a2e85ff407c5a7e88b086f94296b1ea7cf5b3a9501d8ccac9e0147a604","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1492/tex_ceiling_textures_8987/tex_floor_textures_5157/tex_table_textures_66/tex_wall_textures_6885","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3138060960667909975,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3138060960667909975,"visual_seed":3138060960667909975,"scene_id":"lab_003","finished_at":"2026-09-03T06:54:46"} +{"episode_id":"ep_000001","started_at":"2026-09-03T06:54:49","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.6113196439578807,0.8772548670711107,0.71338606911949],"aabb_xy":[[0.5997506632109443,0.8522548669541788],[0.6228886247048174,0.9022548671880423]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.38921867843362135,-2.523888838748725,0.71338606911949],"aabb_xy":[[0.3392186767721265,-2.573887281004427],[0.43921868009511605,-2.4738903964930214]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.5498258085461541,0.9240729786978448,0.71338606911949],"aabb_xy":[[-0.5802239196452976,0.893666076696175],[-0.5194276974470105,0.9544798806995141]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.2834362238698807,-0.9842980357193196,0.71338606911949],"aabb_xy":[[-0.30560875084653155,-1.006473702875443],[-0.26126369689322987,-0.9621223685631963]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.2078888352875916,-2.142274297435228,0.71338606911949],"aabb_xy":[[0.19732135562949257,-2.1528193275482366],[0.2184563149456906,-2.1317292673222195]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.16262382356704863,-1.8972062537565113,0.71338606911949],"aabb_xy":[[-0.2001238236726416,-1.9040284156094922],[-0.12512382346145567,-1.89038409190353]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.6062752661353691,1.3563586377022818,0.71338606911949],"aabb_xy":[[-0.6109103812876022,1.3524913026251326],[-0.6016401509831355,1.3602259727794301]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.06947545283806444,-1.5975775986412195,0.71338606911949],"aabb_xy":[[0.019498035972810853,-1.647577600130468],[0.11945286970331802,-1.547577597151971]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.2354945126042236,-1.6118609756069797,0.71338606911949],"aabb_xy":[[0.23059522029766008,-1.6395378949095483],[0.24039380491078707,-1.5841840563044107]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.4296587169914998,-2.2759854123958174,0.71338606911949],"aabb_xy":[[0.4232449033483148,-2.2823952326434855],[0.4360725306346847,-2.2695755921481484]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.18779126052985917,0.9298139700159749,0.71338606911949],"aabb_xy":[[-0.21775881743968484,0.8998139697180891],[-0.1578237036200335,0.9598139703138606]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.278444504773085,-0.28792832700711246,0.71338606911949],"aabb_xy":[[-0.29833554465342527,-0.30058413829180936],[-0.2585534648927448,-0.2752725157224157]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.34415683286461984,-1.6862151513142556,0.71338606911949],"aabb_xy":[[0.309694485466478,-1.7207090337120778],[0.3786191802627616,-1.6517212689164325]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[-0.5406685476187723,-0.09943010200934,0.71338606911949],"aabb_xy":[[-0.5631685474326746,-0.10390471837982068],[-0.5181685478048699,-0.0949554856388593]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.6451030203134236,-2.2024618951756803,0.71338606911949],"aabb_xy":[[0.5851030197174073,-2.2572743677209037],[0.7051030209094397,-2.1476494226304568]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.6034976649975243,-1.2870261160236955,0.71338606911949],"aabb_xy":[[-0.6533803618752205,-1.3370261152699705],[-0.5536149681198281,-1.237026116777421]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.05572094471248312,-1.1426477995858033,0.71338606911949],"aabb_xy":[[0.05160499460041045,-1.1467633546186486],[0.05983689482455578,-1.1385322445529575]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.33748469040463824,-1.0358904998037484,0.71338606911949],"aabb_xy":[[0.3037091312139452,-1.0499289950169133],[0.37126024959533116,-1.0218520045905835]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.3149837350787674,1.7832653962570082,0.71338606911949],"aabb_xy":[[0.2774837345814092,1.7792967127088897],[0.35248373557612567,1.7872340798051267]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.39477077893063955,-0.2565142799948634,0.71338606911949],"aabb_xy":[[-0.4020530953073031,-0.3465142836043723],[-0.3874884625539758,-0.16651427638535435]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948945218772756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1191.png","name":"1191"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1191.png","name":"1191"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4001.png","name":"4001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6409.png","name":"6409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9053.png","name":"9053"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9824.png","name":"9824"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":807.0803945107167,"rotation_z_degrees":44.22289419136226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013921036865226635,0.0009856764054795991,-0.01682491771531919]},{"name":"camera_2","offset_m":[0.0038867316236396825,0.006224599071134259,0.005865942889456521]},{"name":"camera_3","offset_m":[0.008881621797976972,0.013427174255940231,0.0033880866878268114]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010236965687075734,0.0017911839513273628,0.00014406927278095335],"end_effector_yaw_offset_degrees":-0.8723244415361218},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-3.5214187462273994e-05,-0.0018366453075239755,0.0011794769391693704],"end_effector_yaw_offset_degrees":-0.6522393153643904},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00015922252371956738,-0.0013689109357768112,0.00033170349099966284],"end_effector_yaw_offset_degrees":-0.8488693713634701}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00022561523062781478,-0.00331566863706537],"position_m":[0.3105256152306278,0.08778433136293463,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001887431624890661,-0.002115054106087989],"position_m":[0.31111256837510937,-0.11841505410608799,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004790456887620017,-0.0032440487211584756],"position_m":[0.35989045688762006,0.29345595127884155,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008037284561001968,-0.002172720073840574],"position_m":[0.24480372845610018,-0.35397272007384056,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0abb8e2cd18ca512db71ec617cc27cfdc32a7ef2edd169c8ae6b5e87a37ef3e9","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1191/tex_ceiling_textures_9824/tex_floor_textures_9053/tex_table_textures_4001/tex_wall_textures_6409","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2492539699395795156,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2492539699395795156,"visual_seed":2492539699395795156,"scene_id":"lab_003","finished_at":"2026-09-03T06:57:16"} +{"episode_id":"ep_000002","started_at":"2026-09-03T07:04:10","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.07594927897099701,0.08540692192115484,0.71338606911949],"aabb_xy":[[-0.14594928110242653,0.06264495629545919],[-0.005949276839567447,0.1081688875468505]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.659517243122778,0.39164954871930524,0.71338606911949],"aabb_xy":[[0.6359321196588832,0.32664954647387345],[0.6831023665866729,0.456649550964737]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.2718710231793366,1.145339252827743,0.71338606911949],"aabb_xy":[[-0.3218484400445901,1.0953392513384943],[-0.22189360631408298,1.1953392543169914]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.009514686877349132,0.8057273889293373,0.71338606911949],"aabb_xy":[[-0.045143842777308874,0.7700947221724843],[0.02611446902261061,0.8413600556861902]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.6297331201923648,0.8871044382308741,0.71338606911949],"aabb_xy":[[0.6188815139434892,0.8762451475032231],[0.6405847264412404,0.8979637289585252]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.6287900011564072,-0.8498421800703706,0.71338606911949],"aabb_xy":[[-0.6454671371495027,-0.866542104044301],[-0.6121128651633116,-0.8331422560964404]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.10805450250017656,-0.7557269069559474,0.71338606911949],"aabb_xy":[[-0.19805449923578677,-0.8089103702732419],[-0.01805450576456634,-0.7025434436386528]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.05312609111021949,-2.32327501583188,0.71338606911949],"aabb_xy":[[-0.13812608980229413,-2.355260879226759],[0.03187390758185516,-2.291289152437001]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.34828543876142465,0.7200340580517062,0.71338606911949],"aabb_xy":[[-0.4082854392692775,0.6631873243657848],[-0.28828543825357167,0.7768807917376274]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.2908627605955589,0.9336014013603227,0.71338606911949],"aabb_xy":[[-0.32134701072258903,0.8836014015788267],[-0.2603785104685287,0.9836014011418186]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.2321134309950127,0.7724271493460497,0.71338606911949],"aabb_xy":[[0.20883158879688132,0.6874271480488215],[0.255395273193144,0.8574271506432777]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.5853885026066118,-1.3400540650242783,0.71338606911949],"aabb_xy":[[-0.6023985998966624,-1.356188553522552],[-0.5683784053165611,-1.3239195765260041]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.4821140652160858,0.17707801242978816,0.71338606911949],"aabb_xy":[[-0.4999075721510022,0.15927826683399046],[-0.4643205582811693,0.1948777580255858]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.30746565659468583,-2.148950729569523,0.71338606911949],"aabb_xy":[[0.2994393859640599,-2.1577022245468758],[0.3154919272253119,-2.1401992345921705]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.5043134233222426,-1.1771373403459082,0.71338606911949],"aabb_xy":[[0.45431342230310745,-1.2136035560837364],[0.554313424341378,-1.1406711246080805]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.4420346345437023,-2.1019879490594495,0.71338606911949],"aabb_xy":[[0.396756019662553,-2.1659879484076336],[0.4873132494248515,-2.0379879497112663]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.22178609108163255,-1.9592978550077496,0.71338606911949],"aabb_xy":[[-0.28337685030562537,-2.0232978531167967],[-0.16019533185763973,-1.8952978568987031]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.39142241008859446,-2.2135747426113,0.71338606911949],"aabb_xy":[[-0.41391883152245856,-2.2360747424180474],[-0.36892598865473036,-2.1910747428045525]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.2670891261708844,0.12292990927211944,0.71338606911949],"aabb_xy":[[-0.33108912822061637,0.08283542618281148],[-0.20308912412115238,0.1630243923614274]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.03443693923549007,-1.2207117023082055,0.71338606911949],"aabb_xy":[[-0.08943693841207956,-1.2757013770831631],[0.020563059941099422,-1.1657220275332478]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.18329977928370933,-0.09825922337593429,0.71338606911949],"aabb_xy":[[-0.19100296995778637,-0.10596859407467228],[-0.1755965886096323,-0.09054985267719627]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.5474008433168103,-0.5843361080225282,0.71338606911949],"aabb_xy":[[0.5409870296736252,-0.5907459282701963],[0.5538146569599951,-0.5779262877748597]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.21791228521306527,-1.645528090999778,0.71338606911949],"aabb_xy":[[0.20856527763077004,-1.659831713217422],[0.2272592927953605,-1.631224468782134]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.4774753384083983,0.2580869767758487,0.71338606911949],"aabb_xy":[[-0.51247533975988,0.23772724081902788],[-0.4424753370569166,0.2784467127326695]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.6599131171883356,-1.8427754685148057,0.71338606911949],"aabb_xy":[[-0.6693305917581983,-1.8521916456525245],[-0.6504956426184728,-1.8333592913770864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950897702218379,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6919.png","name":"6919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6919.png","name":"6919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7360.png","name":"7360"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6584.png","name":"6584"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8535.png","name":"8535"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":678.8167513041456,"rotation_z_degrees":245.18777930655148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01812898945762541,0.01277834494816615,-0.015687069078459976]},{"name":"camera_2","offset_m":[0.0032279957337824523,-0.013427557889054174,0.0067910872166332716]},{"name":"camera_3","offset_m":[0.00864163751149621,-0.007039970377188665,0.01774851242754334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012977866604210694,0.0012953466692758406,-0.001672168069539115],"end_effector_yaw_offset_degrees":-0.17495907805558342},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006151326412161425,0.0009294218433666501,0.000585261733309082],"end_effector_yaw_offset_degrees":-0.09247952757985933},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004981786090557535,0.000949148154681658,-0.0013480496207960461],"end_effector_yaw_offset_degrees":-0.8094688188472854}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008061061257663028,-0.0006536750329911665],"position_m":[0.3094938938742337,0.09044632496700883,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029897420840671496,0.004946744709215643],"position_m":[0.31001025791593284,-0.11135325529078435,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022933058078933493,0.0025113216977105243],"position_m":[0.35739330580789336,0.29921132169771053,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002487384760112712,0.0026582936305343217],"position_m":[0.2415126152398873,-0.3491417063694657,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"239128a7c20a18e4f6f3ea688daed0493978d19e559de753c8e99f94fc7e3bd3","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6919/tex_ceiling_textures_8535/tex_floor_textures_4841/tex_table_textures_7360/tex_wall_textures_6584","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3569877840589020832,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3569877840589020832,"visual_seed":3569877840589020832,"scene_id":"lab_003","finished_at":"2026-09-03T07:06:38"} +{"episode_id":"ep_000003","started_at":"2026-09-03T07:06:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.5237765186163417,-0.006677154214385084,0.71338606911949],"aabb_xy":[[0.45977651944657166,-0.05344384133334756],[0.5877765177861115,0.04008953290457739]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.2837589013984264,-2.1634791104657576,0.71338606911949],"aabb_xy":[[0.2137588980068644,-2.1987948841691884],[0.35375890478998834,-2.1281633367623267]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.3322703432047913,-0.9410784802236125,0.71338606911949],"aabb_xy":[[0.2947703429126165,-0.945119955624216],[0.36977034349696614,-0.9370370048230088]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.12355028622031061,1.3651537935403608,0.71338606911949],"aabb_xy":[[-0.14545896835966166,1.34325312672027],[-0.10164160408095956,1.3870544603604515]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.2924650221102699,-1.2293167500364097,0.71338606911949],"aabb_xy":[[0.26746502217775203,-1.236199418257333],[0.3174650220427878,-1.2224340818154864]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.29123794679871584,-0.7459955308403086,0.71338606911949],"aabb_xy":[[0.24126488126620044,-0.7959955306528416],[0.34121101233123136,-0.6959955310277757]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.33559378213420765,0.4381278626712053,0.71338606911949],"aabb_xy":[[0.32789059146013055,0.4304184919724673],[0.34329697280828464,0.4458372333699433]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.22559793856933053,0.9401112531450431,0.71338606911949],"aabb_xy":[[0.18809793875229694,0.9354730418339012],[0.2630979383863641,0.9447494644561849]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.5166776131197611,-2.4796997634281737,0.71338606911949],"aabb_xy":[[-0.539593326004811,-2.5026040605645976],[-0.4937619002347112,-2.4567954662917506]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.5449560222665011,-1.3247335047480548,0.71338606911949],"aabb_xy":[[-0.5620581002248694,-1.3418403102793246],[-0.527853944308133,-1.307626699216785]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.16764727196542772,1.5907685259117614,0.71338606911949],"aabb_xy":[[0.1578912824562538,1.5810059918525268],[0.1774032614746016,1.6005310599709957]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.5005790391849032,0.8476188650171284,0.71338606911949],"aabb_xy":[[0.483079040050536,0.8377392379795404],[0.5180790383192703,0.8574984920547161]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.23649549990224394,0.697391965247772,0.71338606911949],"aabb_xy":[[0.14649550316663373,0.6442085019304775],[0.32649549663785415,0.7505754285650665]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.02683218441404589,-1.969033094407388,0.71338606911949],"aabb_xy":[[-0.06433218476227365,-1.9808244899884713],[0.010667815934181868,-1.9572416988263042]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.016079022491059636,-0.9506704928102598,0.71338606911949],"aabb_xy":[[-0.04107902165669275,-0.9576227385156165],[0.008920976674573478,-0.9437182471049034]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.43495749935446515,-0.4092293718443063,0.71338606911949],"aabb_xy":[[0.3549575006975792,-0.42373423076856914],[0.5149574980113512,-0.39472451292004357]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.3112588096660203,-0.97678481885296,0.71338606911949],"aabb_xy":[[-0.3573439009207518,-1.040784816105515],[-0.26517371841128884,-0.9127848216004049]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.08816760081632691,0.8230417963990688,0.71338606911949],"aabb_xy":[[0.08003991262301369,0.8141281879883612],[0.09629528900964013,0.8319554048097765]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.6803183431881068,1.8084765004528527,0.71338606911949],"aabb_xy":[[0.6602599315748664,1.7884114135436953],[0.700376754801347,1.8285415873620101]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.492354800899129,-1.1866016518135687,0.71338606911949],"aabb_xy":[[0.44253802143429416,-1.236601650297872],[0.5421715803639637,-1.1366016533292653]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.463142284079195,-2.338870026268393,0.71338606911949],"aabb_xy":[[0.4537952764968998,-2.353173648486037],[0.4724892916614903,-2.3245664040507488]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.6889796421059395,-0.2081498565337272,0.71338606911949],"aabb_xy":[[0.6651434244653346,-0.29814985734221366],[0.7128158597465447,-0.11814985572524073]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.4053844499293986,-2.1692301407094483,0.71338606911949],"aabb_xy":[[0.40048515762283504,-2.196907060012017],[0.41028374223596203,-2.1415532214068795]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.5701866880972739,0.11551988917944955,0.71338606911949],"aabb_xy":[[0.5001866862885285,0.09416612041526219],[0.6401866899060193,0.13687365794363693]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.07100974530967918,1.4473202348614689,0.71338606911949],"aabb_xy":[[0.007009742019971065,1.4039853158575508],[0.13500974859938727,1.490655153865386]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.1088243567534748,-2.1582771878616165,0.71338606911949],"aabb_xy":[[-0.15880316526379068,-2.2082771878673353],[-0.05884554824315891,-2.1082771878558977]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[0.5766790014955825,-0.18862253304322962,0.71338606911949],"aabb_xy":[[0.5686356415696272,-0.27362253413859605],[0.5847223614215376,-0.1036225319478632]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[-0.3766044837029857,-1.9043450746758523,0.71338606911949],"aabb_xy":[[-0.42660448506387294,-1.954322979251268],[-0.3266044823420985,-1.8543671701004367]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[0.6379546885703047,-1.3548316508009932,0.71338606911949],"aabb_xy":[[0.6271142103437898,-1.372017932091642],[0.6487951667968196,-1.337645369510344]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_29","position":[-0.08060439828753907,0.8550321827642504,0.71338606911949],"aabb_xy":[[-0.11175131713112217,0.7850321840774431],[-0.04945747944395594,0.9250321814510575]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_30","position":[-0.5829087458129844,-0.3484999622998348,0.71338606911949],"aabb_xy":[[-0.6204087473286161,-0.3597267353159799],[-0.5454087442973526,-0.33727318928368977]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_31","position":[-0.12924048297546264,0.1435785069894937,0.71338606911949],"aabb_xy":[[-0.1462505802655133,0.12744401849121978],[-0.11223038568541199,0.15971299548776763]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_32","position":[0.20602796020335823,-1.5301830130018892,0.71338606911949],"aabb_xy":[[0.18613692032301798,-1.5428388242865863],[0.2259190000836985,-1.5175272017171926]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_33","position":[-0.06495868740566157,1.0864777343997658,0.71338606911949],"aabb_xy":[[-0.12995868851160486,1.0615123613316373],[4.1313700281708776e-05,1.1114431074678939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920928712053749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/510.png","name":"510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/510.png","name":"510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5682.png","name":"5682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7161.png","name":"7161"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9151.png","name":"9151"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":682.0946621339615,"rotation_z_degrees":101.73123012601684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005720211716869657,-0.0017141781059824834,0.011258052965554845]},{"name":"camera_2","offset_m":[-0.002694072213481332,-0.015464683433033493,-0.00838314925466519]},{"name":"camera_3","offset_m":[-0.0017487697975689838,0.018647912973122568,-0.005495561095351901]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015136599935409545,0.000958457051924448,0.001490328736700546],"end_effector_yaw_offset_degrees":0.5481705315436176},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001755390304198148,-0.00043203252577737666,0.00034822817665365775],"end_effector_yaw_offset_degrees":0.7266110223574938},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012820108188144196,-0.0004894815263714297,-0.0004020471478048786],"end_effector_yaw_offset_degrees":-0.17040186225084697}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00016982343160967459,-0.0009696293073165373],"position_m":[0.31013017656839037,0.09013037069268347,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[2.5821694288635788e-05,0.0011792961400105047],"position_m":[0.3130258216942886,-0.1151207038599895,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00024654491658616245,0.0008746774100897546],"position_m":[0.35485345508341387,0.29757467741008975,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044607841830444,0.0010544693567524008],"position_m":[0.2395392158169556,-0.3507455306432476,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5e5ad5447b3e6270c38df7028ab2bc665a096f8e7959a1b5bd93145d15c5d780","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_510/tex_ceiling_textures_6892/tex_floor_textures_9151/tex_table_textures_5682/tex_wall_textures_7161","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4861408514279953309,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4861408514279953309,"visual_seed":4861408514279953309,"scene_id":"lab_003","finished_at":"2026-09-03T07:09:11"} +{"episode_id":"ep_000004","started_at":"2026-09-03T07:12:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.32782596386384055,1.1119883284280374,0.71338606911949],"aabb_xy":[[0.2638259674682675,1.0480250400093039],[0.39182596025941363,1.175951616846771]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.01910600873404278,-0.7505326882105916,0.71338606911949],"aabb_xy":[[0.0009001850727951011,-0.7615580887925834],[0.037311832395290456,-0.7395072876286001]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.20430659749317237,1.4549985738409776,0.71338606911949],"aabb_xy":[[-0.21158891386983594,1.3649985702314682],[-0.19702428111650863,1.5449985774504862]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.11739521736468139,-2.0186167285354344,0.71338606911949],"aabb_xy":[[-0.13745362897792168,-2.038681815444592],[-0.0973368057514411,-1.998551641626277]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.46561882928856513,-0.7924899927497842,0.71338606911949],"aabb_xy":[[-0.5456188278758844,-0.871805594687945],[-0.38561883070124564,-0.7131743908116233]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.49814007402257765,-1.5071632199463971,0.71338606911949],"aabb_xy":[[-0.5621400754305683,-1.5589521714703216],[-0.43414007261458704,-1.4553742684224722]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.6612166346349329,0.475928683887064,0.71338606911949],"aabb_xy":[[0.6552500956941971,0.4699675392276999],[0.6671831735756686,0.481889828546428]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.5388307172466371,-2.465802003341368,0.71338606911949],"aabb_xy":[[0.5348702334769028,-2.4734698679268887],[0.5427912010163715,-2.4581341387558475]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.17060066857873946,0.276680255433877,0.71338606911949],"aabb_xy":[[-0.2506006696518598,0.26690220909649254],[-0.0906006675056191,0.2864583017712614]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.3052415501065231,1.6309436119987537,0.71338606911949],"aabb_xy":[[-0.33638846895010616,1.5609436133119463],[-0.2740946312629399,1.7009436106855607]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.08758993670318216,-1.6927421388814785,0.71338606911949],"aabb_xy":[[-0.16758376028174038,-1.77274214147432],[-0.007596113124623938,-1.612742136288637]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.447237470481791,0.39587493956874953,0.71338606911949],"aabb_xy":[[-0.5022374686835357,0.3553529729423119],[-0.39223747228004613,0.43639690619518706]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.5876828403356916,1.4919063071265577,0.71338606911949],"aabb_xy":[[-0.6376828406962577,1.4419263199169547],[-0.5376828399751256,1.5418862943361606]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.3973458824874758,-1.9811332084662117,0.71338606911949],"aabb_xy":[[0.35206726760632656,-2.045133207814396],[0.4426244973686251,-1.9171332091180284]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.22702544108005018,-2.153642735564623,0.71338606911949],"aabb_xy":[[0.22311156788462766,-2.1623917509711794],[0.2309393142754727,-2.144893720158066]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.3274832582759706,-1.7083766632271096,0.71338606911949],"aabb_xy":[[0.28249067155752017,-1.7533766625015583],[0.372475844994421,-1.6633766639526608]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.2058947156318126,0.5842774045140828,0.71338606911949],"aabb_xy":[[0.13589471299522624,0.5641725395182172],[0.27589471826839895,0.6043822695099482]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.5534697480028972,-0.623198821202805,0.71338606911949],"aabb_xy":[[0.5034749150749556,-0.6731988200980485],[0.6034645809308388,-0.5731988223075615]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.15435787984291094,-1.428324090944991,0.71338606911949],"aabb_xy":[[0.14091135320886758,-1.4417939425980824],[0.16780440647695424,-1.4148542392918997]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.5935162193193508,-0.13867963296204833,0.71338606911949],"aabb_xy":[[0.543516217657856,-0.188678075217751],[0.6435162209808455,-0.0886811907063456]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.23182514424183093,0.852065029956889,0.71338606911949],"aabb_xy":[[-0.2662874916399727,0.8175711475590662],[-0.19736279684368907,0.8865589123547116]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.1645515837960566,-2.3534629349909912,0.71338606911949],"aabb_xy":[[-0.171812831366464,-2.3662499452545007],[-0.15729033622564917,-2.3406759247274818]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.03303265826814139,-1.1141790844041422,0.71338606911949],"aabb_xy":[[0.021264471473483874,-1.199179084309364],[0.04480084506279892,-1.0291790844989208]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.5281026714836146,0.7575290714847456,0.71338606911949],"aabb_xy":[[-0.5981026678935762,0.7370911358330636],[-0.4581026750736527,0.7779670071364271]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[-0.22050735497877133,-1.376652658048222,0.71338606911949],"aabb_xy":[[-0.3005073519418105,-1.4537282996919954],[-0.14050735801573216,-1.2995770164044484]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[-0.2601719581277109,-0.4517619928942507,0.71338606911949],"aabb_xy":[[-0.2970225060646985,-0.4892619937172844],[-0.22332141019072327,-0.41426199207121694]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[-0.047687738710390226,1.3529713444498408,0.71338606911949],"aabb_xy":[[-0.07018773895390562,1.3407667097900688],[-0.02518773846687483,1.3651759791096127]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[-0.6374636781921865,0.45710776385490126,0.71338606911949],"aabb_xy":[[-0.6541408141852819,0.440407839880971],[-0.6207865421990909,0.47380768782883154]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[0.6076641744642404,-1.6054383176098241,0.71338606911949],"aabb_xy":[[0.5838279568236354,-1.695438318418311],[0.6315003921048455,-1.5154383168013381]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.6460334913760963,-2.3922593330253434,0.71338606911949],"aabb_xy":[[0.5960560745108426,-2.4422593345145915],[0.6960109082413498,-2.3422593315360944]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[0.27730191700984674,-1.4767532159264571,0.71338606911949],"aabb_xy":[[0.22730191605931394,-1.508302362929978],[0.32730191796037955,-1.4452040689229353]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[-0.35765037520304377,-1.1917166893297608,0.71338606911949],"aabb_xy":[[-0.42165037742345074,-1.2360897734550491],[-0.2936503729826367,-1.1473436052044725]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_32","position":[-0.20919533158296266,0.11872298057928665,0.71338606911949],"aabb_xy":[[-0.2268281671764902,0.10110003456366368],[-0.19156249598943506,0.13634592659490963]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_33","position":[-0.41065273895334387,-1.720463973677366,0.71338606911949],"aabb_xy":[[-0.42819943386946285,-1.757963975241617],[-0.393106044037225,-1.6829639721131144]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_34","position":[0.6061902387089939,-1.9390757242327308,0.71338606911949],"aabb_xy":[[0.5560927747279203,-2.0030757247425424],[0.6562877026900675,-1.875075723722919]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896684521072852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3169.png","name":"3169"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/313.png","name":"313"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1527.png","name":"1527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3932.png","name":"3932"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":780.6712129283285,"rotation_z_degrees":331.4859353180267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010260869060040975,0.0014235683972645546,-0.004197050844518834]},{"name":"camera_2","offset_m":[0.018964174025571375,0.010582691352956593,0.000407255872253081]},{"name":"camera_3","offset_m":[0.013139598218781978,0.011548329693151876,-0.012679564246541992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000698614745940739,0.00041305542498515455,-0.0018724214795997978],"end_effector_yaw_offset_degrees":-0.2806047190075194},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001929300993123857,-0.0018444657679684501,8.8253239496381e-05],"end_effector_yaw_offset_degrees":0.9851243856807286},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002663839059852467,0.00018675607909923817,0.0018435380602420215],"end_effector_yaw_offset_degrees":0.8078233839409614}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025252266630619424,-0.004294618643647237],"position_m":[0.31282522666306195,0.08680538135635277,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019049387757422774,-0.0024715099404829266],"position_m":[0.31109506122425773,-0.11877150994048292,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021563099570471155,-0.0007545328936314254],"position_m":[0.3529436900429529,0.2959454671063686,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006163150127919889,0.0011869944430537103],"position_m":[0.243383684987208,-0.3506130055569463,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a732997a6fe4d9164af98e4de1d3618a512b53eb55401ed34c5d3d6e89e34dd","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7938/tex_ceiling_textures_3932/tex_floor_textures_1527/tex_table_textures_3169/tex_wall_textures_313","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5758072081994862662,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5758072081994862662,"visual_seed":5758072081994862662,"scene_id":"lab_003","finished_at":"2026-09-03T07:14:40"} +{"episode_id":"ep_000005","started_at":"2026-09-03T07:14:43","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.5426935834609202,1.1896182966648623,0.71338606911949],"aabb_xy":[[-0.6066935826306902,1.1428516095458998],[-0.47869358429115033,1.2363849837838248]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.29049850738789795,0.5577003778679104,0.71338606911949],"aabb_xy":[[-0.2987130525035818,0.5490237875702688],[-0.28228396227221386,0.5663769681655515]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.4683162031064784,-1.950946348447877,0.71338606911949],"aabb_xy":[[-0.53231620544928,-1.9958871996920096],[-0.40431620076367686,-1.9060054972037446]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.2614490561268209,-1.0133802948364072,0.71338606911949],"aabb_xy":[[-0.32544905941652896,-1.0567152138403246],[-0.19744905283711275,-0.9700453758324895]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.3110213488981233,0.7763191538523713,0.71338606911949],"aabb_xy":[[0.3037390325214595,0.686319150242862],[0.3183036652747868,0.86631915746188]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.10915021640626921,-1.5761237389855014,0.71338606911949],"aabb_xy":[[0.01915021668309502,-1.599197091520681],[0.19915021612944336,-1.5530503864503213]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[-0.46082106347564733,-2.3152806040684855,0.71338606911949],"aabb_xy":[[-0.5408210656384098,-2.395235787694629],[-0.38082106131288485,-2.235325420442342]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.09856678573537492,-1.1507770291593402,0.71338606911949],"aabb_xy":[[0.07356678618363642,-1.1609195130244747],[0.12356678528711339,-1.1406345452942053]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.12918562595010963,1.6161831312304318,0.71338606911949],"aabb_xy":[[-0.14507011921543478,1.6018301909316075],[-0.11330113268478448,1.6305360715292556]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.46364760831915675,-0.9609075122647028,0.71338606911949],"aabb_xy":[[0.3836537847405985,-1.0409075148575444],[0.543641431897715,-0.8809075096718614]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.37699503641393833,1.7339782260155725,0.71338606911949],"aabb_xy":[[-0.41829957947767427,1.6699782264474554],[-0.3356904933502023,1.7979782255836896]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[0.22527244559902215,1.3706908852587536,0.71338606911949],"aabb_xy":[[0.145272448635983,1.29361524361498],[0.3052724425620613,1.4477665269025268]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.30791217111018,-0.8230525646942028,0.71338606911949],"aabb_xy":[[0.28463032891204865,-0.9080525659914309],[0.33119401330831133,-0.7380525633969748]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.23268370078491218,-1.898659494137545,0.71338606911949],"aabb_xy":[[-0.25031653637843976,-1.9162824401531677],[-0.2150508651913846,-1.8810365481219218]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.03522590043666929,0.8539344888731737,0.71338606911949],"aabb_xy":[[-0.07272590122866474,0.8475666479149836],[0.0022741003553261585,0.8603023298313638]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.2142418806095217,0.3853099009200025,0.71338606911949],"aabb_xy":[[-0.2942418816826421,0.37553185458261806],[-0.1342418795364014,0.39508794725738694]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.5149569794777348,-1.0556997287149519,0.71338606911949],"aabb_xy":[[-0.5296003850317678,-1.070358448371736],[-0.5003135739237018,-1.0410410090581677]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.3959151029777588,-2.492065550099318,0.71338606911949],"aabb_xy":[[0.3734151034540514,-2.5145614975499386],[0.4184151025014662,-2.469569602648697]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[-0.42177443901480555,0.03733836191488127,0.71338606911949],"aabb_xy":[[-0.4296977192535539,0.014838361676877916],[-0.4138511587760572,0.059838362152884635]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.6777298616289731,-2.464298504108603,0.71338606911949],"aabb_xy":[[0.6689486344817368,-2.473078251397134],[0.6865110887762094,-2.4555187568200734]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[-0.612801801307234,1.0502742699076761,0.71338606911949],"aabb_xy":[[-0.6503018019718128,1.0345872119074537],[-0.5753018006426553,1.065961327907898]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.2977453558734183,-0.5675961977573314,0.71338606911949],"aabb_xy":[[0.24262015024382758,-0.6275961991986184],[0.3528705615030091,-0.5075961963160441]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[0.5531750559263333,-1.833528387375034,0.71338606911949],"aabb_xy":[[0.48917505270769535,-1.8802514992740424],[0.6171750591449711,-1.7868052754760257]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.348580120069011,-0.5196711370814113,0.71338606911949],"aabb_xy":[[-0.35982517563962885,-0.5309129348055065],[-0.3373350644983932,-0.5084293393573159]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.6735568780983601,-1.9316326331065918,0.71338606911949],"aabb_xy":[[0.6601103514643168,-1.9451024847596827],[0.6870034047324035,-1.9181627814535005]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[-0.41867149209616944,1.5795965584923546,0.71338606911949],"aabb_xy":[[-0.4986714925663855,1.5712858508780068],[-0.33867149162595356,1.5879072661067033]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.2059076944523927,0.8574996889444995,0.71338606911949],"aabb_xy":[[-0.28590769472599964,0.7845501411187827],[-0.12590769417878572,0.9304492367702162]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_27","position":[-0.6068777117184058,0.13171117080608674,0.71338606911949],"aabb_xy":[[-0.6297934246034557,0.10880687366966324],[-0.5839619988333559,0.15461546794251024]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[0.3271649777525125,-1.4893325686609191,0.71338606911949],"aabb_xy":[[0.2621649767953853,-1.5412807805946247],[0.39216497870963973,-1.4373843567272135]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934710705181732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2806.png","name":"2806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6929.png","name":"6929"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1217.png","name":"1217"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6915.png","name":"6915"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":806.9205545960997,"rotation_z_degrees":300.0641135432562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007908418662990642,-0.015597332725260676,-0.01381930626154846]},{"name":"camera_2","offset_m":[0.001963977570832255,-0.014524752886842577,0.01990094170937397]},{"name":"camera_3","offset_m":[0.004994547758328683,0.017112245822517882,-0.018618571183881643]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005432764616640799,0.0011641240057194981,0.0005747127553083278],"end_effector_yaw_offset_degrees":0.13216972972533836},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010009713267075978,0.0008372735035397966,0.0011892227787813374],"end_effector_yaw_offset_degrees":-0.5601945362185534},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012062718277143793,0.0010545701555398964,-0.0016112247816944612],"end_effector_yaw_offset_degrees":0.7612668933547342}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017008039109572058,0.0005154761041153396],"position_m":[0.3085991960890428,0.09161547610411534,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026470041884787236,0.0009422561652897843],"position_m":[0.31564700418847874,-0.11535774383471022,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00016990252144991579,0.003199418521612078],"position_m":[0.35526990252144997,0.2998994185216121,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018640523710799894,0.004156871743205433],"position_m":[0.24586405237107997,-0.34764312825679455,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad3938337e9acae510d628a91dff70260eeb813963c736773b602f4e44b1a4f1","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8416/tex_ceiling_textures_6915/tex_floor_textures_1217/tex_table_textures_2806/tex_wall_textures_6929","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3888987415904207724,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3888987415904207724,"visual_seed":3888987415904207724,"scene_id":"lab_003","finished_at":"2026-09-03T07:17:14"} +{"episode_id":"ep_000006","started_at":"2026-09-03T07:17:19","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[0.013650613416606894,-1.8749075858036428,0.71338606911949],"aabb_xy":[[-0.06634938685700008,-1.9478571336293597],[0.09365061369021387,-1.8019580379779263]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.648682921281188,-0.562093477068009,0.71338606911949],"aabb_xy":[[0.6261829207691474,-0.5845853354334073],[0.6711829217932286,-0.5396016187026106]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.2954741536387803,-0.5861151374648079,0.71338606911949],"aabb_xy":[[-0.36547415627536667,-0.6062200024606734],[-0.22547415100219398,-0.5660102724689424]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.012420836621789721,-2.4765576794143476,0.71338606911949],"aabb_xy":[[-0.022502543700363198,-2.5565576773064618],[-0.0023391295432162434,-2.3965576815222325]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[0.014560434061452021,1.2938361490941235,0.71338606911949],"aabb_xy":[[-0.02820627281796817,1.2298361456723208],[0.05732714094087221,1.3578361525159257]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.6871700495271638,-0.07699613911371683,0.71338606911949],"aabb_xy":[[0.6680577421691849,-0.09613091799095885],[0.7062823568851426,-0.05786136023647481]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.13860295297449032,-2.030102135108189,0.71338606911949],"aabb_xy":[[-0.16188479517262166,-2.1151021364054166],[-0.115321110776359,-1.9451021338109606]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.3163358807364043,0.46404294393647705,0.71338606911949],"aabb_xy":[[-0.33925159362145424,0.4411386468000537],[-0.29342016785135444,0.4869472410729007]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[0.30976037294119707,0.831758482074465,0.71338606911949],"aabb_xy":[[0.27861345409761396,0.7617584833876577],[0.3409072917847802,0.9017584807612721]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.641775839842931,-0.35931486759891174,0.71338606911949],"aabb_xy":[[-0.6774049957428907,-0.3949475343557647],[-0.6061466839429712,-0.3236822008420588]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.5457317197120051,1.547941570339082,0.71338606911949],"aabb_xy":[[-0.5562991993701041,1.5373965402260732],[-0.5351642400539061,1.5584866004520903]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.22508027075308268,1.7365217579492218,0.71338606911949],"aabb_xy":[[0.16108026746337453,1.6931868389453042],[0.28908027404279074,1.7798566769531394]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.5027615448284861,-1.5611745844409644,0.71338606911949],"aabb_xy":[[0.49780552464360495,-1.5836745846430866],[0.5077175650133673,-1.5386745842388434]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.49960978714811777,1.1670124809492108,0.71338606911949],"aabb_xy":[[-0.5406277305344886,1.1170124803182535],[-0.45859184376174694,1.2170124815801682]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.3890037548832892,-1.8841078495528008,0.71338606911949],"aabb_xy":[[0.37809797879572643,-1.9641078459516297],[0.39990953097085186,-1.8041078531539714]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.18961799578276572,1.6486282908316174,0.71338606911949],"aabb_xy":[[-0.2121179953064731,1.6261323433809967],[-0.1671179962590583,1.6711242382822382]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.6545500173710992,-1.2979133233842934,0.71338606911949],"aabb_xy":[[-0.6920500171881327,-1.3025515346954353],[-0.6170500175540656,-1.2932751120731516]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.626288514101871,0.33723969924151387,0.71338606911949],"aabb_xy":[[0.5918261667037291,0.30274581684369106],[0.6607508615000127,0.37173358163933645]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.5237584020742154,-2.2274793754720124,0.71338606911949],"aabb_xy":[[0.4687584024524696,-2.282463068259485],[0.5787584016959613,-2.1724956826845396]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.6736191652521859,-1.392665602556632,0.71338606911949],"aabb_xy":[[0.6609923779649896,-1.4022116762582046],[0.6862459525393823,-1.3831195288550588]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.4824417142014883,0.39022522215674726,0.71338606911949],"aabb_xy":[[-0.5323244110791845,0.3402252229104725],[-0.43255901732379215,0.44022522140302206]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958425600834426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9445.png","name":"9445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9445.png","name":"9445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9257.png","name":"9257"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4120.png","name":"4120"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7957.png","name":"7957"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":705.6452502164618,"rotation_z_degrees":283.33794178323365,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009020918453839285,0.018915684223323712,-0.005972435400568084]},{"name":"camera_2","offset_m":[-0.001288453103087811,-0.001214506374613046,-0.015212272333065902]},{"name":"camera_3","offset_m":[0.008539210609483101,-0.0014330585453243491,-0.013988418651122063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.2586187066767324e-05,0.0012172169734176075,-0.001150875892839054],"end_effector_yaw_offset_degrees":0.5472719971938238},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001004207335616346,0.0018635655999024048,-0.0016795425957692332],"end_effector_yaw_offset_degrees":0.3340333278824703},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00039388956672230897,0.0010672024555173007,0.0006288432806612326],"end_effector_yaw_offset_degrees":-0.0353049873629121}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007850186370071122,0.0010895202425906438],"position_m":[0.30951498136299294,0.09218952024259064,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003897974490004427,-6.535781765734921e-05],"position_m":[0.30910202550999555,-0.11636535781765735,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002591449407100499,0.003633646626373453],"position_m":[0.3576914494071005,0.30033364662637346,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00032608186557248845,-0.00415298889260809],"position_m":[0.24432608186557248,-0.35595298889260807,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ffb8c1c3b2b6400fa7e82cfbeffe7804159ce136511696dbd7be97f45f66dbea","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9445/tex_ceiling_textures_7957/tex_floor_textures_5566/tex_table_textures_9257/tex_wall_textures_4120","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7406736590035163115,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7406736590035163115,"visual_seed":7406736590035163115,"scene_id":"lab_003","finished_at":"2026-09-03T07:19:52"} +{"episode_id":"ep_000007","started_at":"2026-09-03T07:19:55","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.46158749945639355,0.06746268604058292,0.71338606911949],"aabb_xy":[[0.4240874991642187,0.06342121063997933],[0.4990874997485683,0.07150416144118651]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.5846148635577963,-1.8549210225002988,0.71338606911949],"aabb_xy":[[-0.634609696485738,-1.9049210213955425],[-0.5346200306298547,-1.8049210236050555]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.29649083035077334,-0.3528005077744898,0.71338606911949],"aabb_xy":[[-0.3864908270863835,-0.40598397109178425],[-0.20649083361516307,-0.2996170444571952]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.07991148975097406,1.0835122460874493,0.71338606911949],"aabb_xy":[[-0.1220959039118048,1.0195122458102384],[-0.03772707559014332,1.1475122463646608]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.2624132949507732,0.4665099941116351,0.71338606911949],"aabb_xy":[[-0.2924049576846435,0.43650999477483454],[-0.23242163221690282,0.4965099934484356]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.19563144116706832,-1.5143152479656945,0.71338606911949],"aabb_xy":[[0.18759510646578348,-1.522353367270111],[0.20366777586835316,-1.5062771286612775]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.3870885545753829,-2.1065751400268775,0.71338606911949],"aabb_xy":[[-0.4174866656745264,-2.136982042028547],[-0.35669044347623924,-2.076168238025208]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.544219307068524,-0.14935863075198608,0.71338606911949],"aabb_xy":[[-0.5515016234451874,-0.23935863436149502],[-0.5369369906918601,-0.05935862714247705]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[0.5448443908836529,-0.02883331073545614,0.71338606911949],"aabb_xy":[[0.4808443922970804,-0.07584027413496486],[0.6088443894702253,0.01817365266405258]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.36790733831100675,0.7171630592302218,0.71338606911949],"aabb_xy":[[0.3179073369501195,0.6671851546548062],[0.417907339671894,0.7671409638056375]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.14449393933113586,0.5533564898472108,0.71338606911949],"aabb_xy":[[-0.16638368692007666,0.4633564925579617],[-0.12260419174219507,0.6433564871364599]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.05884711144141941,1.3042752981240109,0.71338606911949],"aabb_xy":[[0.05540643520136224,1.3004138651496464],[0.06228778768147659,1.3081367310983754]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.16463066574871166,-1.294954690252889,0.71338606911949],"aabb_xy":[[-0.21444744521354642,-1.3449546887371921],[-0.1148138862838769,-1.2449546917685854]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.38153782001349,0.5238990929645366,0.71338606911949],"aabb_xy":[[0.35288848765307373,0.4952535336874607],[0.4101871523739062,0.5525446522416123]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.12284418997398683,1.7678889165175788,0.71338606911949],"aabb_xy":[[-0.13087046060461283,1.7591374215402262],[-0.11481791934336083,1.7766404114949315]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.4424871217601172,-0.04331702422901973,0.71338606911949],"aabb_xy":[[-0.45384885641340333,-0.0546854906353078],[-0.431125387106831,-0.03194855782273164]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.5328075073408771,-0.7158356596762641,0.71338606911949],"aabb_xy":[[-0.5498176046309277,-0.731970148174538],[-0.5157974100508264,-0.6997011711779901]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.3779961908970185,0.5486002264759597,0.71338606911949],"aabb_xy":[[-0.3955744930859654,0.5310257369018547],[-0.3604178887080717,0.5661747160500645]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.2704279156535848,1.3348454522527446,0.71338606911949],"aabb_xy":[[0.22940997226721394,1.2848454516217875],[0.3114458590399557,1.3848454528837022]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.6136251250783056,-0.8160178878012709,0.71338606911949],"aabb_xy":[[0.5496251230285736,-0.8561123708905789],[0.6776251271280376,-0.775923404711963]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.176890647491732,-0.1623399624677777,0.71338606911949],"aabb_xy":[[-0.2345211163790028,-0.22233996139448825],[-0.11926017860446111,-0.10233996354106709]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.2879643567772641,0.16927593198072044,0.71338606911949],"aabb_xy":[[-0.29588763701601245,0.14677593174271708],[-0.2800410765385158,0.1917759322187238]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.28112831699625584,-1.5454188882877007,0.71338606911949],"aabb_xy":[[0.25612831706373795,-1.552301556508624],[0.30612831692877374,-1.5385362200667774]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.5520005922386292,-2.434649401211721,0.71338606911949],"aabb_xy":[[-0.555703853567768,-2.438351419520438],[-0.5482973309094902,-2.4309473829030024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918086181386949,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3733.png","name":"3733"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6811.png","name":"6811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7161.png","name":"7161"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5766.png","name":"5766"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":739.1755657482397,"rotation_z_degrees":156.62744248820943,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014101762843143843,0.0007021924830891667,0.0035027168877591087]},{"name":"camera_2","offset_m":[0.015858198448054212,0.01781931602207665,0.019878315286652504]},{"name":"camera_3","offset_m":[-0.007667320994553979,0.010139358029303672,-0.001726287563332863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00014757769278587714,-0.0014236727304291234,0.0014130409505659323],"end_effector_yaw_offset_degrees":0.19593183453597618},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010241578719836345,0.001245728170682759,0.0010396297131744373],"end_effector_yaw_offset_degrees":0.8054247741061173},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005692396987734658,-0.001851826108639167,-0.0010310018000949314],"end_effector_yaw_offset_degrees":-0.20365890426045685}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032450166809733375,-0.0008129975566394144],"position_m":[0.3070549833190267,0.09028700244336059,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024961057406164035,0.0019558396000068246],"position_m":[0.31549610574061643,-0.11434416039999318,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019425735477428454,0.0037562740514206156],"position_m":[0.3531574264522572,0.3004562740514206,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001847358327874112,-0.003015588785950788],"position_m":[0.24381526416721258,-0.35481558878595076,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"43eb7bdbb6f788b511c95e0832a5883798b9c9b8e28cc6dbc085af89679cdc12","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9779/tex_ceiling_textures_5766/tex_floor_textures_7161/tex_table_textures_3733/tex_wall_textures_6811","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1199139049638132438,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1199139049638132438,"visual_seed":1199139049638132438,"scene_id":"lab_003","finished_at":"2026-09-03T07:22:44"} +{"episode_id":"ep_000008","started_at":"2026-09-03T07:25:44","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.15626934991247343,-2.3076422994192427,0.71338606911949],"aabb_xy":[[0.09626934931645723,-2.362454771964466],[0.21626935050848958,-2.2528298268740192]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.04593869142060847,-1.537796866619558,0.71338606911949],"aabb_xy":[[0.012498516224588854,-1.571240492450488],[0.07937886661662805,-1.5043532407886278]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.3442682293519484,-0.8355369856059374,0.71338606911949],"aabb_xy":[[-0.3558372100988849,-0.8605369857228693],[-0.33269924860501177,-0.8105369854890059]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.3578577389084569,1.40442876714964,0.71338606911949],"aabb_xy":[[-0.39535773957303555,1.3887417091494179],[-0.32035773824387814,1.4201158251498622]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.119529326259605,-1.0291054593154538,0.71338606911949],"aabb_xy":[[-0.18352932555377321,-1.093091599684308],[-0.055529326965436776,-0.9651193189465996]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.41878256732210484,1.4655952165152883,0.71338606911949],"aabb_xy":[[0.3962861458882408,1.443095216708541],[0.441278988755969,1.4880952163220358]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.09067370826540566,-0.3635702364296405,0.71338606911949],"aabb_xy":[[-0.11450992590601074,-0.45357023723812706],[-0.0668374906248006,-0.27357023562115407]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.2751648990341605,0.7073480892801345,0.71338606911949],"aabb_xy":[[-0.29337072269540826,0.6963226886981428],[-0.2569590753729129,0.7183734898621261]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.16714480926036923,-0.6757134277948718,0.71338606911949],"aabb_xy":[[0.15046767326727373,-0.692413351768802],[0.18382194525346474,-0.6590135038209415]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.6766264001282649,1.3717982670068252,0.71338606911949],"aabb_xy":[[0.6454794812846818,1.301798268320018],[0.707773318971848,1.4417982656936323]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.5213961087343058,-1.112984589899416,0.71338606911949],"aabb_xy":[[-0.5306897269714563,-1.1504845883875496],[-0.5121024904971552,-1.0754845914112818]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.5639597813398814,-0.412582682775402,0.71338606911949],"aabb_xy":[[-0.5939514440737518,-0.44258268211220253],[-0.5339681186060111,-0.38258268343860147]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.5013382850222474,-0.34758379022809427,0.71338606911949],"aabb_xy":[[0.4638382845248892,-0.3515524737762127],[0.5388382855196057,-0.34361510667997586]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[0.5295255409241699,-1.375177674861056,0.71338606911949],"aabb_xy":[[0.47455181888783704,-1.4301776744252894],[0.5844992629605028,-1.320177675296823]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.47475013422935797,1.3219982960415457,0.71338606911949],"aabb_xy":[[-0.48033180586348667,1.3094982962237705],[-0.46916846259522915,1.3344982958593214]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.6846476195739857,0.08996094008164945,0.71338606911949],"aabb_xy":[[-0.6934496748829584,0.08214961392672038],[-0.675845564265013,0.09777226623657853]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.06781925766717412,1.2188930910919145,0.71338606911949],"aabb_xy":[[-0.1478192550707675,1.1389005198937314],[0.012180739736419309,1.298885662290097]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.31897609329668125,-2.194359309022812,0.71338606911949],"aabb_xy":[[-0.3539760931927001,-2.202733544534752],[-0.2839760934006624,-2.1859850735108717]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.5605284234656438,-1.8202791554983782,0.71338606911949],"aabb_xy":[[0.505536172830133,-1.8752791572416914],[0.6155206741011549,-1.7652791537550658]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.6287128191598785,1.483598923660368,0.71338606911949],"aabb_xy":[[-0.6787128204437184,1.4336200692697456],[-0.5787128178760385,1.5335777780509898]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.6606413400408528,-0.6174691040138411,0.71338606911949],"aabb_xy":[[0.6510097038204232,-0.6271064167935501],[0.6702729762612825,-0.6078317912341322]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.4885090891155658,0.013060969472415529,0.71338606911949],"aabb_xy":[[-0.5485090899763784,-0.038365460534070854],[-0.4285090882547528,0.0644873994789019]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.29134721350970194,-1.322793899793094,0.71338606911949],"aabb_xy":[[0.2872312633976292,-1.326909454825939],[0.29546316362177455,-1.318678344760248]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[-0.5134649715896522,1.048340606678941,0.71338606911949],"aabb_xy":[[-0.5584575583081026,1.0033406074044922],[-0.4684723848712018,1.0933406059533897]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[0.38760052328999994,-1.1744429648982773,0.71338606911949],"aabb_xy":[[0.3326005236682541,-1.22942665768575],[0.4426005229117458,-1.1194592721108045]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[0.7140725810021693,1.5892592293167929,0.71338606911949],"aabb_xy":[[0.7101587078067468,1.580510213910236],[0.7179864541975918,1.5980082447233497]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.4076914099106335,-2.312006170066003,0.71338606911949],"aabb_xy":[[-0.4247934878690017,-2.3291129755972726],[-0.39058933195226536,-2.294899364534733]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[-0.3168918569146525,0.21483105613871967,0.71338606911949],"aabb_xy":[[-0.38689185904608203,0.19206909051302398],[-0.24689185478322295,0.2375930217644153]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[-0.33178284346505305,1.0470372126052867,0.71338606911949],"aabb_xy":[[-0.4217828457990721,0.969554858020174],[-0.241782841131034,1.1245195671903994]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[-0.10063954128116448,1.6108691015300605,0.71338606911949],"aabb_xy":[[-0.11813954041553165,1.6009894744924724],[-0.08313954214679731,1.620748728567648]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_30","position":[-0.1467275797106381,0.04429829320572409,0.71338606911949],"aabb_xy":[[-0.18422758005886586,0.032506897624640534],[-0.10922757936241034,0.05608968878680764]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[0.6606565766558412,-1.0607062449714812,0.71338606911949],"aabb_xy":[[0.6526132167298859,-1.1457062460668477],[0.6686999365817963,-0.9757062438761148]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_32","position":[0.43455951772791446,-2.003486587541176,0.71338606911949],"aabb_xy":[[0.38456024255947835,-2.053486588817123],[0.4845587928963507,-1.9534865862652286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958561976839729,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1628.png","name":"1628"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1628.png","name":"1628"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1415.png","name":"1415"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2041.png","name":"2041"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5366.png","name":"5366"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":801.9774776336344,"rotation_z_degrees":182.88214184975917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015618613390433453,-0.007339459269297679,0.006110832994366263]},{"name":"camera_2","offset_m":[0.012648434187754982,-0.011143067167637395,0.001193766237757115]},{"name":"camera_3","offset_m":[0.007737284082447893,0.003937534017218379,-0.0017109731395414975]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001174069508899891,-0.0010215557986317685,0.0008399812876336804],"end_effector_yaw_offset_degrees":0.47850324607970607},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009156729704057694,-0.001290744073628672,-0.0010399696813666718],"end_effector_yaw_offset_degrees":0.774866782937008},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018990728517202728,0.0006136341555344977,-0.0014415138034626703],"end_effector_yaw_offset_degrees":0.10672836160587562}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007041787759775953,0.0016896642579870245],"position_m":[0.31100417877597764,0.09278966425798703,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029045902447912683,0.0007338661337346741],"position_m":[0.3159045902447913,-0.11556613386626532,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004138806575262687,0.0004100110277929069],"position_m":[0.3592388065752627,0.29711001102779294,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017317413860029373,-0.00329912316380833],"position_m":[0.24573174138600293,-0.3550991231638083,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a12a570f75b65ea2c6c1485be164265f832fab79066dd99ee8996cd10770ed65","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1628/tex_ceiling_textures_5366/tex_floor_textures_9314/tex_table_textures_1415/tex_wall_textures_2041","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":198662587568750322,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":198662587568750322,"visual_seed":198662587568750322,"scene_id":"lab_003","finished_at":"2026-09-03T07:28:10"} +{"episode_id":"ep_000009","started_at":"2026-09-03T07:28:12","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.0030338265133245113,1.1692472916613923,0.71338606911949],"aabb_xy":[[-0.08303382449410955,1.1616457506995403],[0.07696617146746053,1.1768488326232442]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.1138050962961209,0.9893257615311106,0.71338606911949],"aabb_xy":[[-0.12179908487382426,0.9813256814360202],[-0.10581110771841748,0.9973258416262009]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.46684652349509914,1.0947873718302201,0.71338606911949],"aabb_xy":[[0.4018465249380263,1.0650348384163373],[0.531846522052172,1.1245399052441025]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.4903610254579003,-1.1787544913660286,0.71338606911949],"aabb_xy":[[-0.5403603006263364,-1.2287544926419758],[-0.44036175028946417,-1.1287544900900814]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.15475770481053497,1.3344976087786362,0.71338606911949],"aabb_xy":[[-0.19160825274752258,1.2969976079556025],[-0.11790715687354736,1.37199760960167]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.21987012720091514,-1.0834249962637146,0.71338606911949],"aabb_xy":[[0.17856558413717916,-1.1474249958318317],[0.26117467026465113,-1.0194249966955975]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.20299969758883996,-1.981522839801095,0.71338606911949],"aabb_xy":[[0.1389996990022675,-2.028529803200603],[0.2669996961754124,-1.9345158764015857]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.047080009360266684,-0.6140954320848078,0.71338606911949],"aabb_xy":[[-0.052537954997286744,-0.6940954353924669],[-0.04162206372324661,-0.5340954287771487]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.16805163851288563,0.5791639636917458,0.71338606911949],"aabb_xy":[[-0.18548235359189208,0.5618918490278949],[-0.15062092343387906,0.5964360783555965]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[0.18789004051388825,0.8952412657799589,0.71338606911949],"aabb_xy":[[0.15055876398864565,0.8605882109851066],[0.2252213170391309,0.9298943205748111]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.16139870183843552,1.7310545197661553,0.71338606911949],"aabb_xy":[[-0.1765615748153726,1.715889062471037],[-0.14623582886149844,1.7462199770612745]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.602994813968966,-1.6178937759373944,0.71338606911949],"aabb_xy":[[-0.666994817258674,-1.6612286949413118],[-0.5389948106792578,-1.5745588569334765]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.14402635248916962,-1.7302574817937293,0.71338606911949],"aabb_xy":[[0.05402635307079873,-1.763632978637919],[0.2340263519075405,-1.6968819849495396]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.39476471930529433,1.3027284452195405,0.71338606911949],"aabb_xy":[[0.34948610442414507,1.2387284458713568],[0.4400433341864436,1.3667284445677241]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.4672373593976168,1.3260533437143707,0.71338606911949],"aabb_xy":[[-0.48973735892132414,1.3035573962637497],[-0.44473735987390933,1.3485492911649912]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.22054544536790477,1.7849919641193703,0.71338606911949],"aabb_xy":[[0.21313298982651627,1.7791407536977424],[0.22795790090929322,1.7908431745409983]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.47271128623011704,-0.6194525637345669,0.71338606911949],"aabb_xy":[[0.40271128982015514,-0.6398904993862484],[0.5427112826400786,-0.599014628082885]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.2822333284621358,0.6169004310286015,0.71338606911949],"aabb_xy":[[-0.33171374967609457,0.5529004331157498],[-0.232752907248177,0.6809004289414534]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.5288377569021738,-1.9092459251668776,0.71338606911949],"aabb_xy":[[0.46883775705560704,-1.966064547359916],[0.5888377567487406,-1.8524273029738387]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.19555767755157794,-0.7183456953967771,0.71338606911949],"aabb_xy":[[-0.22903684481261888,-0.7518248087678839],[-0.162078510290537,-0.68486658202567]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.6533154901642824,-1.7056649490784184,0.71338606911949],"aabb_xy":[[0.5956850212770114,-1.7656649480051285],[0.7109459590515531,-1.6456649501517073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930049154635549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5754.png","name":"5754"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2663.png","name":"2663"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/536.png","name":"536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8438.png","name":"8438"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":766.8301006776835,"rotation_z_degrees":316.9897053728093,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018227065473612157,-0.00783735458821489,-0.006116812607645388]},{"name":"camera_2","offset_m":[0.01917045985724201,0.006978769458257129,0.010256855949050028]},{"name":"camera_3","offset_m":[0.006323455083104196,0.005984585642494135,-0.0008988598279686018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016056595842630942,0.0008622507882223925,-0.0017302335101301788],"end_effector_yaw_offset_degrees":-0.41807211514041986},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00021613682296704956,0.0002932186992676694,0.000235961156230295],"end_effector_yaw_offset_degrees":-0.5105223466321478},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[4.005605876069738e-05,0.0007279526590516696,-0.0013526851934574325],"end_effector_yaw_offset_degrees":-0.34628745780414993}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035533694994670942,0.0029014160954122037],"position_m":[0.3067466305005329,0.09400141609541221,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00487849066758276,0.0026952522705799894],"position_m":[0.3081215093324172,-0.11360474772942002,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013060357024287572,-0.00026910105219971926],"position_m":[0.3564060357024288,0.2964308989478003,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010940179187053632,0.003974487039253711],"position_m":[0.24290598208129463,-0.34782551296074626,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"25f74b12729a889eeea12a47df970f77e5e6a5854abaff84294b8c54df826a6d","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9748/tex_ceiling_textures_8438/tex_floor_textures_536/tex_table_textures_5754/tex_wall_textures_2663","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7864167753317716073,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7864167753317716073,"visual_seed":7864167753317716073,"scene_id":"lab_003","finished_at":"2026-09-03T07:31:01"} +{"episode_id":"ep_000010","started_at":"2026-09-03T07:33:52","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.465367725158668,1.667395577420733,0.71338606911949],"aabb_xy":[[-0.4769367059056045,1.642395577303801],[-0.45379874441173135,1.6923955775376645]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.2945992397072906,-0.4829360658531616,0.71338606911949],"aabb_xy":[[-0.3089336648334541,-0.49499628140770036],[-0.2802648145811272,-0.47087585029862267]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.1447601077185775,-0.8777401711881805,0.71338606911949],"aabb_xy":[[-0.15484181479715095,-0.9577401690802951],[-0.134678400640004,-0.7977401732960658]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.2069455947714065,0.4951502122479958,0.71338606911949],"aabb_xy":[[-0.25692301163666004,0.4451502107587472],[-0.1569681779061529,0.5451502137372443]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.2135151363382729,-1.742124610010308,0.71338606911949],"aabb_xy":[[0.20610268079688443,-1.7479758204319358],[0.22092759187966138,-1.7362733995886799]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.2395361565698187,-0.39311680790074677,0.71338606911949],"aabb_xy":[[-0.2745361557626369,-0.4040838538984093],[-0.2045361573770004,-0.38214976190308403]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.07010766370989596,1.6195620916261038,0.71338606911949],"aabb_xy":[[-0.0899987035902362,1.6069062803414074],[-0.05021662382955572,1.632217902910801]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.5773398615993235,-1.246836397484987,0.71338606911949],"aabb_xy":[[0.5693463718040415,-1.2548345294254626],[0.5853333513946055,-1.2388382655445114]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.5055419843598608,-2.100867215892895,0.71338606911949],"aabb_xy":[[0.45544452037878713,-2.164867216402707],[0.5556394483409344,-2.0368672153830834]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.601186727714358,-0.27788715671536934,0.71338606911949],"aabb_xy":[[-0.6361867260250534,-0.285602171638915],[-0.5661867294036625,-0.2701721417918237]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.22473919430259798,-0.6890244699683226,0.71338606911949],"aabb_xy":[[-0.23200044187300542,-0.701811480231832],[-0.2174779467321906,-0.6762374597048131]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.2975728419039394,-0.5715841557288162,0.71338606911949],"aabb_xy":[[0.2815109144454217,-0.6565841575414079],[0.313634769362457,-0.4865841539162243]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.10057222068433425,1.1370951572169643,0.71338606911949],"aabb_xy":[[-0.13503469869742202,1.1304314800340416],[-0.06610974267124646,1.143758834399887]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.0596730777627843,-1.071496260117038,0.71338606911949],"aabb_xy":[[0.05409140612865554,-1.0839962599348134],[0.06525474939691306,-1.0589962602992624]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[0.28513298479242766,0.6974629818461562,0.71338606911949],"aabb_xy":[[0.2743600108710599,0.6624629836271172],[0.29590595871379544,0.7324629800651952]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.11538497170100359,-2.208257088375955,0.71338606911949],"aabb_xy":[[0.11005245704639062,-2.213581416621191],[0.12071748635561659,-2.2029327601307194]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.5243129409661924,-1.8278324398441175,0.71338606911949],"aabb_xy":[[0.46431293932327056,-1.8798325891360617],[0.5843129426091143,-1.7758322905521733]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.611139490382226,-2.5292098964067526,0.71338606911949],"aabb_xy":[[-0.633048172521577,-2.551110563226843],[-0.5892308082428749,-2.5073092295866615]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.29442952870082006,-1.1399684097127978,0.71338606911949],"aabb_xy":[[0.20942953028339684,-1.2248427051750828],[0.3794295271182433,-1.0550941142505128]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.6756477840277892,-2.158426874738043,0.71338606911949],"aabb_xy":[[0.6553634813043904,-2.178709499880751],[0.6959320867511879,-2.138144249595334]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.14217926685904958,1.542764016774083,0.71338606911949],"aabb_xy":[[0.11967926704514723,1.5382894004036025],[0.164679266672952,1.547238633144564]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.30074326591593653,-2.053552418426932,0.71338606911949],"aabb_xy":[[-0.31828996083205546,-2.0910524199911835],[-0.2831965709998176,-2.0160524168626806]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.264575133885615,-1.878041265276999,0.71338606911949],"aabb_xy":[[-0.3285751371753231,-1.9213761842809165],[-0.2005751305959069,-1.8347063462730813]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[0.36968859555686184,1.2548403095875615,0.71338606911949],"aabb_xy":[[0.3321885956130953,1.2465472195527247],[0.40718859550062814,1.263133399622398]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[-0.3078575264035296,0.28982720277380203,0.71338606911949],"aabb_xy":[[-0.38785752380712296,0.20983463157561918],[-0.22785752899993614,0.3698197739719848]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.0019997516562595408,-0.647322897828398,0.71338606911949],"aabb_xy":[[-0.006781475490976687,-0.6561026451169283],[0.010780978803495768,-0.638543150539868]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.3063459683276602,-0.7751737875311173,0.71338606911949],"aabb_xy":[[-0.31338627826119725,-0.8551737869307888],[-0.29930565839412326,-0.6951737881314459]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[-0.26487274735893107,0.690784475223222,0.71338606911949],"aabb_xy":[[-0.3348727491676765,0.6694307064590346],[-0.19487274555018563,0.7121382439874093]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880785325954184,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8336.png","name":"8336"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8336.png","name":"8336"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6535.png","name":"6535"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/42.png","name":"42"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":634.0770626705793,"rotation_z_degrees":324.8890841343786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011326769078772541,0.015544347959121633,-0.006270840367281538]},{"name":"camera_2","offset_m":[0.01709277644839766,-0.0014663600128188778,0.018099780201896797]},{"name":"camera_3","offset_m":[0.007919558761521745,0.0032459100204610854,0.0121398708990029]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019281032636602026,-0.0006318354170743263,-0.0008748645043568275],"end_effector_yaw_offset_degrees":0.6352262930718926},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010775392149119057,-0.00023712403119282004,7.248611713253812e-05],"end_effector_yaw_offset_degrees":0.6129056484530055},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019923762967658447,-0.0012737906874872,-0.0002764326308694863],"end_effector_yaw_offset_degrees":0.9038648733062573}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000978008125191862,0.004887153422556562],"position_m":[0.3112780081251919,0.09598715342255656,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017456385913527319,-0.0024617017971139098],"position_m":[0.31125436140864726,-0.11876170179711391,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023375708586812396,-0.004092736751740841],"position_m":[0.3527624291413188,0.2926072632482592,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002915069153809403,-0.004705373931623926],"position_m":[0.2469150691538094,-0.3565053739316239,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c11bee2d7137fe38858916fd9a4e06fb7a0994306d1f615bcf13009277170c0","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8336/tex_ceiling_textures_2636/tex_floor_textures_42/tex_table_textures_6535/tex_wall_textures_1688","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6326025500988431318,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6326025500988431318,"visual_seed":6326025500988431318,"scene_id":"lab_003","finished_at":"2026-09-03T07:36:17"} +{"episode_id":"ep_000011","started_at":"2026-09-03T07:36:20","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.33534687994943213,-0.07899878084400269,0.71338606911949],"aabb_xy":[[-0.36163570426987274,-0.10527021449865391],[-0.3090580556289914,-0.05272734718935145]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.30705513128777073,-1.046513027575484,0.71338606911949],"aabb_xy":[[-0.31518281948108395,-1.0554266359861915],[-0.2989274430944575,-1.0375994191647764]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.09387285187023642,1.386596425167549,0.71338606911949],"aabb_xy":[[-0.18387284860584663,1.3334129618502542],[-0.0038728551346261936,1.4397798884848432]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.4300571754587649,0.924569719474158,0.71338606911949],"aabb_xy":[[-0.49405717573274316,0.8745036192768699],[-0.3660571751847867,0.9746358196714459]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.052870465876717065,-1.700992114820028,0.71338606911949],"aabb_xy":[[-0.09999984487855273,-1.7649921158644297],[-0.005741086874881389,-1.6369921137756258]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.01793782840697522,-2.4013456424725708,0.71338606911949],"aabb_xy":[[-0.05240017580511701,-2.4358395248703926],[0.01652451899116658,-2.366851760074747]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.4270697948706206,1.4152794230559977,0.71338606911949],"aabb_xy":[[0.37207754423510964,1.360279421312685],[0.4820620455061316,1.4702794247993105]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.33288040004530406,-1.5687549414252393,0.71338606911949],"aabb_xy":[[-0.40288039645526574,-1.5891928770769208],[-0.26288040363534215,-1.5483170057735574]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.3717078097187135,0.3276972793770314,0.71338606911949],"aabb_xy":[[-0.39420780996222893,0.31549264471725946],[-0.34920780947519814,0.33990191403680337]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[0.12557147003080138,-1.9475201948702052,0.71338606911949],"aabb_xy":[[0.09127455901306075,-1.9818170810801465],[0.159868381048542,-1.913223308660264]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.5835875042526747,0.7445046808102487,0.71338606911949],"aabb_xy":[[-0.6435875048486909,0.6896922082650252],[-0.5235875036566585,0.7993171533554722]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.6371948882624541,0.25945297558198277,0.71338606911949],"aabb_xy":[[0.587312191384758,0.20945297633570809],[0.6870775851401504,0.30945297482825757]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.046880526842906334,1.5097627570177194,0.71338606911949],"aabb_xy":[[0.03925625875272809,1.502129533481176],[0.054504794933084584,1.5173959805542634]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.3724994019754729,-0.38759381516661007,0.71338606911949],"aabb_xy":[[-0.4374994005325457,-0.41734634858049263],[-0.30749940341840004,-0.3578412817527274]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.39435878013504805,1.381202563349472,0.71338606911949],"aabb_xy":[[-0.4318587787106689,1.3684662676859138],[-0.3568587815594273,1.3939388590130297]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.6143659701538096,-0.9682482427301888,0.71338606911949],"aabb_xy":[[-0.6478451374148505,-1.001727356101296],[-0.5808868028927686,-0.9347691293590821]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.18694628369856048,0.7788857749090696,0.71338606911949],"aabb_xy":[[0.12694628205563863,0.7268856256171254],[0.24694628534148233,0.8308859242010138]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.5181388400337925,-1.4480452553253305,0.71338606911949],"aabb_xy":[[0.48817128312396685,-1.4780452556232162],[0.5481063969436182,-1.4180452550274447]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.29620605572594694,1.3674807225281764,0.71338606911949],"aabb_xy":[[0.2637443548440193,1.3373478904132736],[0.32866775660787423,1.3976135546430788]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.2837856477922485,-2.40583923937101,0.71338606911949],"aabb_xy":[[-0.3637856447552877,-2.4829148810147834],[-0.20378565082920935,-2.3287635977272365]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.3768698163757699,0.7351553560182098,0.71338606911949],"aabb_xy":[[-0.45686981503265595,0.720650497093947],[-0.29686981771888393,0.7496602149424726]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.16700298476708275,-0.22894482308433028,0.71338606911949],"aabb_xy":[[-0.18288747803240787,-0.24329776338315431],[-0.15111849150175757,-0.2145918827855062]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.5753072147264658,-2.4634042277662545,0.71338606911949],"aabb_xy":[[-0.5978072142501731,-2.485900175216875],[-0.5528072152027583,-2.4409082803156332]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.5761867399491531,1.21861950814435,0.71338606911949],"aabb_xy":[[0.5121867435218314,1.1714498843222536],[0.6401867363764752,1.2657891319664465]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.45739700534811756,1.262035790858007,0.71338606911949],"aabb_xy":[[-0.4634340183487823,1.256009089789059],[-0.45135999234745283,1.2680624919269552]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[0.32704103389004224,-0.9965318348867922,0.71338606911949],"aabb_xy":[[0.2895410335978674,-1.000573310287396],[0.36454103418221706,-0.9924903594861887]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.3693330294017882,-1.2726344723677412,0.71338606911949],"aabb_xy":[[-0.3872021371562437,-1.286467380344952],[-0.3514639216473327,-1.2588015643905304]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.5134877331885083,-1.8188883580224533,0.71338606911949],"aabb_xy":[[-0.5934877302027562,-1.8390229096958648],[-0.4334877361742603,-1.7987538063490423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911810145059634,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1831.png","name":"1831"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1831.png","name":"1831"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4731.png","name":"4731"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7746.png","name":"7746"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2377.png","name":"2377"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6263.png","name":"6263"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":520.4097137221404,"rotation_z_degrees":261.89169131601955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005077140447786012,0.016746001347891042,0.004370535309395605]},{"name":"camera_2","offset_m":[-0.004869264133255115,0.013294008551700803,-0.018654714319702653]},{"name":"camera_3","offset_m":[-0.005669688797004687,-0.013247297030784684,0.00040927479934534106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013610439849013295,0.001429494590873463,0.0008113088804759419],"end_effector_yaw_offset_degrees":0.22466864706738465},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011526184863614448,-0.001256222476496652,0.0016647058124619734],"end_effector_yaw_offset_degrees":-0.9803957903477438},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011547639957324024,0.000623126967674368,-0.00040719862352241783],"end_effector_yaw_offset_degrees":0.73862204255066}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012840128416362253,-0.004543381180157494],"position_m":[0.3115840128416362,0.0865566188198425,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00044766133228623956,-0.004231765757711517],"position_m":[0.31344766133228624,-0.12053176575771152,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[9.750159360076473e-05,-0.001981039973114218],"position_m":[0.3551975015936008,0.2947189600268858,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002986193276761154,-0.0025058920331790693],"position_m":[0.2437013806723239,-0.3543058920331791,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"24829bb6f13a232a9ea5f36204012adf3c15bde7c0ff3ec368662722ac3058cf","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1831/tex_ceiling_textures_6263/tex_floor_textures_2377/tex_table_textures_4731/tex_wall_textures_7746","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8322359611681883795,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8322359611681883795,"visual_seed":8322359611681883795,"scene_id":"lab_003","finished_at":"2026-09-03T07:38:45"} +{"episode_id":"ep_000012","started_at":"2026-09-03T07:38:48","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.20220486157806394,-2.5515875842424074,0.71338606911949],"aabb_xy":[[-0.20632081169013658,-2.5557031392752525],[-0.19808891146599125,-2.5474720292095614]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.635540107219754,1.327426432813998,0.71338606911949],"aabb_xy":[[0.571540106959283,1.2824176334610697],[0.6995401074802247,1.3724352321669258]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.6322520827269094,-0.4742914017065516,0.71338606911949],"aabb_xy":[[-0.6697520826706758,-0.4825844917413882],[-0.594752082783143,-0.465998311671715]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[0.25850006967716077,-1.0207133195180154,0.71338606911949],"aabb_xy":[[0.25316755502254784,-1.0260376477632511],[0.2638325843317738,-1.01538899127278]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.502507040387238,-2.2324103573973795,0.71338606911949],"aabb_xy":[[-0.5825070425500005,-2.312365541023523],[-0.42250703822447555,-2.152455173771236]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.5762006569161051,0.28040655931444336,0.71338606911949],"aabb_xy":[[-0.6214792717972543,0.21640655996625968],[-0.5309220420349557,0.34440655866262704]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.14417209629833883,-1.2495865670605193,0.71338606911949],"aabb_xy":[[0.09418914611085948,-1.2995865667030795],[0.19415504648581813,-1.1995865674179587]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.11395291870272128,1.6017816336194541,0.71338606911949],"aabb_xy":[[-0.19395291977584161,1.59200358728207],[-0.033952917629600954,1.6115596799568388]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.21080118372632084,-2.0025537830239295,0.71338606911949],"aabb_xy":[[0.15580118454973133,-2.0575434577988867],[0.2658011829029103,-1.9475641082489714]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.5744610506803902,-0.6616985548082752,0.71338606911949],"aabb_xy":[[-0.6444610522826698,-0.6751313480099329],[-0.5044610490781108,-0.6482657616066178]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.5005623826064137,1.5813729764850355,0.71338606911949],"aabb_xy":[[-0.5655623811634866,1.5516204430711529],[-0.4355623840493409,1.6111255098989181]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.6490377985208418,-2.186012500394936,0.71338606911949],"aabb_xy":[[0.6140377986248228,-2.194386735906876],[0.6840377984168605,-2.177638264882996]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.6283750791532694,-1.3885239493695816,0.71338606911949],"aabb_xy":[[-0.6658750794454442,-1.3925654247701849],[-0.5908750788610946,-1.3844824739689778]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.6966463529066087,-0.429862683473512,0.71338606911949],"aabb_xy":[[0.6747376707672575,-0.45176335029360265],[0.7185550350459596,-0.4079620166534212]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.1605287860474277,0.5618441378070904,0.71338606911949],"aabb_xy":[[-0.19552878431754758,0.5547700101121023],[-0.12552878777730778,0.5689182655020786]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.15881198150289955,-1.5542500475871832,0.71338606911949],"aabb_xy":[[0.13096694472229242,-1.585034546325495],[0.18665701828350667,-1.5234655488488715]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.3657529068779215,1.0448886970865936,0.71338606911949],"aabb_xy":[[0.3107529086761766,1.004366730460156],[0.4207529050796663,1.0854106637130312]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.16278976229366382,-1.3914099088627898,0.71338606911949],"aabb_xy":[[-0.22678976146343374,-1.4381765959817523],[-0.09878976312389386,-1.3446432217438273]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.6610451381679963,-2.3194850862849457,0.71338606911949],"aabb_xy":[[0.6481732346670559,-2.399485086698782],[0.6739170416689362,-2.2394850858711095]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.5653389633396833,-2.0575148797846374,0.71338606911949],"aabb_xy":[[0.5580777157692759,-2.070301890048147],[0.5726002109100908,-2.044727869521128]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.20868369393459812,-0.764119295589166,0.71338606911949],"aabb_xy":[[-0.2336836934863366,-0.7742617794543009],[-0.18368369438285964,-0.7539768117240314]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.5178127530860523,0.3670112005995976,0.71338606911949],"aabb_xy":[[0.49281275315353446,0.3601285323786743],[0.5428127530185702,0.37389386882052095]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.3280142725789421,-0.8185067198877769,0.71338606911949],"aabb_xy":[[0.2640142705292101,-0.8586012029770849],[0.3920142746286741,-0.7784122367984689]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[-0.3146342307477264,0.41955757575267505,0.71338606911949],"aabb_xy":[[-0.321135867255731,0.40978975372636534],[-0.3081325942397218,0.4293253977789849]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.3944616030313024,0.7213521743421345,0.71338606911949],"aabb_xy":[[0.33046160232783306,0.6753337918692135],[0.4584616037347718,0.7673705568150556]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.49772946287807773,-0.9979319929407284,0.71338606911949],"aabb_xy":[[0.4591837700528767,-1.036477763996917],[0.5362751557032788,-0.9593862218845397]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.1381530898187141,-0.894114546655985,0.71338606911949],"aabb_xy":[[0.13044989914463703,-0.9018239173547229],[0.14585628049279112,-0.8864051759572469]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[0.0901356154515891,-2.4919490314723016,0.71338606911949],"aabb_xy":[[0.005135616759514461,-2.5239348948671805],[0.17513561414366374,-2.4599631680774228]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[0.33229759929278635,1.6530602388149567,0.71338606911949],"aabb_xy":[[0.30181334916575614,1.6030602390334605],[0.36278184941981645,1.7030602385964524]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[-0.49574281980422735,-2.4741433265872614,0.71338606911949],"aabb_xy":[[-0.5597428212122177,-2.525932278111186],[-0.43174281839623657,-2.4223543750633367]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.5220591708890305,-2.358980165056872,0.71338606911949],"aabb_xy":[[0.5123031813798566,-2.368742699116106],[0.5318151603982044,-2.349217630997637]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_31","position":[-0.10532332880624651,-0.26005235704767093,0.71338606911949],"aabb_xy":[[-0.16932332739281897,-0.30705932044717965],[-0.04132333021967405,-0.21304539364816222]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940909505471907,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/496.png","name":"496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2136.png","name":"2136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8690.png","name":"8690"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3365.png","name":"3365"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.2182126747953,"rotation_z_degrees":266.66393374559425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01394113940468396,-0.005112882998047566,0.001785643926062383]},{"name":"camera_2","offset_m":[0.014765684854188884,-0.0031694613363261216,0.010587503299042976]},{"name":"camera_3","offset_m":[-0.0001701102718588525,-0.007765018556132333,-0.016616213825457457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001844516994218612,-0.0009413212533121947,-0.00039179784287820944],"end_effector_yaw_offset_degrees":0.8373052251263116},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015835654138310435,0.0019974772588284605,-0.0018027022244247607],"end_effector_yaw_offset_degrees":0.6822864346024209},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00029562833410235476,-0.001347827710797726,0.0016935266030847396],"end_effector_yaw_offset_degrees":0.2643114176387984}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004679582003807031,-0.0017835954167976743],"position_m":[0.305620417996193,0.08931640458320232,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004561508570180108,-0.0036488451457037285],"position_m":[0.3084384914298199,-0.11994884514570373,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004249943550278307,-0.003987030214957153],"position_m":[0.35934994355027833,0.29271296978504285,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035444729929740427,-0.0034330657617721717],"position_m":[0.24045552700702597,-0.35523306576177216,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ef77aa2411e205c1d6e0b6d0fb8d9f786a142e8972ad1e69385ab96862ed657c","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5850/tex_ceiling_textures_3365/tex_floor_textures_8690/tex_table_textures_496/tex_wall_textures_2136","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5675150290709161348,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5675150290709161348,"visual_seed":5675150290709161348,"scene_id":"lab_003","finished_at":"2026-09-03T07:41:13"} +{"episode_id":"ep_000013","started_at":"2026-09-03T07:41:16","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.2196439263925734,-0.647596640524867,0.71338606911949],"aabb_xy":[[-0.30933100270068886,-0.7375966407793175],[-0.12995685008445795,-0.5575966402704164]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.14393221130849954,1.3042637556034355,0.71338606911949],"aabb_xy":[[0.11278529246491639,1.2342637569166284],[0.17507913015208262,1.3742637542902427]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.5628422686094678,-0.3215368589806662,0.71338606911949],"aabb_xy":[[0.5403431328832409,-0.34403685975892917],[0.5853414043356948,-0.2990368582024032]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.34873248445556837,-2.53389048891923,0.71338606911949],"aabb_xy":[[0.2987495342680889,-2.58389048856179],[0.3987154346430476,-2.483890489276669]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.08087573914044488,0.42214135892065796,0.71338606911949],"aabb_xy":[[-0.1054219547631956,0.3918924623716209],[-0.056329523517694165,0.452390255469695]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.26332323195098334,-2.476234919051148,0.71338606911949],"aabb_xy":[[-0.31112939956475194,-2.541234921758206],[-0.21551706433721463,-2.411234916344088]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.1439786010619123,-0.05945092605163671,0.71338606911949],"aabb_xy":[[-0.17775416025260526,-0.07348942126480174],[-0.11020304187121932,-0.04541243083847168]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.5689554789084816,1.3643685582766327,0.71338606911949],"aabb_xy":[[0.4789554824076098,1.3184569158581745],[0.6589554754093533,1.410280200695091]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.6198958001380408,-0.6122707651420016,0.71338606911949],"aabb_xy":[[0.564902588800904,-0.6672707654807952],[0.6748890114751775,-0.557270764803208]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.4911782893723038,-1.6148956516932644,0.71338606911949],"aabb_xy":[[0.4792455550104758,-1.6272778045011236],[0.5031110237341319,-1.6025134988854048]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.5614537170501239,-0.8735541891500627,0.71338606911949],"aabb_xy":[[0.4974537150003919,-0.9136486722393706],[0.6254537190998559,-0.8334597060607547]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[0.2816655796872707,1.0123071264048762,0.71338606911949],"aabb_xy":[[0.27250570074339414,1.0057759083613391],[0.29082545863114734,1.0188383444484133]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.1836676558475665,-1.696686034282592,0.71338606911949],"aabb_xy":[[-0.21813013386065427,-1.7033497114655145],[-0.14920517783447873,-1.690022357099669]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.29921254085695026,-1.864384663120459,0.71338606911949],"aabb_xy":[[-0.34046135188686494,-1.9193846626326765],[-0.25796372982703547,-1.8093846636082416]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.3287497152504377,-1.1066475608800028,0.71338606911949],"aabb_xy":[[-0.3927497155244159,-1.1567136610772908],[-0.26474971497645944,-1.0565814606827149]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.6080629512597568,-2.0590767252394935,0.71338606911949],"aabb_xy":[[-0.6580362452630172,-2.109076725794041],[-0.5580896572564963,-2.009076724684946]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.5542950150239021,-0.6693114773199997,0.71338606911949],"aabb_xy":[[-0.5911455629608896,-0.7068114781430336],[-0.5174444670869144,-0.6318114764969661]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.6516648977635249,-1.704132848062674,0.71338606911949],"aabb_xy":[[0.6017822008858287,-1.7541328473089488],[0.7015475946412211,-1.6541328488163993]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.3211391411873785,0.7578677590456606,0.71338606911949],"aabb_xy":[[-0.32647165584199156,0.7525434308004252],[-0.3158066265327656,0.7631920872908963]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.4653130209881491,-1.886254441916797,0.71338606911949],"aabb_xy":[[0.41018781535855825,-1.946254443358084],[0.5204382266177398,-1.8262544404755097]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.1964542316225641,0.8718030964002979,0.71338606911949],"aabb_xy":[[-0.23395423280735683,0.8673848737042372],[-0.15895423043777124,0.8762213190963583]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.1727820268100222,-2.3605697527458607,0.71338606911949],"aabb_xy":[[0.16187625072245948,-2.44056974914469],[0.1836878028975849,-2.2805697563470315]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.13958031876628962,1.032030706836466,0.71338606911949],"aabb_xy":[[-0.16286216096442097,0.9470307055392378],[-0.1162984765681583,1.1170307081336939]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.5616631396562489,0.7116442809921821,0.71338606911949],"aabb_xy":[[-0.5966631387862045,0.705899059916518],[-0.5266631405262931,0.7173895020678462]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[-0.470366166113079,1.5299252322049726,0.71338606911949],"aabb_xy":[[-0.5203611770725312,1.4799252331693808],[-0.42037115515362705,1.5799252312405645]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.43126084888736427,-1.446692716455153,0.71338606911949],"aabb_xy":[[-0.45115188876770457,-1.45934852773985],[-0.4113698090070241,-1.4340369051704562]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.19415234178924257,-0.6713754031239354,0.71338606911949],"aabb_xy":[[0.15665234184547616,-0.679668493158772],[0.23165234173300897,-0.6630823130890988]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[0.5463166625853069,0.9071677773281954,0.71338606911949],"aabb_xy":[[0.5088166622370791,0.8953763817471116],[0.5838166629335346,0.9189591729092788]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[-0.327740962396691,-0.237882432431884,0.71338606911949],"aabb_xy":[[-0.3317014461664254,-0.24555029701740463],[-0.3237804786269566,-0.23021456784636343]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[-0.6267829444453272,1.0083723371942455,0.71338606911949],"aabb_xy":[[-0.6767829453958598,0.9768231901907241],[-0.5767829434947942,1.0399214841977669]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_30","position":[0.34957056825880506,-2.2403207615835012,0.71338606911949],"aabb_xy":[[0.2855705650401672,-2.2870438734825096],[0.4135705714774429,-2.193597649684493]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_31","position":[0.5398581763097627,1.5880127457048077,0.71338606911949],"aabb_xy":[[0.44985817263284433,1.5265803391277029],[0.6298581799866807,1.6494451522819116]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_32","position":[-0.6759201909872276,-1.2248348858921176,0.71338606911949],"aabb_xy":[[-0.6812577666532322,-1.2498348868212574],[-0.6705826153212231,-1.1998348849629779]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909430594903222,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4543.png","name":"4543"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5273.png","name":"5273"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4417.png","name":"4417"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4044.png","name":"4044"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":648.0956291626211,"rotation_z_degrees":45.280401262892546,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005845104744363207,-0.0020592029375398335,0.01501936358876332]},{"name":"camera_2","offset_m":[-0.017462581461825156,-0.003937040763524868,-0.00035889340551528703]},{"name":"camera_3","offset_m":[0.01595786955543269,-0.012048916350259314,-0.016170504494529725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008189741704414354,-0.0012779626366280702,0.0003569594267080127],"end_effector_yaw_offset_degrees":0.6864021154287261},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001830185798884419,0.001049604946970692,0.0013975250731515939],"end_effector_yaw_offset_degrees":0.49358218998164616},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011852250205448432,-0.0003230720179237445,-0.0017421422456785458],"end_effector_yaw_offset_degrees":-0.3916075974444322}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027611637368926733,0.0003203550793805165],"position_m":[0.30753883626310735,0.09142035507938051,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002177334731850792,0.002928299829775321],"position_m":[0.3151773347318508,-0.11337170017022467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.5039696963415937e-05,-0.002385571559957992],"position_m":[0.35512503969696346,0.294314428440042,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004084731979697291,-0.0006920700980292726],"position_m":[0.2399152680203027,-0.3524920700980293,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"592ae04f6f3afc65c8864f051dd168dd5ee9d387285fb835b9d7388441ce7a09","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6402/tex_ceiling_textures_4044/tex_floor_textures_4417/tex_table_textures_4543/tex_wall_textures_5273","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5977417486358990488,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5977417486358990488,"visual_seed":5977417486358990488,"scene_id":"lab_003","finished_at":"2026-09-03T07:43:41"} +{"episode_id":"ep_000014","started_at":"2026-09-03T07:45:11","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.649546590342969,1.6524820309336454,0.71338606911949],"aabb_xy":[[-0.6603870685694837,1.6352957496429965],[-0.6387061121164539,1.669668312224294]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[0.5673866927984099,-2.2915055757049174,0.71338606911949],"aabb_xy":[[0.5175039959207138,-2.341505574951192],[0.6172693896761062,-2.2415055764586427]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.4617961639994612,0.741004799350097,0.71338606911949],"aabb_xy":[[0.39779616177905425,0.6966317152248087],[0.5257961662198682,0.7853778834753853]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.66002641514379,-1.7343566053036314,0.71338606911949],"aabb_xy":[[0.6139413238890584,-1.7983566025561866],[0.7061115063985214,-1.6703566080510763]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.5735653674016361,-2.3853601207610033,0.71338606911949],"aabb_xy":[[-0.5894498606669611,-2.3997130610598276],[-0.5576808741363108,-2.371007180462179]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.4432279852415167,0.225371775962675,0.71338606911949],"aabb_xy":[[-0.4512219738192201,0.2173716958675846],[-0.4352339966638133,0.23337185605776528]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[-0.6699888171074548,-1.6257646069920915,0.71338606911949],"aabb_xy":[[-0.6797448066166286,-1.635527141051326],[-0.6602328275982808,-1.616002072932857]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.5711284185671952,0.4197578213454807,0.71338606911949],"aabb_xy":[[0.48740619306711264,0.32975781781078467],[0.6548506440672776,0.5097578248801766]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.4147026763046099,-1.8254280697382907,0.71338606911949],"aabb_xy":[[-0.5047026786386289,-1.9029104243234036],[-0.3247026739705908,-1.7479457151531783]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.703542801026859,-1.4877656886699873,0.71338606911949],"aabb_xy":[[0.6922977454562411,-1.4990074863940823],[0.7147878565974768,-1.4765238909458918]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.46160348335449974,-0.9317386355621995,0.71338606911949],"aabb_xy":[[0.42701240050045447,-0.9967386358472305],[0.4961945662085449,-0.8667386352771684]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.334646964139226,-1.9630589783033263,0.71338606911949],"aabb_xy":[[0.3305111078065259,-2.0005589777476835],[0.33878282047192626,-1.9255589788589693]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.3182353254722903,-2.0726959529200277,0.71338606911949],"aabb_xy":[[-0.4082353240667602,-2.088946539233449],[-0.22823532687782033,-2.0564453666066065]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.5986669011797001,-0.6596338898533378,0.71338606911949],"aabb_xy":[[0.5486669016033655,-0.7096144688054438],[0.648666900756035,-0.6096533109012319]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.21555885941998032,-1.7350606853947133,0.71338606911949],"aabb_xy":[[-0.25305885971215514,-1.7391021607953168],[-0.17805885912780547,-1.7310192099941097]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.05914655238476618,1.7400216890459084,0.71338606911949],"aabb_xy":[[-0.08131907936141701,1.717846021889785],[-0.036974025408115334,1.7621973562020312]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.3758625816536405,-1.7304008456165987,0.71338606911949],"aabb_xy":[[0.35336258114159985,-1.7528927039819968],[0.39836258216568105,-1.7079089872512]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.060891798287288745,0.8162243352873224,0.71338606911949],"aabb_xy":[[-0.1308918009238751,0.7961194702914569],[0.009108204349297593,0.8363292002831879]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.37679829524143993,-0.9716132283677417,0.71338606911949],"aabb_xy":[[-0.38942508252863633,-0.9811593020693145],[-0.36417150795424363,-0.9620671546661687]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.47166757891691147,-0.539115594640573,0.71338606911949],"aabb_xy":[[-0.5616675754177831,-0.5850272370590313],[-0.3816675824160396,-0.4932039522221148]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.4316753286715018,-0.7454678155170911,0.71338606911949],"aabb_xy":[[0.4282346524314447,-0.7493292484914554],[0.43511600491155905,-0.7416063825427265]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.29050420000948385,-0.9359458703188968,0.71338606911949],"aabb_xy":[[0.27863211699798274,-1.020945870012547],[0.30237628302098496,-0.8509458706252464]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.5448967719451153,-1.2550312152501226,0.71338606911949],"aabb_xy":[[-0.5920261509469509,-1.3190312162945241],[-0.49776739294327954,-1.1910312142057202]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.09839124604823801,0.7375020934467389,0.71338606911949],"aabb_xy":[[-0.1043577849889738,0.7315409487873747],[-0.09242470710750222,0.7434632381061028]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.07235819763992835,-0.4104504294574385,0.71338606911949],"aabb_xy":[[-0.13735819767423108,-0.45715110613776583],[-0.007358197605625616,-0.36374975277711125]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_25","position":[-0.4408319348594964,0.5917906087341316,0.71338606911949],"aabb_xy":[[-0.5048319312868184,0.5446209849120353],[-0.37683193843217455,0.6389602325562281]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[-0.1810205567558275,-0.8972208401003849,0.71338606911949],"aabb_xy":[[-0.26102055415942094,-0.9772134112985679],[-0.1010205593522341,-0.8172282689022022]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[-0.3869876642870484,-0.7649697996431282,0.71338606911949],"aabb_xy":[[-0.4229011687120381,-0.8008833078598828],[-0.3510741598620587,-0.7290562914263735]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.5961801081902325,-1.3958598797205912,0.71338606911949],"aabb_xy":[[0.5749021000467601,-1.4608598820466643],[0.6174581163337046,-1.3308598773945182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916227865268336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5424.png","name":"5424"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5424.png","name":"5424"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9322.png","name":"9322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5309.png","name":"5309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5028.png","name":"5028"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":555.0723963138857,"rotation_z_degrees":277.1576587624471,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01850497415257399,0.009679838529825197,0.0013867310715622201]},{"name":"camera_2","offset_m":[-0.00704496302771203,-0.013296710363630511,0.006701216550021184]},{"name":"camera_3","offset_m":[-0.017447058572236197,-0.011400681280702938,-0.0013978734140326805]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011491994235957991,-0.0009206011039030711,-0.00166833445697136],"end_effector_yaw_offset_degrees":0.4653068940237608},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00030692346743815217,-0.00018769144316061219,-0.0015022746000555509],"end_effector_yaw_offset_degrees":0.03334016751655855},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016945113763397667,-0.0005946732416364277,-0.0004999564038759101],"end_effector_yaw_offset_degrees":0.8995553540363608}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001201232292459368,0.004961922237517138],"position_m":[0.30909876770754063,0.09606192223751714,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026727033088420667,-0.0046994225896056264],"position_m":[0.31567270330884206,-0.12099942258960562,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009694371158949474,0.0012984998699203968],"position_m":[0.3541305628841051,0.29799849986992044,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033797625131564146,-0.0008603223543184003],"position_m":[0.24062023748684358,-0.3526603223543184,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c414bec2fb3323526dcba80da1df9383ad5d66602bd667b1796d4741428f4c5d","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5424/tex_ceiling_textures_5028/tex_floor_textures_5309/tex_table_textures_9322/tex_wall_textures_2126","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4750111065471210782,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4750111065471210782,"visual_seed":4750111065471210782,"scene_id":"lab_003","finished_at":"2026-09-03T07:47:31"} +{"episode_id":"ep_000015","started_at":"2026-09-03T07:47:33","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.5962659704589588,-0.9452012438107742,0.71338606911949],"aabb_xy":[[-0.631265969651777,-0.9561682898084367],[-0.5612659712661404,-0.9342341978131115]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.37237215109968436,-0.657902926239633,0.71338606911949],"aabb_xy":[[-0.396918366722435,-0.6881518227886699],[-0.3478259354769336,-0.6276540296905958]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.5219004407623764,0.978801010235141,0.71338606911949],"aabb_xy":[[-0.5272329554169894,0.9734766819899054],[-0.5165679261077634,0.9841253384803765]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.43951975457131454,-2.1275071910013903,0.71338606911949],"aabb_xy":[[-0.5295197539896854,-2.1608826878455796],[-0.3495197551529436,-2.0941316941572]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.2400116029141403,-1.3828694419937266,0.71338606911949],"aabb_xy":[[-0.2775116027311738,-1.3875076533048682],[-0.20251160309710672,-1.3782312306825846]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.5629739477917138,-0.12828129175359404,0.71338606911949],"aabb_xy":[[-0.5711016359850271,-0.1371949001643017],[-0.5548462595984006,-0.11936768334288639]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.35823240237578036,-1.8217834767057413,0.71338606911949],"aabb_xy":[[-0.3887166525028105,-1.871783476487237],[-0.3277481522487502,-1.771783476924245]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.3388459752045432,0.39583204326372456,0.71338606911949],"aabb_xy":[[0.33158472763413577,0.38304503300021514],[0.3461072227749506,0.4086190535272341]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.32775924059485323,1.7641700882143465,0.71338606911949],"aabb_xy":[[-0.39175924281526026,1.7197970040890584],[-0.2637592383744462,1.808543172339635]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.46360201797082223,0.8675137407419933,0.71338606911949],"aabb_xy":[[0.4411020184471148,0.8450177932913724],[0.4861020174945296,0.890009688192614]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.5592196106212652,0.4904465412003929,0.71338606911949],"aabb_xy":[[0.5414261036863488,0.4726467956045951],[0.5770131175561817,0.5082462867961904]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.28831865744212404,1.147686936859429,0.71338606911949],"aabb_xy":[[-0.3108186572560264,1.1432123204889482],[-0.26581865762822166,1.1521615532299097]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.18823454500907222,-2.284326619551829,0.71338606911949],"aabb_xy":[[-0.23821749519655155,-2.334326619194389],[-0.13825159482159288,-2.234326619909268]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.6041405435052704,-0.32256937204958014,0.71338606911949],"aabb_xy":[[-0.6212426214636385,-0.3396761775808499],[-0.5870384655469022,-0.3054625665183104]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.019342159438406004,1.0997384352072017,0.71338606911949],"aabb_xy":[[-0.023256032633828527,1.090989419800645],[-0.01542828624298348,1.1084874506137585]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.06215286970166012,-0.10476119610373757,0.71338606911949],"aabb_xy":[[-0.07026652437503722,-0.11286701255776664],[-0.05403921502828302,-0.09665537964970848]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.05138260504614134,-2.098258496078288,0.71338606911949],"aabb_xy":[[-0.05862637109238666,-2.1782584942818906],[-0.044138838999896006,-2.018258497874686]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.6238823148409423,-0.36308531324172755,0.71338606911949],"aabb_xy":[[0.5863823148971758,-0.37137840327656413],[0.6613823147847087,-0.35479222320689097]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.6282787238609043,-2.3274970274673965,0.71338606911949],"aabb_xy":[[-0.6647745444881831,-2.3639809698941545],[-0.5917829032336256,-2.2910130850406394]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.6567447120530283,1.3819451044561397,0.71338606911949],"aabb_xy":[[-0.6942447104764287,1.3687808904883088],[-0.619244713629628,1.3951093184239702]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.1868429642215601,-1.8805556413940994,0.71338606911949],"aabb_xy":[[-0.23682038108681366,-1.930555642883348],[-0.1368655473563065,-1.8305556399048508]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.010391667042274899,-0.8820205405684662,0.71338606911949],"aabb_xy":[[-0.03958162696098555,-0.9320205411230134],[0.06036496104553535,-0.8320205400139187]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.3250960425870901,-1.2271349965184963,0.71338606911949],"aabb_xy":[[-0.3700886293055405,-1.272134995792945],[-0.28010345586863966,-1.1821349972440476]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.5488002831140302,-1.6474150287990015,0.71338606911949],"aabb_xy":[[0.5394532755317349,-1.6617186510166455],[0.5581472906963254,-1.6331114065813574]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.370776905069637,-2.4905565261460887,0.71338606911949],"aabb_xy":[[-0.43477690235528565,-2.5320632450989327],[-0.30677690778398836,-2.4490498071932447]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.43932135063884514,-1.7519428263952834,0.71338606911949],"aabb_xy":[[0.3843213514622556,-1.8069325011702408],[0.4943213498154346,-1.6969531516203256]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[0.478508558008647,1.4788370632181977,0.71338606911949],"aabb_xy":[[0.4485168952747766,1.4488370638813972],[0.5085002207425173,1.5088370625549983]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_27","position":[-0.49141971498171133,0.5270195194773986,0.71338606911949],"aabb_xy":[[-0.5714197129624963,0.5194179785155466],[-0.4114197170009263,0.5346210604392505]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.028262321819409242,1.76735552896344,0.71338606911949],"aabb_xy":[[-0.02673767638233559,1.7268335623370026],[0.08326232002115407,1.8078774955898778]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[-0.014876039750895242,-0.6789069122256961,0.71338606911949],"aabb_xy":[[-0.0411648640713359,-0.7051783458803471],[0.011412784569545418,-0.6526354785710446]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_30","position":[0.13791579267698595,-2.097590335313963,0.71338606911949],"aabb_xy":[[0.10751768157784235,-2.1279972373156326],[0.1683139037761295,-2.0671834333122936]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[0.5264637105420116,1.0043050792073656,0.71338606911949],"aabb_xy":[[0.4920012325289237,0.9976414020244427],[0.5609261885550992,1.0109687563902883]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6869956515447765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2364.png","name":"2364"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2364.png","name":"2364"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4648.png","name":"4648"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7402.png","name":"7402"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1927.png","name":"1927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6425.png","name":"6425"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":697.9953233941487,"rotation_z_degrees":334.5278163297667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014553691041439939,0.006650509353846871,0.01945128330956578]},{"name":"camera_2","offset_m":[-0.0036907401273389255,0.0012158985820019015,-0.01552005111248617]},{"name":"camera_3","offset_m":[0.0024473021219063307,-0.003403869544004432,0.00122098400837228]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006442126812672166,-0.0008849634535157739,-0.0015503483631063414],"end_effector_yaw_offset_degrees":0.5176697630107299},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007260153482414116,-0.00015414717235072385,-0.0012156222948647689],"end_effector_yaw_offset_degrees":-0.9207654833974153},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008481637910450548,0.0008464163537789835,0.0002922955890958287],"end_effector_yaw_offset_degrees":0.6525918036523497}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004365142562211846,0.0034291503600430663],"position_m":[0.31466514256221184,0.09452915036004307,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011391231660871281,-0.0016738087363790954],"position_m":[0.3118608768339129,-0.1179738087363791,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003225285407737687,-0.004749916512701545],"position_m":[0.3518747145922623,0.29195008348729845,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002716193610064318,-0.0034792983795160102],"position_m":[0.2467161936100643,-0.355279298379516,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad126d55a2fe219e0b9d981dd5d06904eb56b0efc8078d2959192bd3af6c3eef","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2364/tex_ceiling_textures_6425/tex_floor_textures_1927/tex_table_textures_4648/tex_wall_textures_7402","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1822980425934144245,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1822980425934144245,"visual_seed":1822980425934144245,"scene_id":"lab_003","finished_at":"2026-09-03T07:50:02"} +{"episode_id":"ep_000016","started_at":"2026-09-03T07:51:24","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.17794890724914092,0.46450552630121145,0.71338606911949],"aabb_xy":[[-0.18190939101887527,0.45683766171569085],[-0.17398842347940652,0.47217339088673205]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.22830729740900535,-1.9779154628841695,0.71338606911949],"aabb_xy":[[-0.27830729869284526,-2.027894317274791],[-0.17830729612516535,-1.9279366084935472]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.16961785863136947,-2.5040993563634326,0.71338606911949],"aabb_xy":[[0.10461785752542618,-2.529064729431561],[0.23461785973731275,-2.4791339832953043]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.09381411887148505,1.459184663923566,0.71338606911949],"aabb_xy":[[0.07864194958985173,1.4440158069953624],[0.10898628815311841,1.474353520851769]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.43982446694581817,1.0989567145826187,0.71338606911949],"aabb_xy":[[-0.44686591789656577,1.0919299628448242],[-0.4327830159950706,1.1059834663204131]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[-0.3103169188976949,-1.4330604511880711,0.71338606911949],"aabb_xy":[[-0.3278169181757818,-1.4503985512544173],[-0.29281691961960804,-1.4157223511217254]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.6076078018066434,0.6813389722145904,0.71338606911949],"aabb_xy":[[-0.6301078018167917,0.6672427525749871],[-0.5851078017964951,0.6954351918541937]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.09087847966819984,-2.3134235752991397,0.71338606911949],"aabb_xy":[[-0.1746007051682823,-2.4034235788338356],[-0.007156254168117368,-2.2234235717644437]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.47765098108364745,-0.7522628927798318,0.71338606911949],"aabb_xy":[[-0.5326509792853922,-0.7927848594062692],[-0.42265098288190256,-0.711740926153394]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.3216056114689972,-1.74045564675106,0.71338606911949],"aabb_xy":[[-0.3448874536671285,-1.825455648048288],[-0.2983237692708658,-1.6554556454538318]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[0.4734286839300559,-2.2722595039992024,0.71338606911949],"aabb_xy":[[0.42345561839754053,-2.3222595038117357],[0.5234017494625715,-2.22225950418667]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.2035731761299271,1.2928019409096074,0.71338606911949],"aabb_xy":[[-0.2685731746869999,1.2630494074957246],[-0.13857317757285426,1.3225544743234898]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.563153025454808,0.6953580925783505,0.71338606911949],"aabb_xy":[[0.5552297452160597,0.6728580923403471],[0.5710763056935564,0.7178580928163538]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.2095209453984851,1.5965715267746137,0.71338606911949],"aabb_xy":[[0.14952094480246889,1.5417590542293902],[0.26952094599450127,1.6513839993198371]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.0670102709404341,-1.79110297270429,0.71338606911949],"aabb_xy":[[-0.07332237047677254,-1.796869911957509],[-0.06069817140409567,-1.785336033451071]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.6535963459143004,1.5036653961464785,0.71338606911949],"aabb_xy":[[0.5986008680936409,1.4486653947125714],[0.7085918237349597,1.5586653975803852]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.27389942830167285,0.8802586660242757,0.71338606911949],"aabb_xy":[[-0.2792370039676774,0.8552586650951359],[-0.2685618526356683,0.9052586669534155]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.4344545685751698,-0.4165840567315531,0.71338606911949],"aabb_xy":[[-0.44760581454645915,-0.44158405648823973],[-0.4213033226038804,-0.39158405697486665]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.03634607810602963,0.8538854140997572,0.71338606911949],"aabb_xy":[[-0.10134607598767745,0.8027617503932164],[0.028653919775618167,0.9050090778062981]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.16553821620193654,-0.04783098655465201,0.71338606911949],"aabb_xy":[[-0.20303821771756822,-0.059057759570797064],[-0.1280382146863048,-0.03660421353850696]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.13678912187877068,-2.07582905038315,0.71338606911949],"aabb_xy":[[0.09928912138141244,-2.079797733931268],[0.17428912237612892,-2.071860366835031]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.5623100563218502,0.5153486301046191,0.71338606911949],"aabb_xy":[[0.5514584500729746,0.5044893393769682],[0.5731616625707258,0.5262079208322702]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[0.31170986404335776,-1.695615216502392,0.71338606911949],"aabb_xy":[[0.2767098641473389,-1.703989452014332],[0.34670986393937664,-1.6872409809904518]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.2599576154334606,1.1094086848087712,0.71338606911949],"aabb_xy":[[-0.3149508267705973,1.0544086844699776],[-0.20496440409632383,1.1644086851475648]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.26103450789327876,0.6079774036351622,0.71338606911949],"aabb_xy":[[0.22370323136803608,0.5733243488403099],[0.2983657844185213,0.6426304584300144]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[0.3188574587049844,-0.745406277584129,0.71338606911949],"aabb_xy":[[0.310863470127281,-0.7534063576792193],[0.3268514472826878,-0.7374061974890386]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[0.3522230610539707,-1.3076298272195748,0.71338606911949],"aabb_xy":[[0.3109185179902347,-1.3716298267876916],[0.39352760411770665,-1.2436298276514575]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[0.42668157692203246,1.3159796228301368,0.71338606911949],"aabb_xy":[[0.42017994041402795,1.3062118008038273],[0.4331832134300372,1.3257474448564468]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[0.4353001699084631,-1.5290320686591061,0.71338606911949],"aabb_xy":[[0.37130016668982524,-1.5757551805581145],[0.49930017312710095,-1.4823089567600978]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_29","position":[0.651866561511566,-1.2382305754096268,0.71338606911949],"aabb_xy":[[0.5868665605544388,-1.2901787873433324],[0.7168665624686932,-1.1862823634759212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942534158552351,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4582.png","name":"4582"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3021.png","name":"3021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2529.png","name":"2529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1737.png","name":"1737"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":780.0000237038983,"rotation_z_degrees":334.5230769913495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01936694301392181,-0.008139163853201428,0.013070877925397881]},{"name":"camera_2","offset_m":[0.008388726298743796,0.016967549243738906,-0.008167809796879127]},{"name":"camera_3","offset_m":[-0.017384456678180223,-0.00017306403407969795,-0.017171104476017916]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-1.1524679806456089e-05,0.0017979716069732943,-0.0007227072939268453],"end_effector_yaw_offset_degrees":-0.2637320799067857},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00017130408951426509,8.424443479793532e-05,0.0013962217126299026],"end_effector_yaw_offset_degrees":0.09856572377377137},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017113573864307244,0.0013283723780085055,-0.0008084584425558847],"end_effector_yaw_offset_degrees":0.1286149775282719}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003507633248678023,0.001567055710425735],"position_m":[0.31380763324867805,0.09266705571042573,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00041878552907347304,0.0009276953080094965],"position_m":[0.3134187855290735,-0.1153723046919905,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002891770232646738,-0.000703161382613675],"position_m":[0.3579917702326468,0.29599683861738635,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005651570827650476,-0.003206611211962228],"position_m":[0.24343484291723494,-0.35500661121196225,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f6795c41738aab63f157d8f7dc1bd071d910d04f6d3e726bf16a4f758b226713","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6272/tex_ceiling_textures_1737/tex_floor_textures_2529/tex_table_textures_4582/tex_wall_textures_3021","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6879484064055717889,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6879484064055717889,"visual_seed":6879484064055717889,"scene_id":"lab_003","finished_at":"2026-09-03T07:53:50"} +{"episode_id":"ep_000017","started_at":"2026-09-03T07:53:55","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.2872488222125823,-1.9192802787700858,0.71338606911949],"aabb_xy":[[0.27962455412240406,-1.92691350230663],[0.29487309030276054,-1.9116470552335425]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.02576972650474063,-0.7055441572838188,0.71338606911949],"aabb_xy":[[-0.08976972841708297,-0.7614553065418294],[0.03823027540760171,-0.6496330080258085]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.3870486551334443,-0.742548098889771,0.71338606911949],"aabb_xy":[[-0.42454865563080246,-0.7465167824378894],[-0.349548654636086,-0.7385794153416526]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[-0.1108755150882329,0.062435430005613135,0.71338606911949],"aabb_xy":[[-0.12850835068176045,0.04481248398999016],[-0.09324267949470531,0.08005837602123611]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.11766022133169629,1.6424956699876296,0.71338606911949],"aabb_xy":[[0.02797314502358085,1.552495669733179],[0.20734729763981175,1.7324956702420802]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[-0.06902220918935809,-0.35464292021547106,0.71338606911949],"aabb_xy":[[-0.11850263040331689,-0.41864291812832294],[-0.019541787975399308,-0.2906429223026193]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.11949045796122859,-1.1930262032853485,0.71338606911949],"aabb_xy":[[0.08449045883127294,-1.1987714243610124],[0.15449045709118425,-1.1872809822096841]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.5676635773804017,1.393150334605663,0.71338606911949],"aabb_xy":[[-0.6476635743434409,1.3160746929618894],[-0.4876635804173626,1.4702259762494363]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.2213310262277115,1.2058916628627032,0.71338606911949],"aabb_xy":[[-0.276331025404301,1.1509019880877454],[-0.166331027051122,1.2608813376376606]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.48228269134696217,-1.7381410014909924,0.71338606911949],"aabb_xy":[[-0.49027618114224425,-1.7461391334314682],[-0.4742892015516802,-1.730142869550517]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.45767961826255876,-1.3000813369794881,0.71338606911949],"aabb_xy":[[-0.5037647095172901,-1.3640813342320433],[-0.4115945270078273,-1.236081339726933]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.627431856717354,-0.44141892339525546,0.71338606911949],"aabb_xy":[[0.6049318567072057,-0.45551514303485874],[0.6499318567275023,-0.4273227037556522]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.6170943802536037,-1.3932903661494176,0.71338606911949],"aabb_xy":[[0.6121950879470403,-1.4209672854519861],[0.6219936725601672,-1.3656134468468486]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.025693238809173513,-1.3028446104830478,0.71338606911949],"aabb_xy":[[-0.06430675978529643,-1.319095196796469],[0.11569323740364346,-1.286594024169627]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.6255571633243152,0.02127798334807185,0.71338606911949],"aabb_xy":[[-0.6755302288568307,-0.02872201646446105],[-0.5755840977917998,0.07127798316060475]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.35699251006566235,0.5528042280562597,0.71338606911949],"aabb_xy":[[0.3464250304075633,0.5422591979432512],[0.3675599897237613,0.5633492581692683]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.3609138757049468,1.626077126534192,0.71338606911949],"aabb_xy":[[-0.42491387804774833,1.5811362752900595],[-0.2969138733621452,1.6710179777783245]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.4977429239608997,0.6961163896804372,0.71338606911949],"aabb_xy":[[0.44274971262376295,0.6411163893416436],[0.5527361352980364,0.7511163900192309]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.1414418409071928,1.575883869615303,0.71338606911949],"aabb_xy":[[-0.18362625506802355,1.5118838693380918],[-0.09925742674636207,1.6398838698925142]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.1578025579083644,-2.109621049165451,0.71338606911949],"aabb_xy":[[0.14623357716142785,-2.1346210492823827],[0.169371538655301,-2.0846210490485193]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.6448148691253797,-0.25320114648261693,0.71338606911949],"aabb_xy":[[-0.6860636801552942,-0.30820114599483434],[-0.6035660580954647,-0.19820114697039945]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.564579657037021,0.8704319971774956,0.71338606911949],"aabb_xy":[[-0.6295796579941482,0.8184837852437901],[-0.4995796560798938,0.9223802091112012]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.2865978102607843,-2.3438324556367185,0.71338606911949],"aabb_xy":[[-0.29836599705544187,-2.4288324555419405],[-0.2748296234661268,-2.2588324557314974]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.637584854575008,0.9478867381821248,0.71338606911949],"aabb_xy":[[0.5735848559884356,0.900879774782616],[0.7015848531615805,0.9948937015816335]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.2946898776928281,0.7654455691195885,0.71338606911949],"aabb_xy":[[-0.35468987933574997,0.7134454198276443],[-0.23468987604990627,0.8174457184115327]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.5512018871939175,-2.2576147953220658,0.71338606911949],"aabb_xy":[[-0.6312018904579306,-2.271174827630979],[-0.47120188392990436,-2.2440547630131524]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.4526551461982278,0.06968809736958859,0.71338606911949],"aabb_xy":[[0.43515514593889126,0.05559655518081598],[0.4701551464575645,0.08377963955836122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896112754969471,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5437.png","name":"5437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5437.png","name":"5437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4279.png","name":"4279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5852.png","name":"5852"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":508.93337745630294,"rotation_z_degrees":201.1303096003147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012541040376805231,0.011392126008398031,-0.017400062670263835]},{"name":"camera_2","offset_m":[-0.007700201582128483,0.011539362120399545,-0.003406421314519438]},{"name":"camera_3","offset_m":[0.0022101096087361535,0.017772828087667215,0.008474250337690496]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007998161365686349,0.0004122334340745646,0.0007010113565407558],"end_effector_yaw_offset_degrees":0.762494370112732},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00018415786559504476,0.0017105660596071692,-0.0015482435494112172],"end_effector_yaw_offset_degrees":-0.30765622165785755},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007282281523765862,0.0006679218906969222,0.0011801962646058014],"end_effector_yaw_offset_degrees":-0.04795135192087385}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028648611517109067,0.0007968201592655939],"position_m":[0.31316486115171094,0.09189682015926559,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002803101992581317,0.002691414397733856],"position_m":[0.3158031019925813,-0.11360858560226614,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008705237427297854,-0.003610834609006952],"position_m":[0.35422947625727025,0.29308916539099306,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003698686295249113,-0.00011229654315411328],"position_m":[0.24030131370475089,-0.3519122965431541,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2706166b32096ed6818ed37352802b54dd18bd823920dcf7a16bf379298a69cd","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5437/tex_ceiling_textures_8061/tex_floor_textures_3466/tex_table_textures_4279/tex_wall_textures_5852","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4838295473783464939,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4838295473783464939,"visual_seed":4838295473783464939,"scene_id":"lab_003","finished_at":"2026-09-03T07:56:23"} +{"episode_id":"ep_000018","started_at":"2026-09-03T07:56:25","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.3495901929682637,-1.2178420426001668,0.71338606911949],"aabb_xy":[[-0.3725059058533136,-1.2407463397365905],[-0.3266744800832138,-1.1949377454637435]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.38311223731178945,1.5756843892947292,0.71338606911949],"aabb_xy":[[0.3661021400217388,1.5595499007964553],[0.4001223346018401,1.5918188777930031]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[0.6718891264221285,-0.8778278181020256,0.71338606911949],"aabb_xy":[[0.6605273917688422,-0.8891962845083137],[0.6832508610754146,-0.8664593516957375]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[0.5981832433409149,-0.46634237110436283,0.71338606911949],"aabb_xy":[[0.580604941151968,-0.48391686067846773],[0.6157615455298617,-0.44876788153025793]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.4555115932391661,-2.5499394987016686,0.71338606911949],"aabb_xy":[[-0.47801072896539304,-2.5724394994799313],[-0.4330124575129391,-2.527439497923406]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.39884523528086097,-0.5389174109292676,0.71338606911949],"aabb_xy":[[-0.4333077132939486,-0.5455810881121903],[-0.3643827572677731,-0.5322537337463447]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.5716716712034862,-2.4840663638016682,0.71338606911949],"aabb_xy":[[-0.5962178868262369,-2.514315260350705],[-0.5471254555807354,-2.4538174672526307]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.5362832244950476,-0.47898240543344883,0.71338606911949],"aabb_xy":[[-0.5460392140042215,-0.48874493949268316],[-0.5265272349858737,-0.4692198713742143]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[0.059570028642465744,-0.7415101131980231,0.71338606911949],"aabb_xy":[[-0.004429968643182902,-0.783016832150867],[0.12357002592811439,-0.7000033942451791]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.332311236605899,0.13390226394153126,0.71338606911949],"aabb_xy":[[-0.35051706026714674,0.12287686335953962],[-0.3141054129446514,0.1449276645235229]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.5912310223530055,-0.2799270010361692,0.71338606911949],"aabb_xy":[[-0.603833721490082,-0.2925223972610347],[-0.578628323215929,-0.2673316048113037]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.6466608881258931,-2.0328772760652187,0.71338606911949],"aabb_xy":[[0.5916608899241481,-2.073399242691656],[0.7016608863276378,-1.992355309438781]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.31771044713309465,1.4054496370413676,0.71338606911949],"aabb_xy":[[-0.38171044739356547,1.3604408376884396],[-0.25371044687262384,1.4504584363942956]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.6249895177398637,-0.01846308830689747,0.71338606911949],"aabb_xy":[[-0.6410514451983812,-0.10346309011948927],[-0.6089275902813459,0.06653691350569434]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.45254833286517154,-0.2318829171632273,0.71338606911949],"aabb_xy":[[-0.5165483335686409,-0.2779012996361483],[-0.38854833216170226,-0.18586453469030628]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.4142851565153765,-1.577379195769463,0.71338606911949],"aabb_xy":[[-0.460370247770108,-1.6413791930220178],[-0.368200065260645,-1.5133791985169076]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.6356075458689086,-0.6780234527062241,0.71338606911949],"aabb_xy":[[0.6227356423679684,-0.75802345312006],[0.6484794493698487,-0.5980234522923877]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[0.5212538685332693,0.6361893203841533,0.71338606911949],"aabb_xy":[[0.43125387179765895,0.5830058570668587],[0.6112538652688794,0.6893727837014477]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.1571922703194114,-0.9422094207671938,0.71338606911949],"aabb_xy":[[0.07719227335637224,-1.0192850624109673],[0.23719226728245058,-0.8651337791234204]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.2981279238058361,-1.6150473043979683,0.71338606911949],"aabb_xy":[[-0.3054102401824996,-1.7050473080074768],[-0.2908456074291723,-1.5250473007884588]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.3354902752452531,-1.013497108869004,0.71338606911949],"aabb_xy":[[0.31785743965172547,-1.0311200548846267],[0.3531231108387806,-0.9958741628533808]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.2549907124349852,-1.1042430868030222,0.71338606911949],"aabb_xy":[[-0.2658423186838608,-1.1151023775306732],[-0.24413910618610962,-1.0933837960753712]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.4587931565337975,0.3880904742939748,0.71338606911949],"aabb_xy":[[0.4366206295571466,0.3659148071378516],[0.48096568351044827,0.41026614145009793]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.23537419057597164,-2.1491312342250017,0.71338606911949],"aabb_xy":[[0.2129094206045665,-2.171631235103862],[0.25783896054737676,-2.126631233346141]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.3265693822683292,-2.19863333927516,0.71338606911949],"aabb_xy":[[-0.33001005850838644,-2.202494772249525],[-0.3231287060282721,-2.194771906300796]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.2048224500273711,-1.6495838632666047,0.71338606911949],"aabb_xy":[[-0.24758915690679129,-1.7135838666884071],[-0.1620557431479509,-1.5855838598448022]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[0.577330834140201,0.4378613331636356,0.71338606911949],"aabb_xy":[[0.5417016782402413,0.4022286664067827],[0.6129599900401608,0.4734939999204886]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.1428196536975732,0.7356651128048295,0.71338606911949],"aabb_xy":[[-0.21281965633415953,0.7155602478089639],[-0.07281965106098684,0.7557699778006949]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[0.5936440618430052,-0.18525639651153636,0.71338606911949],"aabb_xy":[[0.5890089466907718,-0.18912373158868498],[0.5982791769952385,-0.18138906143438768]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_29","position":[0.11889712621843618,-1.8257670402786395,0.71338606911949],"aabb_xy":[[0.11086079151715132,-1.833805159583056],[0.12693346091972102,-1.8177289209742225]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[0.07783142795060916,-1.6778968392724751,0.71338606911949],"aabb_xy":[[0.04103679482570288,-1.7148027143690576],[0.11462606107551543,-1.640990964175893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968074533786371,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4329.png","name":"4329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4329.png","name":"4329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4985.png","name":"4985"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5194.png","name":"5194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7015.png","name":"7015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7496.png","name":"7496"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.0910729183508,"rotation_z_degrees":80.99864700385191,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01029641485366322,-0.011077711708378409,-0.01362601655503502]},{"name":"camera_2","offset_m":[0.012256611236049816,-0.008234931870329918,0.0011436219339114977]},{"name":"camera_3","offset_m":[-0.008412326919552213,0.004255419791041538,0.01584170567372623]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019392716969054238,0.0005683888337411867,0.0007195726646690125],"end_effector_yaw_offset_degrees":-0.1857707913814035},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016930016233527487,0.001962609692811001,-0.0005821727224738255],"end_effector_yaw_offset_degrees":-0.26475812592166137},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00011759651508557703,-0.00011074914369009698,-0.0015923928412537771],"end_effector_yaw_offset_degrees":0.8040769534123433}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003623348645197376,-0.00498865704319915],"position_m":[0.30667665135480265,0.08611134295680085,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[3.59937095870547e-05,-0.004723723813100401],"position_m":[0.31303599370958707,-0.1210237238131004,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004287149993928361,0.002319111431625001],"position_m":[0.3593871499939284,0.299019111431625,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039335439070282705,-0.0014319458780124804],"position_m":[0.24793354390702826,-0.3532319458780125,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ea2b72879513ff198f3508b94494714d29fd23f8bd0e0e7ce80c501c001f6fa1","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4329/tex_ceiling_textures_7496/tex_floor_textures_7015/tex_table_textures_4985/tex_wall_textures_5194","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":46918469504281818,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":46918469504281818,"visual_seed":46918469504281818,"scene_id":"lab_003","finished_at":"2026-09-03T07:58:54"} +{"episode_id":"ep_000019","started_at":"2026-09-03T08:01:36","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.6075980170331219,1.5724503594551602,0.71338606911949],"aabb_xy":[[0.547598016525269,1.5156036257692385],[0.6675980175409748,1.629297093141081]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.36475224236949844,1.1194293593693785,0.71338606911949],"aabb_xy":[[0.30712177348222747,1.0594293604426677],[0.42238271125676913,1.1794293582960889]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.48738730036533284,-0.8445215479814447,0.71338606911949],"aabb_xy":[[-0.5770743766734483,-0.9345215482358952],[-0.3977002240572174,-0.7545215477269941]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.3336047059137675,-0.021091720073611597,0.71338606911949],"aabb_xy":[[-0.34793913103993096,-0.03315193562815044],[-0.31927028078760405,-0.00903150451907275]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.14424179614393395,-0.9357279097879614,0.71338606911949],"aabb_xy":[[-0.16030372360245157,-1.020727911600553],[-0.12817986868541628,-0.8507279079753695]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.34936216660361663,1.5826786123111058,0.71338606911949],"aabb_xy":[[0.33649026310267643,1.5026786118972695],[0.3622340701045567,1.6626786127249418]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.6702168103927477,0.6361251224173712,0.71338606911949],"aabb_xy":[[0.6202168090318605,0.5861472178419554],[0.720216811753635,0.6861030269927867]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.47445654163073003,0.9941926411377633,0.71338606911949],"aabb_xy":[[0.38445654190755574,0.9711192886025833],[0.564456541353904,1.017265993672943]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.06418990927878832,0.3841801376796843,0.71338606911949],"aabb_xy":[[-0.07475738893688733,0.37363510756667573],[-0.053622429620689305,0.39472516779269284]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.10126206966408091,-1.940890405165597,0.71338606911949],"aabb_xy":[[-0.13829617909214062,-1.9752676124993065],[-0.0642279602360212,-1.9065131978318877]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.1936304449542232,0.03173219446476594,0.71338606911949],"aabb_xy":[[-0.2186304442261855,0.015386830868603594],[-0.16863044568226093,0.048077558060928276]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.2273168857487085,1.2124598953263028,0.71338606911949],"aabb_xy":[[-0.2813324820306085,1.1484598924340454],[-0.1733012894668085,1.2764598982185598]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.06067477913785502,-1.6329663381862343,0.71338606911949],"aabb_xy":[[-0.0033252181477936363,-1.6744730571390782],[0.12467477642350366,-1.5914596192333903]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.5930878034508011,0.12058903742283444,0.71338606911949],"aabb_xy":[[-0.6217371358112173,0.09194347814575865],[-0.5644384710903848,0.14923459669991024]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.06862912379929975,1.0895291466106607,0.71338606911949],"aabb_xy":[[0.05726738914601358,1.0781606802043726],[0.0799908584525859,1.1008976130169488]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.3088095589999225,-2.577950270701966,0.71338606911949],"aabb_xy":[[-0.31512165853626095,-2.583717209955185],[-0.3024974594635841,-2.5721833314487474]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.5134349791354038,1.6869635655484516,0.71338606911949],"aabb_xy":[[-0.5634080446679193,1.6369635657359192],[-0.46346191360288835,1.736963565360985]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.5218355955025538,-0.43901052069552104,0.71338606911949],"aabb_xy":[[0.4880600363118607,-0.45304901590868607],[0.5556111546932466,-0.424972025482356]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.5654465183571702,-2.5195758059182105,0.71338606911949],"aabb_xy":[[0.5103213127275794,-2.579575807359497],[0.620571723986761,-2.459575804476923]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.5361795818793019,-0.1419832520578037,0.71338606911949],"aabb_xy":[[-0.5552918892372808,-0.16111803093504573],[-0.5170672745213231,-0.12284847318056169]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[0.3648427636073688,-2.2315915563793842,0.71338606911949],"aabb_xy":[[0.2848427621772415,-2.3111087113919937],[0.4448427650374959,-2.1520744013667747]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.059612171936715086,-1.0711326073104037,0.71338606911949],"aabb_xy":[[0.0417430641822596,-1.0849655152876145],[0.07748127969117058,-1.0572996993331925]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.5605919146487464,-1.2373642237380822,0.71338606911949],"aabb_xy":[[-0.6016098580351172,-1.2873642243690395],[-0.5195739712623755,-1.1873642231071249]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[0.6501546875725654,0.1589728481439745,0.71338606911949],"aabb_xy":[[0.6437408739293804,0.15256302789630616],[0.6565685012157503,0.16538266839164284]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.6086559414747401,-0.3368245195354458,0.71338606911949],"aabb_xy":[[-0.619900997045358,-0.34806631725954107],[-0.5974108859041223,-0.3255827218113505]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.10926673374887352,-0.8553797595131691,0.71338606911949],"aabb_xy":[[0.04526673234088285,-0.9071687110370938],[0.17326673515686417,-0.8035908079892444]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[0.11834515295156423,1.26499596734475,0.71338606911949],"aabb_xy":[[0.07704060988782824,1.2009959677766329],[0.1596496960153002,1.328995966912867]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[0.023421822342599152,-1.3701161113862432,0.71338606911949],"aabb_xy":[[0.018084246676594584,-1.3951161123153832],[0.02875939800860372,-1.3451161104571037]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[0.5884891471955498,1.2881460924193364,0.71338606911949],"aabb_xy":[[0.5384891461764145,1.2516798766815085],[0.638489148214685,1.3246123081571644]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[-0.036822064268690946,-2.2170731634319627,0.71338606911949],"aabb_xy":[[-0.05432206452802758,-2.2311647056207358],[-0.019322064009354326,-2.2029816212431905]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[-0.518465395587213,-1.5034082241390256,0.71338606911949],"aabb_xy":[[-0.5984653925502522,-1.5804838657827986],[-0.4384653986241739,-1.4263325824952517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6912087650436949,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9325.png","name":"9325"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9325.png","name":"9325"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/301.png","name":"301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3553.png","name":"3553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6166.png","name":"6166"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.7289696895463,"rotation_z_degrees":212.6491110652106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004365008933561426,0.016944448596991662,-0.01598046277673098]},{"name":"camera_2","offset_m":[-0.017707743453643385,-0.01505808274220212,-0.007546869580729445]},{"name":"camera_3","offset_m":[-0.007595173086205805,0.002108738272005594,0.006633676444817497]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00035840744627664914,-0.00015406460332431236,-0.0016012711777040427],"end_effector_yaw_offset_degrees":-0.24599761983657964},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001812765796365006,0.0007049587279181302,0.00026279251138277594],"end_effector_yaw_offset_degrees":-0.9239335467732883},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004442229899163227,-0.0008664126752335162,-0.0019285778163503015],"end_effector_yaw_offset_degrees":-0.3555627904669407}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031098485288182627,0.003447273787917313],"position_m":[0.31340984852881826,0.09454727378791732,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004421367317603833,-0.004990086868962292],"position_m":[0.31255786326823964,-0.1212900868689623,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010403540283267397,0.00048529868092778063],"position_m":[0.3540596459716733,0.2971852986809278,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006710409809537873,6.0301843063488396e-05],"position_m":[0.24467104098095377,-0.3517396981569365,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"885c6da20b5e6926f34207f5f6758e9a7543022356f5c2f66963ef98c87ebdbd","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9325/tex_ceiling_textures_6166/tex_floor_textures_3553/tex_table_textures_2490/tex_wall_textures_301","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7295667713701447460,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7295667713701447460,"visual_seed":7295667713701447460,"scene_id":"lab_003","finished_at":"2026-09-03T08:04:05"} +{"episode_id":"ep_000020","started_at":"2026-09-03T08:04:09","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.3537784248910225,-1.9225826603958382,0.71338606911949],"aabb_xy":[[-0.3759509518676733,-1.944758327551961],[-0.3316058979143717,-1.900406993239715]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.46238202778594584,1.3563606997627438,0.71338606911949],"aabb_xy":[[-0.5523820275091199,1.333287347227564],[-0.3723820280627716,1.3794340522979236]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.575161673233874,0.49043206714790477,0.71338606911949],"aabb_xy":[[-0.6101616745853558,0.470072331191084],[-0.5401616718823923,0.5107918031047256]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5717254771781681,1.215403544678915,0.71338606911949],"aabb_xy":[[0.5067254771438654,1.1687028679985878],[0.6367254772124709,1.2621042213592424]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.2977451341989237,-2.050273106451489,0.71338606911949],"aabb_xy":[[0.2752459984726967,-2.072773107229752],[0.32024426992515065,-2.0277731056732264]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.4846178989617558,-2.393343523000896,0.71338606911949],"aabb_xy":[[0.4675158210033877,-2.410450328532166],[0.5017199769201239,-2.3762367174696264]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.5859156135100873,-1.4502702858863545,0.71338606911949],"aabb_xy":[[-0.5977876965215884,-1.535270285580005],[-0.5740435304985861,-1.3652702861927042]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.1866059543519023,-2.3444432335556527,0.71338606911949],"aabb_xy":[[0.10660595637111726,-2.3520447745175046],[0.26660595233268736,-2.3368416925938007]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.5011744166433578,-2.254398827139899,0.71338606911949],"aabb_xy":[[0.4836744163983085,-2.2718986149794653],[0.5186744168884072,-2.2368990393003316]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.0038102708417308007,-1.4059006936280218,0.71338606911949],"aabb_xy":[[-0.08381026942905022,-1.4852162955661825],[0.07618972774558862,-1.3265850916898607]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.18419322318528897,0.7093185397496922,0.71338606911949],"aabb_xy":[[0.14734267524830139,0.6718185389266584],[0.2210437711222766,0.7468185405727259]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.5630895042420851,1.5521788574325384,0.71338606911949],"aabb_xy":[[0.4930895021106555,1.5294168918068427],[0.6330895063735146,1.574940823058234]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6121609561523746,1.3909205002677134,0.71338606911949],"aabb_xy":[[0.5746609577289742,1.3777562862998827],[0.6496609545757749,1.4040847142355442]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.22544401664843222,-1.6158569102748515,0.71338606911949],"aabb_xy":[[-0.2600350995024774,-1.6808569105598823],[-0.19085293379438698,-1.5508569099898202]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.3567516911172295,1.5333474457575647,0.71338606911949],"aabb_xy":[[0.34590008486835394,1.5224881550299136],[0.36760329736610514,1.5442067364852157]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.2648066187600896,1.7985664113859428,0.71338606911949],"aabb_xy":[[-0.2692372481149298,1.7931180396512605],[-0.2603759894052494,1.8040147831206255]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.03860812070322883,1.3377017904049713,0.71338606911949],"aabb_xy":[[-0.12860811929769878,1.3214512040915503],[0.051391877891241104,1.3539523767183923]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.23439316836780394,0.20443894475366697,0.71338606911949],"aabb_xy":[[-0.2943931700107258,0.1524387954617228],[-0.1743931667248821,0.25643909404561116]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.5406129294794513,-0.9069096507947463,0.71338606911949],"aabb_xy":[[0.5170278060155564,-0.9719096530401781],[0.5641980529433461,-0.8419096485493145]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.6544353304199046,0.23216549590822622,0.71338606911949],"aabb_xy":[[0.5904353318333322,0.1851585325087175],[0.7184353290064771,0.27917245930773493]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.15077190790367445,-2.4527325169413867,0.71338606911949],"aabb_xy":[[0.11327190779808151,-2.459554678794368],[0.1882719080092674,-2.4459103550884054]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.49744893067046325,-1.6364983182320243,0.71338606911949],"aabb_xy":[[-0.55744893051703,-1.6933169404250632],[-0.4374489308238964,-1.5796796960389858]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.24589911562888267,-0.8999157900594907,0.71338606911949],"aabb_xy":[[0.181899118343234,-0.9414225090123346],[0.3098991129145313,-0.8584090711066467]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.2116268033622935,-2.29077678420157,0.71338606911949],"aabb_xy":[[-0.21866825431304113,-2.2978035359393645],[-0.20458535241154593,-2.2837500324637756]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.6222588597218099,-1.7107558972997006,0.71338606911949],"aabb_xy":[[0.5888186845257902,-1.7441995231306306],[0.6556990349178294,-1.6773122714687705]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[-0.6235282902594356,1.5155135756394782,0.71338606911949],"aabb_xy":[[-0.6438125929828342,1.4952309504967691],[-0.6032439875360367,1.5357962007821868]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.05771312737138368,1.5302728652065354,0.71338606911949],"aabb_xy":[[-0.06380775525950201,1.5217034706548669],[-0.05161849948326537,1.5388422597582043]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.2274683411070637,-0.7211893369532563,0.71338606911949],"aabb_xy":[[0.17247609047155274,-0.7761893386965693],[0.28246059174257465,-0.6661893352099436]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.22625609853058493,1.0347788211918645,0.71338606911949],"aabb_xy":[[-0.23495406082130024,1.02265384688439],[-0.21755813623986966,1.0469037954993394]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[-0.5346322622809191,0.15721877337388257,0.71338606911949],"aabb_xy":[[-0.5645998191907448,0.12721877307599683],[-0.5046647053710934,0.1872187736717683]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_30","position":[0.35442931202975525,-1.8145778794035647,0.71338606911949],"aabb_xy":[[0.3438618323716562,-1.825122909516573],[0.3649967916878542,-1.804032849290556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906078639379806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6975.png","name":"6975"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2734.png","name":"2734"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8565.png","name":"8565"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":840.4163291784943,"rotation_z_degrees":176.27272009955263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012556445889816418,0.010945012586116954,-0.006061274458572151]},{"name":"camera_2","offset_m":[-0.01824168941587997,-0.010817301815227075,-0.000904696704992148]},{"name":"camera_3","offset_m":[0.006011751356361193,-0.0017136012929460376,-0.006721112431649842]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001217388113989369,0.001943314735178091,0.001649682216229124],"end_effector_yaw_offset_degrees":-0.17298083627279515},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001479898531424721,-0.0017436583379376743,-0.0009904891533907714],"end_effector_yaw_offset_degrees":-0.8049741078786743},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005302129624546149,0.00035888240842405026,0.0009830040748427691],"end_effector_yaw_offset_degrees":0.20038121041030021}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004509664592137568,-0.00391174634896725],"position_m":[0.30579033540786243,0.08718825365103275,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004726782451850164,-0.004714642532468649],"position_m":[0.30827321754814985,-0.12101464253246864,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003710335348166012,0.004653767295658361],"position_m":[0.351389664651834,0.3013537672956584,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031991352692195005,-0.00454185585176041],"position_m":[0.2471991352692195,-0.3563418558517604,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4528c3435c5448ecc73bec7f84f155e299850199a57c0a9448cf0fe9ae6d43ea","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8817/tex_ceiling_textures_8565/tex_floor_textures_2734/tex_table_textures_6252/tex_wall_textures_6975","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6298730963548112812,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6298730963548112812,"visual_seed":6298730963548112812,"scene_id":"lab_003","finished_at":"2026-09-03T08:06:11"} +{"episode_id":"ep_000021","started_at":"2026-09-03T08:09:04","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.08204929631011226,0.7464369952840415,0.71338606911949],"aabb_xy":[[-0.08668441146234564,0.7425696602068927],[-0.07741418115787886,0.75030433036119]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.32080063990855795,1.4636583693047496,0.71338606911949],"aabb_xy":[[-0.3660792547897072,1.399658369956566],[-0.2755220250274087,1.5276583686529333]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.4277032287827378,-0.9088540987899234,0.71338606911949],"aabb_xy":[[0.337703232281866,-0.9547657412083815],[0.5177032252836095,-0.862942456371465]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.4758567311613573,-0.4709977062776609,0.71338606911949],"aabb_xy":[[0.4258567302108245,-0.5025468532811822],[0.5258567321118901,-0.4394485592741394]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.6072433764454783,0.023631884516758905,0.71338606911949],"aabb_xy":[[-0.6572433781069731,-0.026366557738943804],[-0.5572433747839836,0.0736303267724616]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.41672544547751006,-0.023449690803904133,0.71338606911949],"aabb_xy":[[-0.42434971356768836,-0.031082914340447857],[-0.40910117738733187,-0.015816467267360412]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.3782617508997479,0.45307367526663844,0.71338606911949],"aabb_xy":[[0.2982617476357347,0.43951364295772505],[0.45826175416376097,0.4666337075755517]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.13946074561092237,-1.4923433745412336,0.71338606911949],"aabb_xy":[[-0.19347634189282237,-1.5563433774334907],[-0.08544514932902236,-1.4283433716489764]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.5365586440345051,1.2134426346133327,0.71338606911949],"aabb_xy":[[0.4865593688660691,1.1634426333373855],[0.5865579192029414,1.2634426358892799]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.5372743294917377,-1.4015985601457825,0.71338606911949],"aabb_xy":[[0.49508991533090707,-1.4655985604229937],[0.5794587436525686,-1.3375985598685713]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.6597297512701369,0.2334391677556722,0.71338606911949],"aabb_xy":[[-0.694729750462955,0.22247212175800954],[-0.6247297520773185,0.2444062137533348]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.47851602807995425,-0.7017203064653945,0.71338606911949],"aabb_xy":[[-0.504804852400395,-0.7279917401200456],[-0.4522272037595136,-0.6754488728107432]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.3821558919461896,-1.2319405083659252,0.71338606911949],"aabb_xy":[[-0.4043284189228404,-1.2541161755220482],[-0.35998336496953875,-1.209764841209802]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.6613825717801813,0.20449050895015697,0.71338606911949],"aabb_xy":[[0.6533392118542262,0.11949050785479054],[0.6694259317061365,0.2894905100455234]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.20308097196881508,1.7798788037458437,0.71338606911949],"aabb_xy":[[-0.2930809716919892,1.7568054512106637],[-0.11308097224564088,1.8029521562810233]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.17848569572946849,-0.9379276211835097,0.71338606911949],"aabb_xy":[[-0.24248569610700207,-0.9876728880343217],[-0.11448569535193484,-0.8881823543326972]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.10300355775687697,-2.2645080987154573,0.71338606911949],"aabb_xy":[[-0.15799903557753636,-2.3195081001493643],[-0.04800807993621757,-2.2095080972815504]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.4224884998815267,-1.7466760679072064,0.71338606911949],"aabb_xy":[[-0.4474884990471598,-1.753628313612563],[-0.3974885007158936,-1.7397238222018498]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.39919273309749526,0.655900453856721,0.71338606911949],"aabb_xy":[[-0.4490754299751915,0.6059004546104463],[-0.34931003621979906,0.7059004531029958]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.4278096832468731,0.7605229090474199,0.71338606911949],"aabb_xy":[[-0.5078096837170891,0.7522122014330717],[-0.34780968277665714,0.7688336166617684]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.3384958769991987,-1.8599275709768965,0.71338606911949],"aabb_xy":[[-0.38348846371764905,-1.904927570251345],[-0.29350329028074823,-1.8149275717024476]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.5482323492937797,-1.9264424558933988,0.71338606911949],"aabb_xy":[[0.5356055620065833,-1.9359885295949715],[0.560859136580976,-1.9168963821918257]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.23092354415751315,-2.5408350073071713,0.71338606911949],"aabb_xy":[[0.1923778513323121,-2.5793807783633595],[0.2694692369827142,-2.502289236250982]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877307310710121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5311.png","name":"5311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5311.png","name":"5311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2106.png","name":"2106"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4605.png","name":"4605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6783.png","name":"6783"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":664.6261813946052,"rotation_z_degrees":146.30189552458995,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011885827608428684,-0.012961068551029135,0.0005237882133381569]},{"name":"camera_2","offset_m":[-0.017110525945369076,-0.007601494402131212,-0.0001606198584410204]},{"name":"camera_3","offset_m":[-0.017303930052477295,-0.002446993904438876,-0.006512506262472337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007513454970509729,-0.00024411063137190557,-0.0001542609410618589],"end_effector_yaw_offset_degrees":0.3332234759557058},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001916247962012649,-0.0016913814032195518,0.0019318421038581985],"end_effector_yaw_offset_degrees":-0.098498341896466},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013228888858546513,-0.00041841578722235577,-0.00033859558307161304],"end_effector_yaw_offset_degrees":0.2665667615931562}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003255214798910215,0.00215790231157073],"position_m":[0.31062552147989103,0.09325790231157073,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014851869321783452,0.0020221921970239873],"position_m":[0.31151481306782164,-0.11427780780297601,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00428502330850343,-0.0007907067127476478],"position_m":[0.3508149766914966,0.29590929328725235,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003381850788746304,0.0009677238529307184],"position_m":[0.2473818507887463,-0.3508322761470693,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c31e912adffabd0594f9e8735d9ee643a55f41c7be857d42774e62e4941990e0","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5311/tex_ceiling_textures_6783/tex_floor_textures_4605/tex_table_textures_8053/tex_wall_textures_2106","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3185341783773125822,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3185341783773125822,"visual_seed":3185341783773125822,"scene_id":"lab_003","finished_at":"2026-09-03T08:11:48"} +{"episode_id":"ep_000022","started_at":"2026-09-03T08:13:15","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.46218032028806716,-1.8412504142642754,0.71338606911949],"aabb_xy":[[-0.5121533858205829,-1.891250414076809],[-0.41220725475555187,-1.7912504144517432]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[0.5432095424401981,-1.8927925852908485,0.71338606911949],"aabb_xy":[[0.5207095429164906,-1.915288532741469],[0.5657095419639054,-1.8702966378402275]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.04426783177115445,1.5884748990310826,0.71338606911949],"aabb_xy":[[-0.09415052864885066,1.5384748997848081],[0.005614865106541759,1.6384748982773576]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[-0.5304530576346775,0.1920957285721543,0.71338606911949],"aabb_xy":[[-0.5480858932282051,0.17447278255653131],[-0.51282022204115,0.20971867458777727]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.29103406059032777,0.941632737623824,0.71338606911949],"aabb_xy":[[0.2697560524468555,0.8766327352977509],[0.3123120687338,1.006632739949897]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.4231674554941198,-1.5844333291121229,0.71338606911949],"aabb_xy":[[0.3760380764922841,-1.6484333301565244],[0.47029683449595544,-1.5204333280677205]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.21900644695950144,-1.034238713931365,0.71338606911949],"aabb_xy":[[0.15400644432170796,-1.0857183126308119],[0.28400644959729493,-0.982759115231918]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.5578786698997135,-2.1080517231175513,0.71338606911949],"aabb_xy":[[-0.6228786710056567,-2.1330170961856796],[-0.4928786687937702,-2.083086350049423]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.3847454885758754,0.7520256997310666,0.71338606911949],"aabb_xy":[[0.3543473774767318,0.7216187977293971],[0.41514359967501896,0.7824326017327361]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[-0.22743504938705678,-0.9018916659725973,0.71338606911949],"aabb_xy":[[-0.2477193521104555,-0.922174291115306],[-0.207150746663658,-0.8816090408298883]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.6869206006211704,-0.1824406543243482,0.71338606911949],"aabb_xy":[[-0.6915557157734038,-0.1863079894014968],[-0.6822854854689371,-0.1785733192471995]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[0.678801169297313,-2.1213492408423855,0.71338606911949],"aabb_xy":[[0.6488336123874875,-2.1513492411402706],[0.7087687262071388,-2.0913492405444996]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.04944333948659296,1.7215199863223387,0.71338606911949],"aabb_xy":[[-0.030556659170293043,1.707015127398076],[0.12944333814347897,1.7360248452466018]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.2047855822149095,-1.8768339971763068,0.71338606911949],"aabb_xy":[[0.17613624985449328,-1.9054795564533826],[0.23343491457532572,-1.848188437899231]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.04171682110263464,-1.4865509943360378,0.71338606911949],"aabb_xy":[[-0.09671682072438048,-1.5415346871235105],[0.013283178519111198,-1.431567301548565]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.5244362009423065,-0.1963104025885798,0.71338606911949],"aabb_xy":[[0.5135304248547437,-0.27631039898740895],[0.5353419770298691,-0.11631040618975061]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.035897092752512516,-1.250317988543541,0.71338606911949],"aabb_xy":[[-0.03933776899256969,-1.2541794215179054],[-0.032456416512455344,-1.2464565555691764]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.4789584128295499,-2.4101511836858767,0.71338606911949],"aabb_xy":[[0.46075258916830225,-2.4211765842678683],[0.4971642364907976,-2.399125783103885]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.3477746851149094,1.0313822504855286,0.71338606911949],"aabb_xy":[[-0.37228830921191525,1.007117657183492],[-0.32326106101790353,1.055646843787565]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.5871747390066095,0.6449932583993223,0.71338606911949],"aabb_xy":[[0.5371747373451147,0.5949948161436195],[0.6371747406681042,0.6949917006550249]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.24930559073705733,-2.115006855138519,0.71338606911949],"aabb_xy":[[-0.2693640023502976,-2.1350719420476763],[-0.22924717912381704,-2.0949417682293614]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.5550808919895256,-2.2760980953773644,0.71338606911949],"aabb_xy":[[0.5486670783463405,-2.282507915625032],[0.5614947056327104,-2.269688275129696]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.13103761168000427,-0.3555467316493828,0.71338606911949],"aabb_xy":[[-0.1389608919187526,-0.37804673188738613],[-0.12311433144125594,-0.3330467314113794]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.6086633570544617,-1.690393093187025,0.71338606911949],"aabb_xy":[[0.5186633576360907,-1.7237685900312147],[0.6986633564728325,-1.6570175963428353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922099685536693,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4919.png","name":"4919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4919.png","name":"4919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7588.png","name":"7588"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5300.png","name":"5300"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5404.png","name":"5404"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":639.2056720753826,"rotation_z_degrees":292.8596632955294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020104734546663484,0.01888204255408184,0.008994793916237455]},{"name":"camera_2","offset_m":[0.012767992000864283,0.0016594843932117506,0.01644627135177038]},{"name":"camera_3","offset_m":[0.019158827876382668,0.014743967639405529,0.009388489285331186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010844351795671302,0.0002669775130535036,0.00020449486094087192],"end_effector_yaw_offset_degrees":0.6830599846765615},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009265352445802879,0.0003643722572946521,-0.0015085141092356805],"end_effector_yaw_offset_degrees":0.48655950181677055},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011868093428156101,-0.0010034399247228762,0.0017105266561107213],"end_effector_yaw_offset_degrees":0.9740971390846362}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002512890202447723,-0.0039027733208481996],"position_m":[0.3077871097975523,0.0871972266791518,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003951175600120898,-0.003553205117284244],"position_m":[0.31695117560012087,-0.11985320511728424,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012799931126892825,-0.0020769673760001484],"position_m":[0.3563799931126893,0.29462303262399986,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026722531610560963,0.00013523857952430635],"position_m":[0.2413277468389439,-0.3516647614204757,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f9fdaaabe2e6f0fcb99ad0a56154d309a9b4274315e0d7fc3d067325108d374a","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4919/tex_ceiling_textures_5404/tex_floor_textures_5300/tex_table_textures_7588/tex_wall_textures_5466","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2402153377128124555,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2402153377128124555,"visual_seed":2402153377128124555,"scene_id":"lab_003","finished_at":"2026-09-03T08:15:55"} +{"episode_id":"ep_000023","started_at":"2026-09-03T08:15:58","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.22591417585244966,1.246487494214005,0.71338606911949],"aabb_xy":[[-0.23188071479318548,1.2405263495546406],[-0.2199476369117139,1.2524486388733689]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.5774234498160365,-1.5750614213113105,0.71338606911949],"aabb_xy":[[-0.6010085732799313,-1.6400614235567423],[-0.5538383263521416,-1.5100614190658788]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.35462178410181155,0.6017824033220545,0.71338606911949],"aabb_xy":[[0.3364159604405639,0.5907570027400628],[0.37282760776305923,0.6128078039040461]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.2705483480666837,1.03955535864656,0.71338606911949],"aabb_xy":[[-0.2955483476184222,1.0294128747814253],[-0.24554834851494522,1.0496978425116947]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.4790042101650823,0.9332724355301045,0.71338606911949],"aabb_xy":[[-0.5284846313790411,0.8692724376172527],[-0.42952378895112353,0.9972724334429564]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.3878492770952622,1.039390888617954,0.71338606911949],"aabb_xy":[[0.3178492744586758,1.0192860236220884],[0.45784927973184847,1.0594957536138194]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.48479935607089786,1.4965882930533465,0.71338606911949],"aabb_xy":[[0.4480047229459915,1.459682417956764],[0.521593989195804,1.5334941681499286]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.1943186297725018,-1.102079741032623,0.71338606911949],"aabb_xy":[[-0.2583186318222338,-1.142174224121931],[-0.1303186277227698,-1.061985257943315]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.4876954703373375,-1.4387081079635875,0.71338606911949],"aabb_xy":[[0.47336104521117406,-1.4507683235181261],[0.502029895463501,-1.4266478924090484]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.3184001278116151,1.1210799960580724,0.71338606911949],"aabb_xy":[[0.31077585972143684,1.113446772521529],[0.32602439590179333,1.1287132195946163]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.6438676859993745,1.2861503754208927,0.71338606911949],"aabb_xy":[[-0.647983636111447,1.282034820388047],[-0.6397517358873017,1.290265930453738]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.5088068587002861,0.5938201876797424,0.71338606911949],"aabb_xy":[[-0.5263068578346531,0.5839405606421546],[-0.49130685956591885,0.6036998147173303]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.16311884086679262,-1.322725207202374,0.71338606911949],"aabb_xy":[[-0.18561884111030805,-1.334929841862146],[-0.14061884062327726,-1.3105205725426021]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[-0.28341705360363295,-0.30226565432960806,0.71338606911949],"aabb_xy":[[-0.3484170545607601,-0.3542138662633136],[-0.2184170526465057,-0.2503174423959024]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.20085578304017115,-2.501508102270896,0.71338606911949],"aabb_xy":[[0.19481877003950646,-2.5075348033398446],[0.2068927960408359,-2.4954814012019484]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.5743776964113378,-0.08568139064946001,0.71338606911949],"aabb_xy":[[0.549864072314332,-0.10994598395149646],[0.5988913205083437,-0.06141679734742356]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.1590604303085239,-0.6002753023777789,0.71338606911949],"aabb_xy":[[-0.18152520027992902,-0.6227753032566394],[-0.13659566033711878,-0.5777753014989184]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.6371224276762151,-0.6716872114377872,0.71338606911949],"aabb_xy":[[-0.6705626028722345,-0.7051308372687172],[-0.6036822524801952,-0.638243585606857]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.10575967151803245,-0.7621485094494176,0.71338606911949],"aabb_xy":[[0.070759673207337,-0.7698635243729632],[0.1407596698287279,-0.7544334945258719]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.3754126606333337,-2.460311641030273,0.71338606911949],"aabb_xy":[[0.3504126607008158,-2.4671943092511968],[0.40041266056585156,-2.4534289728093506]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.14755721565131963,-1.8125527515327535,0.71338606911949],"aabb_xy":[[-0.20157281193321963,-1.8765527544250105],[-0.09354161936941963,-1.7485527486404961]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.6457412735100473,0.6761102010172317,0.71338606911949],"aabb_xy":[[-0.6757329362439176,0.6461102016804313],[-0.615749610776177,0.7061102003540324]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.3286752685758818,-0.6034342362672136,0.71338606911949],"aabb_xy":[[0.2386752688527076,-0.6265075888023932],[0.41867526829905594,-0.5803608837320335]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[0.16574727104275166,-1.877770148296733,0.71338606911949],"aabb_xy":[[0.11075502040724075,-1.932770150040046],[0.22073952167826266,-1.8227701465534205]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[0.6870484548963962,0.24692018534987037,0.71338606911949],"aabb_xy":[[0.6587187449478561,0.2424594431561533],[0.7153781648449365,0.25138092754358743]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.5594801460743946,1.062314065138768,0.71338606911949],"aabb_xy":[[-0.629480148205824,1.039552099513072],[-0.4894801439429649,1.0850760307644634]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.2990662949604545,1.564498769416034,0.71338606911949],"aabb_xy":[[-0.32691133174106163,1.5337142706777223],[-0.2712212581798474,1.5952832681543456]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.3164928008347627,1.7820997272758068,0.71338606911949],"aabb_xy":[[0.26649796790682106,1.7320997283805635],[0.36648763376270427,1.8320997261710505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963957493490017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3448.png","name":"3448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3448.png","name":"3448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3401.png","name":"3401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6759.png","name":"6759"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4394.png","name":"4394"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2377.png","name":"2377"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":780.1439655894251,"rotation_z_degrees":329.3801356645611,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01878532626922916,0.006544419255976815,-0.013359138546325512]},{"name":"camera_2","offset_m":[0.018338620112128685,0.005931732239040789,0.009810803399240276]},{"name":"camera_3","offset_m":[0.005325268906976863,0.0020684214465222853,-0.009007458198567408]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014953117173472697,0.0009719377473442954,0.0002442722471304652],"end_effector_yaw_offset_degrees":0.7887212349024364},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018347456429724557,-0.001864441973500029,0.001441013893238887],"end_effector_yaw_offset_degrees":0.008496122490566638},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000319324224523065,-0.0019437726607279076,-0.000561182541254571],"end_effector_yaw_offset_degrees":-0.2750203416828074}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002303766124275932,0.004815919516674222],"position_m":[0.31260376612427593,0.09591591951667422,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003322331156021261,0.002562649059987745],"position_m":[0.30967766884397874,-0.11373735094001225,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032698832531613967,0.0034971286478449872],"position_m":[0.35836988325316144,0.300197128647845,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015852566958599514,-0.004062757712313562],"position_m":[0.24558525669585995,-0.35586275771231357,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bcd5fc62bf86912d18f95675144e2415a67d70bcfc720cb68ee383173660c40e","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3448/tex_ceiling_textures_2377/tex_floor_textures_4394/tex_table_textures_3401/tex_wall_textures_6759","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6576001222510343534,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6576001222510343534,"visual_seed":6576001222510343534,"scene_id":"lab_003","finished_at":"2026-09-03T08:18:26"} +{"episode_id":"ep_000024","started_at":"2026-09-03T08:18:30","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.5877501938265683,0.41515939494354104,0.71338606911949],"aabb_xy":[[-0.6076412337069087,0.4025035836588443],[-0.5678591539462282,0.427815206228238]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.22661674533747356,-1.3819197061045392,0.71338606911949],"aabb_xy":[[0.16161674438034634,-1.4338679180382448],[0.29161674629460077,-1.3299714941708336]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.14884302226705137,-2.277396886840509,0.71338606911949],"aabb_xy":[[0.06884302010428889,-2.3573520704666526],[0.22884302442981386,-2.1974417032143654]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.24395704396162066,0.7167042815670479,0.71338606911949],"aabb_xy":[[0.23792003096095593,0.7106775804980997],[0.24999405696228538,0.7227309826359961]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.31038320586401213,-1.8136263397656198,0.71338606911949],"aabb_xy":[[0.27538320755331663,-1.8213413546891655],[0.3453832041747075,-1.8059113248420742]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.022803844333541545,-2.3007628294482094,0.71338606911949],"aabb_xy":[[-0.07280384377373716,-2.3507307539325253],[0.027196155106654074,-2.2507949049638927]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.6134746348618572,-0.18238125407743322,0.71338606911949],"aabb_xy":[[0.5634916846743777,-0.2323812537199936],[0.6634575850493364,-0.13238125443487278]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.5276232502521954,-1.9366346488370654,0.71338606911949],"aabb_xy":[[-0.5451231836861786,-1.9541346487572997],[-0.5101233168182119,-1.9191346489168306]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.14119501462895812,0.5214968393718276,0.71338606911949],"aabb_xy":[[-0.22119501159199725,0.4444211977280541],[-0.06119501766591892,0.598572481015601]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.03190734575382059,-1.050364195596664,0.71338606911949],"aabb_xy":[[-0.01808748717412101,-1.1003641944919076],[0.0819021786817622,-1.0003641967014205]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.14831118365200535,-1.9851264265015525,0.71338606911949],"aabb_xy":[[-0.20831118424802153,-2.039938899046776],[-0.08831118305598917,-1.9303139539563292]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[-0.20441188030333673,-1.8534071680352968,0.71338606911949],"aabb_xy":[[-0.2118243358447252,-1.8592583784569245],[-0.19699942476194826,-1.8475559576136686]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.401831467389701,-0.6026650421540023,0.71338606911949],"aabb_xy":[[0.3673689893766132,-0.609328719336925],[0.43629394540278876,-0.5960013649710794]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[0.5791432995102408,0.37704445621027594,0.71338606911949],"aabb_xy":[[0.5738107848556278,0.3717201279650404],[0.5844758141648538,0.3823687844555116]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.27881738792293354,-1.6335698672144576,0.71338606911949],"aabb_xy":[[0.2741822727707001,-1.637437202291606],[0.28345250307516684,-1.6297025321373084]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.2948927901728614,1.3382196218574816,0.71338606911949],"aabb_xy":[[-0.3323927902784543,1.3313974600045002],[-0.2573927900672684,1.3450417837104625]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.5785626576509552,1.096744348620422,0.71338606911949],"aabb_xy":[[-0.5845291965916911,1.0907832039610577],[-0.5725961187102194,1.102705493279786]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.27726090472942616,1.167850538158544,0.71338606911949],"aabb_xy":[[-0.33223462676575904,1.1128505385943108],[-0.22228718269309328,1.2228505377227772]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.4642246706486872,-1.6396425802592112,0.71338606911949],"aabb_xy":[[0.4561984000180612,-1.6483940752365636],[0.4722509412793132,-1.6308910852818583]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.04992408292669548,0.8013934927716004,0.71338606911949],"aabb_xy":[[0.02986567131345519,0.781328405862443],[0.06998249453993577,0.8214585796807581]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.3121376715654751,-1.3221397170899079,0.71338606911949],"aabb_xy":[[-0.3761376748551832,-1.3654746360938255],[-0.24813766827576697,-1.2788047980859902]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.24011110209951464,0.22905280100973613,0.71338606911949],"aabb_xy":[[-0.24402497529493714,0.22030378560317937],[-0.2361972289040921,0.2378018164162929]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.04118052343466916,-0.16401908258410636,0.71338606911949],"aabb_xy":[[-0.045258681341718905,-0.16810006283236967],[-0.037102365527619426,-0.15993810233584305]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.193891823436957,-1.7347502305567717,0.71338606911949],"aabb_xy":[[0.18074057746566763,-1.7597502303134587],[0.20704306940824638,-1.7097502308000856]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.3079480769138603,-1.9063703492610622,0.71338606911949],"aabb_xy":[[0.282948077641898,-1.9227157128572243],[0.33294807618582256,-1.8900249856648996]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[-0.029997146267151442,1.363974356217022,0.71338606911949],"aabb_xy":[[-0.03649878277515606,1.3542065341907124],[-0.02349550975914683,1.373742178243332]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.5737191415239655,-2.283178261861158,0.71338606911949],"aabb_xy":[[-0.5912191417690148,-2.300678049700725],[-0.556219141278916,-2.265678474021591]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.14873079482931406,0.014886800595346639,0.71338606911949],"aabb_xy":[[-0.2127307921149627,-0.02661991835749733],[-0.08473079754366541,0.05639351954819061]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_28","position":[0.39081277602070275,-0.9296852377438305,0.71338606911949],"aabb_xy":[[0.3008127723437845,-0.9911176443209346],[0.4808127796976208,-0.8682528311667259]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[-0.47484689507706546,0.29332733357119745,0.71338606911949],"aabb_xy":[[-0.5113427157043442,0.2568433911444398],[-0.4383510744497867,0.32981127599795496]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[-0.1251161842878179,-0.5427031368165713,0.71338606911949],"aabb_xy":[[-0.18911618650822493,-0.5870762209418596],[-0.061116182067410874,-0.49833005269128305]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_31","position":[-0.32342235684279047,-1.5035749074914557,0.71338606911949],"aabb_xy":[[-0.3734223554887117,-1.553494451150918],[-0.27342235819686933,-1.4536553638319933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931204194867479,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6093.png","name":"6093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2552.png","name":"2552"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9845.png","name":"9845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3167.png","name":"3167"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.322612026487,"rotation_z_degrees":170.70757232668396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011308375886195989,0.004383055429803707,0.007343605291711349]},{"name":"camera_2","offset_m":[0.01727624136997905,0.010734476522438401,0.014312010403430008]},{"name":"camera_3","offset_m":[0.012542162703571742,0.015603939277829684,-0.007285446042031083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017058184866751724,0.000982119924430279,0.0014542683316611524],"end_effector_yaw_offset_degrees":0.24600720540214782},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006197188802001962,-0.00014264046412667576,-0.0014250448743080076],"end_effector_yaw_offset_degrees":-0.19423629804444675},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009058116071651258,-0.00020855959789425438,0.0018570762907192083],"end_effector_yaw_offset_degrees":0.9987699210710859}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002411731385593971,-0.004387079460243203],"position_m":[0.312711731385594,0.0867129205397568,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036073369027602277,-0.0016680972016037622],"position_m":[0.3093926630972398,-0.11796809720160377,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026003023255959084,-0.0027472267508718007],"position_m":[0.3577003023255959,0.2939527732491282,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003246551857462139,0.000462212930821799],"position_m":[0.24075344814253785,-0.3513377870691782,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7f5b45830cb52173228875251bc5bbbb4cbc70190945897ede8a9adbfc6f52db","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7807/tex_ceiling_textures_3167/tex_floor_textures_9845/tex_table_textures_6093/tex_wall_textures_2552","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8257544045268922887,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8257544045268922887,"visual_seed":8257544045268922887,"scene_id":"lab_003","finished_at":"2026-09-03T08:20:56"} +{"episode_id":"ep_000025","started_at":"2026-09-03T08:22:21","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.18909643991309988,0.7537061584720215,0.71338606911949],"aabb_xy":[[0.13961601869914111,0.6897061605591697],[0.2385768611270587,0.8177061563848733]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.4855251692958529,-1.8163208646221527,0.71338606911949],"aabb_xy":[[-0.4948187875330034,-1.8538208631102864],[-0.47623155105870224,-1.7788208661340186]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.49927535577858784,1.2597729419012138,0.71338606911949],"aabb_xy":[[-0.5074899008942717,1.2510963516035725],[-0.49106081066290375,1.2684495321988551]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.026460533345618376,-0.6782149943327707,0.71338606911949],"aabb_xy":[[-0.003937577753525215,-0.7086218963344402],[0.05685864444476195,-0.6478080923311011]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.4442984665008631,0.1664413817951349,0.71338606911949],"aabb_xy":[[-0.485603009564599,0.10244138222701782],[-0.40299392343712703,0.23044138136325198]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.14833900235219977,-0.2202119756253298,0.71338606911949],"aabb_xy":[[-0.2123390040301971,-0.268729367104644],[-0.08433900067420239,-0.17169458414601554]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.10475219037837913,-0.9174426977294126,0.71338606911949],"aabb_xy":[[-0.11084681826649745,-0.9260120922810814],[-0.09865756249026081,-0.908873303177744]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[0.04866627159733927,1.421620130395374,0.71338606911949],"aabb_xy":[[0.039885044450103053,1.4128403831068437],[0.05744749874457551,1.4303998776839042]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.45237479479341103,-1.60850461394064,0.71338606911949],"aabb_xy":[[-0.5023747942336065,-1.6584725384249566],[-0.40237479535321535,-1.558536689456324]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.5987580286539679,0.2350402546282666,0.71338606911949],"aabb_xy":[[-0.6103270094009046,0.21004025451133493],[-0.5871890479070314,0.2600402547451983]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.6585310787440851,1.1540383220744803,0.71338606911949],"aabb_xy":[[-0.6935310770547806,1.1463233071509347],[-0.6235310804333897,1.161753336998026]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.3983822024143393,-1.365346299403405,0.71338606911949],"aabb_xy":[[0.363382203221521,-1.3763133454010672],[0.4333822016071575,-1.3543792534057422]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.16615695686125165,-2.3364809299494964,0.71338606911949],"aabb_xy":[[0.07615695713807748,-2.359554282484676],[0.25615695658442583,-2.313407577414316]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.5584494996531717,-2.289642218578748,0.71338606911949],"aabb_xy":[[0.523449499676676,-2.299106834626364],[0.5934494996296676,-2.2801776025311313]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.5951510048738029,1.6836346809446785,0.71338606911949],"aabb_xy":[[0.5640040860302197,1.6136346822578715],[0.6262979237173859,1.753634679631486]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.6626651909691896,0.6072018484531925,0.71338606911949],"aabb_xy":[[0.6475628895081713,0.5921003268221304],[0.6777674924302075,0.6223033700842541]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.4827639671010231,0.8336154004574174,0.71338606911949],"aabb_xy":[[0.47880348333128875,0.825947535871897],[0.48672445087075744,0.8412832650429382]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.6444777803871056,-0.7991209382802493,0.71338606911949],"aabb_xy":[[0.5894823025664461,-0.8541209397141563],[0.6994732582077648,-0.7441209368463424]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.006383666311603031,0.8914514916297964,0.71338606911949],"aabb_xy":[[-0.01081429566644321,0.8860031198951139],[-0.0019530369567628564,0.8968998633644791]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[0.6410528321857945,-1.355156167893043,0.71338606911949],"aabb_xy":[[0.5794620729618017,-1.41915616600209],[0.7026435914097874,-1.2911561697839962]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.6211441868085636,1.8112165164885163,0.71338606911949],"aabb_xy":[[0.5836441882329427,1.7984802208249584],[0.6586441853841843,1.8239528121520743]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.18198961447290518,-1.8007261416537876,0.71338606911949],"aabb_xy":[[-0.18998360305060857,-1.8087262217488778],[-0.1739956258952018,-1.792726061558697]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.38707359016717985,-2.5122908400257993,0.71338606911949],"aabb_xy":[[-0.39900632452900786,-2.524672992833658],[-0.3751408558053517,-2.4999086872179395]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.21441906739623462,0.5682759445546051,0.71338606911949],"aabb_xy":[[0.20181636825915816,0.5556805483297396],[0.22702176653331108,0.5808713407794706]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[0.05721950822694921,-1.060472236030386,0.71338606911949],"aabb_xy":[[-0.006780493685393123,-1.1163833852883966],[0.12121951013929155,-1.0045610867723758]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.6551049484177803,-0.13813338166660882,0.71338606911949],"aabb_xy":[[-0.6682561943890697,-0.1631333814232954],[-0.641953702446491,-0.11313338190992231]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[-0.09262026790736944,1.7887720288055662,0.71338606911949],"aabb_xy":[[-0.15762026646444227,1.7590194953916836],[-0.027620269350296614,1.8185245622194488]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.1997471827098919,1.12944754832392,0.71338606911949],"aabb_xy":[[-0.2372471830020667,1.1254060729233164],[-0.16224718241771707,1.1334890237245234]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.4370355861972383,1.6764565829887759,0.71338606911949],"aabb_xy":[[-0.5010355847838108,1.6294496195892672],[-0.37303558761066585,1.7234635463882846]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_29","position":[0.5041175454592188,-1.2270721603132835,0.71338606911949],"aabb_xy":[[0.4757878355106786,-1.2315329025070005],[0.5324472554077591,-1.2226114181195664]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_30","position":[0.22215986418634537,1.2072706754299336,0.71338606911949],"aabb_xy":[[0.204659930752362,1.1897706755096988],[0.23965979762032874,1.224770675350168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930682253133096,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/23.png","name":"23"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/23.png","name":"23"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4605.png","name":"4605"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5569.png","name":"5569"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4751.png","name":"4751"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":731.3643644748897,"rotation_z_degrees":241.11770355832294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01281289611824179,0.017652326080877145,0.019502747954442384]},{"name":"camera_2","offset_m":[-0.011325449187879312,0.019526894638124254,-0.011869138687106746]},{"name":"camera_3","offset_m":[-0.004036902721241544,-0.010159623924707626,0.001242131214648546]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[4.621273035375004e-05,0.0013690653012491862,0.0004997998150423053],"end_effector_yaw_offset_degrees":-0.21493579229321025},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016501709607981935,-0.0015014569823145864,0.0002707277765429772],"end_effector_yaw_offset_degrees":-0.4703817643685879},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004818239920764574,0.001226828252801918,0.0019038704551577446],"end_effector_yaw_offset_degrees":0.7258686383037791}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003562932144292724,-0.002286678085617856],"position_m":[0.31386293214429273,0.08881332191438214,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033957701705154353,-0.0008861193915385103],"position_m":[0.31639577017051546,-0.11718611939153852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006143195569041993,0.0039013746815788767],"position_m":[0.3544856804430958,0.3006013746815789,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036399588548652823,-0.001733881795425404],"position_m":[0.24763995885486528,-0.3535338817954254,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e75c2d046668e27cbe191cb01d406c648e3f495d89015185c607505e7484dce","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_23/tex_ceiling_textures_4751/tex_floor_textures_5569/tex_table_textures_4605/tex_wall_textures_7827","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7997057196549591038,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7997057196549591038,"visual_seed":7997057196549591038,"scene_id":"lab_003","finished_at":"2026-09-03T08:24:49"} +{"episode_id":"ep_000026","started_at":"2026-09-03T08:26:13","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.21400272060707987,0.17037885613914838,0.71338606911949],"aabb_xy":[[-0.25150272095530757,0.15858746055806483],[-0.17650272025885205,0.18217025172023193]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.15948780061669487,0.5012051898491832,0.71338606911949],"aabb_xy":[[-0.18448779988865716,0.4848598262530209],[-0.1344878013447326,0.5175505534453455]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.24147363516984455,0.5752567809159155,0.71338606911949],"aabb_xy":[[-0.2764736350658634,0.5668825454039754],[-0.20647363527382573,0.5836310164278553]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.490617198814303,1.809111868959246,0.71338606911949],"aabb_xy":[[-0.4976586497650506,1.8020851172214518],[-0.4835757478635554,1.8161386206970407]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.30521596884037755,1.372761293982717,0.71338606911949],"aabb_xy":[[-0.36018969087671043,1.317761294418484],[-0.25024224680404467,1.4277612935469504]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.559109465141151,1.7537113379548885,0.71338606911949],"aabb_xy":[[0.5247931879665331,1.7037113379817108],[0.593425742315769,1.8037113379280663]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.354413765452782,0.2875477418915158,0.71338606911949],"aabb_xy":[[-0.41841376184835505,0.22358445347278222],[-0.2904137690572089,0.35151103031024933]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.19904105996964333,-1.890860924398331,0.71338606911949],"aabb_xy":[[-0.21571819596273886,-1.9075608483722615],[-0.18236392397654785,-1.874161000424401]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.21814319734133064,-0.8719646315890739,0.71338606911949],"aabb_xy":[[-0.28214319651110054,-0.9187313187080364],[-0.1541431981715607,-0.8251979444701114]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.5992875145330101,0.998499702284648,0.71338606911949],"aabb_xy":[[0.5818567994540035,0.9812275876207971],[0.6167182296120165,1.0157718169484986]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.6825376256202806,0.4222334839344031,0.71338606911949],"aabb_xy":[[0.6573167887604409,0.39700973308151627],[0.7077584624801202,0.44745723478728977]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.0224691636158737,-1.9924642468337865,0.71338606911949],"aabb_xy":[[0.007366862154855598,-2.0075657684648474],[0.03757146507689178,-1.9773627252027242]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.04485219957759734,-1.3742845193233972,0.71338606911949],"aabb_xy":[[-0.062352133011580706,-1.3917845192436316],[-0.02735226614361396,-1.3567845194031625]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.6415196984149778,-0.010321831054384667,0.71338606911949],"aabb_xy":[[0.6065196992221594,-0.021288877052047295],[0.676519697607796,0.0006452149432779625]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.19738778906888682,0.42777709299662936,0.71338606911949],"aabb_xy":[[-0.20181841842372703,0.4223287212619468],[-0.19295715971404667,0.433225464731312]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.005938842323002902,0.9509219911118505,0.71338606911949],"aabb_xy":[[-0.04093884145295856,0.9451767700361864],[0.02906115680695276,0.9566672121875146]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.41776483311852264,1.1493324718474143,0.71338606911949],"aabb_xy":[[0.4026019601415856,1.1341670145522957],[0.4329277060954598,1.1644979291425333]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.06798079783135913,-2.195166378096072,0.71338606911949],"aabb_xy":[[-0.14798079890447946,-2.2049444244334566],[0.0120192032417612,-2.1853883317586877]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.09903618315727769,0.6387534348804556,0.71338606911949],"aabb_xy":[[0.07712750101792663,0.6168527680603647],[0.12094486529662872,0.6606541017005462]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.08092368146363405,0.7909850330263493,0.71338606911949],"aabb_xy":[[0.05708746382302898,0.7009850322178628],[0.10475989910423912,0.8809850338348358]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944816700652529,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/489.png","name":"489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/489.png","name":"489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5287.png","name":"5287"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4240.png","name":"4240"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1996.png","name":"1996"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1291.png","name":"1291"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":746.1544544516162,"rotation_z_degrees":294.5557600898391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002460298196618905,-0.009837120939568282,-0.011826438065628206]},{"name":"camera_2","offset_m":[0.018308792852959322,-0.00966139351058939,0.005682803474292238]},{"name":"camera_3","offset_m":[-0.005828513514341936,0.013819815628636444,-0.0024970376747343627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014591367067713014,-0.0010079458689082155,0.001934186578549108],"end_effector_yaw_offset_degrees":-0.2396590321707608},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001176997298336333,-0.0019907542333633494,-0.0006894803565621901],"end_effector_yaw_offset_degrees":-0.4058383779144559},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010367006759448177,-0.0010025444718641374,-0.0018016388534846644],"end_effector_yaw_offset_degrees":-0.9455049092927146}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038006429913118927,-0.0007836932374013636],"position_m":[0.3141006429913119,0.09031630676259864,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003597387909129539,-0.00017311101459085987],"position_m":[0.30940261209087044,-0.11647311101459086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004540754602850641,-0.003685842169442992],"position_m":[0.35964075460285067,0.293014157830557,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026078533365226065,0.0046032210844641494],"position_m":[0.24139214666347739,-0.34719677891553585,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d26faacf68d5f3aec56f30d7e363f68f86a1d07a0ec908f043646ee6c9d55cba","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_489/tex_ceiling_textures_1291/tex_floor_textures_1996/tex_table_textures_5287/tex_wall_textures_4240","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5922847482583382629,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5922847482583382629,"visual_seed":5922847482583382629,"scene_id":"lab_003","finished_at":"2026-09-03T08:28:44"} +{"episode_id":"ep_000027","started_at":"2026-09-03T08:28:47","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.5545953623172897,0.934750540522808,0.71338606911949],"aabb_xy":[[0.4905953659217166,0.8707872521040744],[0.6185953587128628,0.9987138289415415]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.6055158711750238,-0.4974984822654913,0.71338606911949],"aabb_xy":[[-0.6164216472625864,-0.5774984786643205],[-0.594610095087461,-0.41749848586666216]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.1668093347457097,0.7074597651580814,0.71338606911949],"aabb_xy":[[0.12930933617008886,0.6947234694945233],[0.20430933332133047,0.7201960608216392]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.26374049914898645,-1.6204842615333024,0.71338606911949],"aabb_xy":[[0.2505095536143051,-1.6337116805553016],[0.2769714446836677,-1.6072568425113027]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.25377261442843546,-1.2549672526590312,0.71338606911949],"aabb_xy":[[0.23860974145149838,-1.27013270995415],[0.26893548740537254,-1.2398017953639124]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.4057848667015253,0.6219899451561037,0.71338606911949],"aabb_xy":[[-0.426069169424924,0.6017073200133947],[-0.3855005639781265,0.6422725702988124]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.5176044797165185,0.15873390023176048,0.71338606911949],"aabb_xy":[[0.49260448044455624,0.1423885366355981],[0.5426044789884807,0.1750792638279228]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.33678147089520677,-2.175386359167475,0.71338606911949],"aabb_xy":[[-0.3428760987833251,-2.1839557537191436],[-0.33068684300708845,-2.166816964615806]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.3434801401518262,-1.582367730987937,0.71338606911949],"aabb_xy":[[-0.40848013830774527,-1.6086639755378493],[-0.27848014199590715,-1.556071486438025]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.41736887425098,0.5471189333832553,0.71338606911949],"aabb_xy":[[0.409665683576903,0.5394095626845173],[0.42507206492505706,0.5548283040819934]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.030487809661025378,-1.4296063497530884,0.71338606911949],"aabb_xy":[[-0.04835691741548087,-1.4434392577302995],[-0.012618701906569881,-1.4157734417758774]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.48467101738031704,1.4713982685996165,0.71338606911949],"aabb_xy":[[-0.539663268015828,1.416398266856304],[-0.42967876674480615,1.5263982703429297]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.5780624086552033,-1.3026147548647924,0.71338606911949],"aabb_xy":[[0.5229372030256125,-1.3626147563060793],[0.6331876142847941,-1.242614753423505]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.5111685698122602,0.7597350851713367,0.71338606911949],"aabb_xy":[[-0.560648991026219,0.6957350872584849],[-0.46168814859830143,0.8237350830841885]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.48852370715012006,0.3466265913344775,0.71338606911949],"aabb_xy":[[0.4510237069782481,0.31392585595157024],[0.526023707321992,0.3793273267173846]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.6390427201814489,-2.3957753148626417,0.71338606911949],"aabb_xy":[[-0.6471563748548259,-2.4038811313166706],[-0.6309290655080717,-2.387669498408613]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.43436134213142585,1.4761059285202713,0.71338606911949],"aabb_xy":[[0.41918917284979257,1.4609370715920678],[0.44953351141305925,1.4912747854484745]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.5471326514284854,1.0302535848980274,0.71338606911949],"aabb_xy":[[-0.5559138785757217,1.0214738376094974],[-0.5383514242812494,1.039033332186558]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.033914863387702665,1.663469482846073,0.71338606911949],"aabb_xy":[[-0.05641486389974326,1.6409776244806744],[-0.011414862875662068,1.6859613412114711]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.5132481453774318,-0.46589626033477316,0.71338606911949],"aabb_xy":[[0.43324814211341867,-0.47945629264368644],[0.5932481486414449,-0.45233622802585977]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948578160844239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/810.png","name":"810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/810.png","name":"810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4591.png","name":"4591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8036.png","name":"8036"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4916.png","name":"4916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8599.png","name":"8599"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":531.2567065720813,"rotation_z_degrees":270.519842475536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017713414482543915,0.005906080178179854,-0.018166402564820824]},{"name":"camera_2","offset_m":[-0.005926430219965417,0.013543303303247132,0.002573526838186062]},{"name":"camera_3","offset_m":[-0.01917555582470802,-0.010194261862172227,-0.012689495470230927]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010878592331725716,0.0006741771860593083,0.0019194825314246666],"end_effector_yaw_offset_degrees":0.9160731350694964},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016087310177642718,-0.0014236706284173417,0.0008565278846036188],"end_effector_yaw_offset_degrees":-0.5423007282862693},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001121289645080127,0.0017325500771472146,-0.0017570294798765218],"end_effector_yaw_offset_degrees":-0.7775101643504145}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001086097289422926,-0.004885597198542125],"position_m":[0.3092139027105771,0.08621440280145788,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028490898392262475,-0.004797029477945228],"position_m":[0.31015091016077373,-0.12109702947794523,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0040522236515837156,-0.0017511051932209499],"position_m":[0.3591522236515837,0.29494889480677905,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002663772890089706,-0.000745027039913658],"position_m":[0.2466637728900897,-0.35254502703991364,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"39db6fc5e3f1bf840969d9c298ec141fc1555fe97bf89fd80a33e4c235c46a9b","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_810/tex_ceiling_textures_8599/tex_floor_textures_4916/tex_table_textures_4591/tex_wall_textures_8036","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1069775335299631738,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1069775335299631738,"visual_seed":1069775335299631738,"scene_id":"lab_003","finished_at":"2026-09-03T08:31:17"} +{"episode_id":"ep_000028","started_at":"2026-09-03T08:31:19","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.5839413279727875,1.0190766366045496,0.71338606911949],"aabb_xy":[[-0.5933588025426502,1.0096604594668306],[-0.5745238534029247,1.0284928137422686]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.15344839536473465,1.4294081135216623,0.71338606911949],"aabb_xy":[[-0.1834159522745603,1.3994081132237768],[-0.12348083845490898,1.4594081138195483]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[0.07806123404244592,-2.1414775225303084,0.71338606911949],"aabb_xy":[[0.06728826012107815,-2.1764775207493474],[0.08883420796381371,-2.1064775243112694]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.6414737302985946,0.5868525527437303,0.71338606911949],"aabb_xy":[[-0.6477858298349332,0.5810856134905115],[-0.6351616307622562,0.5926194919969491]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.238952763139739,0.42842036404634554,0.71338606911949],"aabb_xy":[[-0.2521837086744203,0.4151929450243461],[-0.22572181760505772,0.44164778306834496]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.5098739100784822,-1.2484630056135584,0.71338606911949],"aabb_xy":[[0.48659206788035075,-1.333463006910786],[0.5331557522766134,-1.1634630043163299]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.5964410553787713,-1.081299198517345,0.71338606911949],"aabb_xy":[[-0.6464360663382234,-1.1312991975529367],[-0.5464460444193193,-1.0312991994817533]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.5070461896467824,0.37556276508252884,0.71338606911949],"aabb_xy":[[-0.5870461882341017,0.29624716314436794],[-0.4270461910594629,0.45487836702068973]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.4621713463630628,1.1792160928300612,0.71338606911949],"aabb_xy":[[0.42717134717024446,1.1682490468323985],[0.497171345555881,1.1901831388277235]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.4892673281137515,1.4187670920539932,0.71338606911949],"aabb_xy":[[-0.5265986046389941,1.384114037259141],[-0.45193605158850897,1.4534201468488455]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.38382329572100926,-1.5338777204979634,0.71338606911949],"aabb_xy":[[0.31882329461506603,-1.558843093566092],[0.4488232968269526,-1.5089123474298354]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.6184490222083052,-1.9712889634309072,0.71338606911949],"aabb_xy":[[0.6088173859878755,-1.980926276210616],[0.6280806584287347,-1.961651650651198]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.1705776774551917,-1.0277050897832376,0.71338606911949],"aabb_xy":[[-0.25557767587261493,-1.1125793852455226],[-0.08557767903776847,-0.9428307943209526]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.2791780393252496,-2.415085352309622,0.71338606911949],"aabb_xy":[[-0.2851445782659853,-2.4210464969689856],[-0.27321150038451375,-2.4091242076502573]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.5280840795533135,-1.6678449924661085,0.71338606911949],"aabb_xy":[[-0.5780840791296482,-1.7178255714182145],[-0.47808407997697877,-1.6178644135140026]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.5386575081289666,-0.5910611788694509,0.71338606911949],"aabb_xy":[[-0.5751533287562453,-0.6275451212962084],[-0.5021616875016878,-0.5545772364426933]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.5332366514967948,0.1637870643375683,0.71338606911949],"aabb_xy":[[0.5244345961878221,0.15597573818263918],[0.5420387068057675,0.17159839049249734]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.5298053645212142,-1.8593137027016933,0.71338606911949],"aabb_xy":[[-0.5838209608031141,-1.92331370559395],[-0.47578976823931407,-1.7953136998094357]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.5124360487099899,-2.094103774174351,0.71338606911949],"aabb_xy":[[-0.5360211721738849,-2.159103776419783],[-0.4888509252460952,-2.0291037719289196]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.532409527481355,0.6009560466634181,0.71338606911949],"aabb_xy":[[-0.5924095273279217,0.5441374244703793],[-0.47240952763478816,0.6577746688564566]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.32836985742043173,-1.7213836183889657,0.71338606911949],"aabb_xy":[[-0.3347836710636166,-1.727793438636634],[-0.32195604377724674,-1.7149737981412974]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.3618138149510157,-0.6308236006396153,0.71338606911949],"aabb_xy":[[-0.41181381631190295,-0.6808015052150308],[-0.3118138135901285,-0.5808456960641996]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.5234208702677106,0.9718612193993641,0.71338606911949],"aabb_xy":[[0.5161385538910467,0.881861215789855],[0.530703186644374,1.0618612230088729]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.3047613970391032,0.630310548529446,0.71338606911949],"aabb_xy":[[-0.34976139850533206,0.5853106916679655],[-0.25976139557287437,0.6753104053909268]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.23603116123971918,-1.7416690333722036,0.71338606911949],"aabb_xy":[[-0.2542369849009668,-1.7526944339541954],[-0.21782533757847147,-1.7306436327902122]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.41828162073065767,-0.03575150002748684,0.71338606911949],"aabb_xy":[[-0.4832816186123055,-0.08687516373402772],[-0.3532816228490099,0.015372163679054033]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.021824443603129073,-1.4729582352660286,0.71338606911949],"aabb_xy":[[-0.07182444526462382,-1.522956677521731],[0.028175558058365687,-1.4229597930103255]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.234474816991182,0.6955158317958232,0.71338606911949],"aabb_xy":[[0.21937251553016382,0.6804143101647612],[0.24957711845220001,0.7106173534268848]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[-0.09162850252787103,-0.6036847097002325,0.71338606911949],"aabb_xy":[[-0.12725765842783077,-0.6393173764570853],[-0.055999346627911284,-0.5680520429433794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944117361914607,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7830.png","name":"7830"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7830.png","name":"7830"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8952.png","name":"8952"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7392.png","name":"7392"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4341.png","name":"4341"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":702.4112002547465,"rotation_z_degrees":161.45246173731513,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014720783139297113,0.01889692591504048,0.006332315590418053]},{"name":"camera_2","offset_m":[0.005944388093186381,-0.0165036622670797,0.019919645665579386]},{"name":"camera_3","offset_m":[0.016649995970615467,0.008535185108147485,-0.005786577558825071]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001733083159444009,-0.00029016625064426675,-0.0007278261164054948],"end_effector_yaw_offset_degrees":0.9948237811443355},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013535980164933294,-0.0015003681503276023,-0.0003165311252351986],"end_effector_yaw_offset_degrees":-0.002891291978488919},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013035392986262434,-0.0005235223275327644,0.001511988276274584],"end_effector_yaw_offset_degrees":-0.12844305274528378}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00424149116535691,0.002224240882854771],"position_m":[0.31454149116535696,0.09332424088285476,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004411333713094711,0.003723022581881342],"position_m":[0.3085886662869053,-0.11257697741811866,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016301410765742893,0.0023267148239536255],"position_m":[0.3567301410765743,0.29902671482395365,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021486200418574662,0.003539991465359489],"position_m":[0.24185137995814251,-0.3482600085346405,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"615b83fc2ebd27a48274f97a2c7ef94362b3015b2df522ca7d511f039019d9c0","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7830/tex_ceiling_textures_4341/tex_floor_textures_1497/tex_table_textures_8952/tex_wall_textures_7392","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4696935883519275427,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4696935883519275427,"visual_seed":4696935883519275427,"scene_id":"lab_003","finished_at":"2026-09-03T08:33:43"} +{"episode_id":"ep_000029","started_at":"2026-09-03T08:33:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.43738609966532516,0.6771104193244608,0.71338606911949],"aabb_xy":[[-0.4873853748337614,0.6271104180485136],[-0.38738682449688905,0.727110420600408]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.5021896485634791,-2.1971973713269017,0.71338606911949],"aabb_xy":[[-0.5081561875042149,-2.203158515986266],[-0.49622310962274335,-2.1912362266675376]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.19430076614773906,1.445275655782217,0.71338606911949],"aabb_xy":[[0.1766251355591407,1.427595439502814],[0.21197639673633736,1.4629558720616196]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.06323943956991229,-1.8882021777880944,0.71338606911949],"aabb_xy":[[-0.11321273357317274,-1.9382021783426413],[-0.013266145566651844,-1.8382021772335466]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.1462596459040112,-2.336818577875032,0.71338606911949],"aabb_xy":[[-0.1543733005773883,-2.3449243943290607],[-0.1381459912306341,-2.328712761421003]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.4854338472260542,-0.619310050205462,0.71338606911949],"aabb_xy":[[0.4760868396437589,-0.6336136724231061],[0.4947808548083494,-0.605006427987818]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.33468292181679876,0.8339774096462174,0.71338606911949],"aabb_xy":[[-0.3721829202401991,0.8208131956783866],[-0.2971829233933984,0.8471416236140479]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.20925949483064554,1.7844401472883713,0.71338606911949],"aabb_xy":[[0.17479714743250369,1.7499462648905486],[0.2437218422287873,1.818934029686194]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.6059516605634712,-0.2652807605050649,0.71338606911949],"aabb_xy":[[-0.6168574366510339,-0.34528075690389404],[-0.5950458844759084,-0.18528076410623573]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.41078265865204566,0.04555597860491023,0.71338606911949],"aabb_xy":[[-0.4239339046233351,0.020555978848223685],[-0.39763141268075636,0.07055597836159677]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.5625804815547959,-0.4751383866483163,0.71338606911949],"aabb_xy":[[-0.5968773925725365,-0.5094352728582576],[-0.5282835705370553,-0.44084150043837494]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.17369258873458104,1.12436718622781,0.71338606911949],"aabb_xy":[[0.13869258954176275,1.1134001402301472],[0.20869258792739928,1.1353342322254723]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.6716338762997746,0.8948608803873306,0.71338606911949],"aabb_xy":[[-0.679557156538523,0.8723608801493272],[-0.6637105960610263,0.9173608806253339]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.4157940852061399,-1.640579302355453,0.71338606911949],"aabb_xy":[[0.40062191592450663,-1.6557481592836565],[0.4309662544877733,-1.6254104454272498]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.25571788104412563,-0.8530880408328858,0.71338606911949],"aabb_xy":[[0.19171787913178334,-0.9089991900908962],[0.319717882956468,-0.7971768915748754]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.35796102112794814,-0.5612357597419639,0.71338606911949],"aabb_xy":[[-0.44796101762881985,-0.6071474021604221],[-0.2679610246270763,-0.5153241173235056]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.06986029325200527,-0.7218984893431097,0.71338606911949],"aabb_xy":[[-0.10840598607720629,-0.7604442603992985],[-0.03131460042680422,-0.6833527182869212]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.24877158305890373,-1.7078124551083154,0.71338606911949],"aabb_xy":[[-0.3087715835667566,-1.7646591887942364],[-0.1887715825510508,-1.6509657214223938]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.5064006379106079,-1.7057074572077455,0.71338606911949],"aabb_xy":[[-0.5136618854810153,-1.7184944674712548],[-0.49913939034020044,-1.6929204469442358]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.08464441733008443,-0.7427435335860082,0.71338606911949],"aabb_xy":[[0.0346444178898888,-0.7927114580703244],[0.13464441677028005,-0.6927756091016918]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_20","position":[0.5667619595725932,0.543373973763515,0.71338606911949],"aabb_xy":[[0.5067619597260264,0.48655535157047636],[0.62676195941916,0.6001925959565537]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[-0.024594037110375666,-1.0302096925584638,0.71338606911949],"aabb_xy":[[-0.08859403350594874,-1.0941729809771974],[0.03940595928519741,-0.9662464041397303]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.04194115493978201,1.731681116638565,0.71338606911949],"aabb_xy":[[-0.0794411556043607,1.7159940586383424],[-0.004441154275203306,1.7473681746387868]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.04448247312218212,-2.3064164595410506,0.71338606911949],"aabb_xy":[[-0.06206077531112896,-2.3239909491151556],[-0.026904170933235265,-2.2888419699669456]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.5711299596196118,-0.42706634231821683,0.71338606911949],"aabb_xy":[[0.5011299569830253,-0.4471712073140822],[0.641129962256198,-0.4069614773223512]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[0.12453992060647401,-2.503278023517487,0.71338606911949],"aabb_xy":[[0.06053992330412758,-2.5476444504853437],[0.18853991790882038,-2.45891159654963]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.32351336767204875,-0.41419090915488477,0.71338606911949],"aabb_xy":[[-0.35695354286806824,-0.4476345349858148],[-0.29007319247602903,-0.38074728332395463]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_27","position":[-0.03679433575196245,-2.57204345163498,0.71338606911949],"aabb_xy":[[-0.05024086238600577,-2.5855133032880713],[-0.02334780911791911,-2.5585735999818886]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.6658840144501996,-2.0468713555651386,0.71338606911949],"aabb_xy":[[0.6315677372755818,-2.0968713555383163],[0.7002002916248177,-1.9968713555919608]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_29","position":[0.5631651221533971,0.8326730288347317,0.71338606911949],"aabb_xy":[[0.5583215273921671,0.8278213763557476],[0.5680087169146271,0.8375246813137158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933878243198658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4895.png","name":"4895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8443.png","name":"8443"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/277.png","name":"277"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":654.9819214725749,"rotation_z_degrees":135.52815953963557,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017862494121801183,0.011436675281363839,-0.003650054021198095]},{"name":"camera_2","offset_m":[-0.018600452843494847,0.018376334167874774,-0.0013285926914562395]},{"name":"camera_3","offset_m":[-0.0014565233400032213,-0.004468760821339211,0.017979410679011727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001578047124117641,-8.970591423300162e-05,-0.0015026462155547757],"end_effector_yaw_offset_degrees":-0.9352003967728806},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00027354318146723903,0.0012311512242190303,-0.0017632851986472975],"end_effector_yaw_offset_degrees":0.5873195781097322},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001403868277920535,-0.001457636235995134,-0.0017058620280758468],"end_effector_yaw_offset_degrees":0.376861783698794}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003229755028754111,0.001468558546866697],"position_m":[0.31062297550287543,0.0925685585468667,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004686724480971388,0.0006818692274289107],"position_m":[0.3083132755190286,-0.11561813077257109,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023513576115629644,-0.0015873854224494111],"position_m":[0.357451357611563,0.2951126145775506,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004552277038519666,-0.002276853429108561],"position_m":[0.24855227703851965,-0.35407685342910855,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ba65a1a6a416194b54ce0579a4417d319d27306f0e0566e69bc847766e65b73c","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9263/tex_ceiling_textures_277/tex_floor_textures_8443/tex_table_textures_4895/tex_wall_textures_8859","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3718495444822165265,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3718495444822165265,"visual_seed":3718495444822165265,"scene_id":"lab_003","finished_at":"2026-09-03T08:36:20"} +{"episode_id":"ep_000030","started_at":"2026-09-03T08:42:32","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.5237893122134244,-1.666849655527908,0.71338606911949],"aabb_xy":[[-0.5381237373395877,-1.6789098710824468],[-0.5094548870872608,-1.6547894399733691]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.3577527860685722,-2.2353688905648723,0.71338606911949],"aabb_xy":[[-0.4127527852451616,-2.29035856533983],[-0.30275278689198265,-2.1803792157899147]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.6829535221452787,-2.0085458964524117,0.71338606911949],"aabb_xy":[[0.6677906491683417,-2.0237113537475304],[0.6981163951222159,-1.993380439157293]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[-0.44049567892407204,-2.0386622805264905,0.71338606911949],"aabb_xy":[[-0.5242179044241546,-2.1286622840611864],[-0.35677345342398964,-1.9486622769917945]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.05200930224549827,-0.8876043834317442,0.71338606911949],"aabb_xy":[[-0.07089368601400847,-0.906490308212097],[-0.03312491847698806,-0.8687184586513914]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.2902718081305987,-1.2280097680216315,0.71338606911949],"aabb_xy":[[-0.3165606324510393,-1.2542812016762825],[-0.263982983810158,-1.20173833436698]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.32908704972162894,1.3785899113397821,0.71338606911949],"aabb_xy":[[0.30658704990772656,1.3741152949693014],[0.3515870495355313,1.383064527710263]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.4259950467271678,-0.7943509915508158,0.71338606911949],"aabb_xy":[[0.37600193461797604,-0.8443509922250116],[0.4759881588363598,-0.7443509908766203]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.22945233010227417,1.6250694758429138,0.71338606911949],"aabb_xy":[[0.20754364796292313,1.603168809022823],[0.2513610122416252,1.6469701426630046]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.6004641113690387,0.15104662506248934,0.71338606911949],"aabb_xy":[[-0.6039047876090958,0.14718519208812486],[-0.5970234351289815,0.1549080580368538]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[-0.630333351080731,-2.0638633544354588,0.71338606911949],"aabb_xy":[[-0.6627950519626582,-2.093996186550361],[-0.5978716501988033,-2.0337305223205555]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.06730130979609161,-2.052018621535782,0.71338606911949],"aabb_xy":[[0.03615439095250848,-2.1220186202225886],[0.09844822863967471,-1.9820186228489742]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.1831906326686955,1.0290026471304938,0.71338606911949],"aabb_xy":[[0.13710554141396405,0.9650026498779388],[0.22927572392342702,1.093002644383049]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.6781367699825331,-0.8153270888561372,0.71338606911949],"aabb_xy":[[-0.6861801299084883,-0.9003270899515037],[-0.670093410056578,-0.7303270877607708]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.008778678690566366,-1.280778477006756,0.71338606911949],"aabb_xy":[[0.0015174311201589519,-1.2935654872702655],[0.01603992626097378,-1.2679914667432466]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.059500897275326814,0.3440573198429697,0.71338606911949],"aabb_xy":[[-0.09381717444994475,0.29405731986979194],[-0.025184620100708877,0.3940573198161474]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.019638415688349786,0.7793463314029299,0.71338606911949],"aabb_xy":[[-0.10463841438042443,0.747360468008051],[0.06536158300372485,0.8113321947978087]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.6174373954509362,-1.582007458682126,0.71338606911949],"aabb_xy":[[0.6101936294046909,-1.6620074568857284],[0.6246811614971816,-1.5020074604785236]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.5896732783638372,-0.3430678197170196,0.71338606911949],"aabb_xy":[[0.5346810277283264,-0.3980678214603325],[0.6446655289993483,-0.2880678179737069]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[-0.13636882603190603,-0.20927338646249405,0.71338606911949],"aabb_xy":[[-0.22636882970882413,-0.27070579303959835],[-0.046368822354987814,-0.14784097988538966]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.10832669836191988,-1.8075090770868782,0.71338606911949],"aabb_xy":[[-0.13082669788562723,-1.8300050245374988],[-0.08582669883821245,-1.7850131296362572]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.6589907707311891,-0.6705534040623917,0.71338606911949],"aabb_xy":[[0.6344445551084382,-0.7008023006114287],[0.6835369863539397,-0.6403045075133545]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.1562787323579239,0.692710814228461,0.71338606911949],"aabb_xy":[[-0.16331904229146088,0.6127108148287896],[-0.1492384224243869,0.7727108136281325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694590671008592,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1014.png","name":"1014"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1014.png","name":"1014"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7572.png","name":"7572"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8866.png","name":"8866"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1947.png","name":"1947"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":770.4807656342209,"rotation_z_degrees":285.6503151795804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015070304935582732,-0.0045876766474186505,-0.006349706733164489]},{"name":"camera_2","offset_m":[-0.008930404104085316,0.018154472998391086,-0.013742884001014196]},{"name":"camera_3","offset_m":[0.01956770800439118,-0.012551659621011332,-0.009393201337335967]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006823733065056377,0.0006860269207480938,-0.0006234612343866308],"end_effector_yaw_offset_degrees":-0.02284904539939281},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003401651467093427,-0.0009600994441045741,-0.0017649133047020708],"end_effector_yaw_offset_degrees":-0.8358649842889734},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013060938455379993,0.0015927717245473208,-0.000666515248184853],"end_effector_yaw_offset_degrees":-0.6419954521226168}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003543601813473923,0.0036267120146722285],"position_m":[0.3138436018134739,0.09472671201467223,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026519601311063646,-0.003700207740044368],"position_m":[0.31034803986889364,-0.12000020774004437,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018211119167378014,0.0023419807200643315],"position_m":[0.3569211119167378,0.2990419807200643,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.137919722312839e-05,-0.0026638926274718247],"position_m":[0.24409137919722312,-0.3544638926274718,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cb71db825ec103d9c174ed99e33e03f1c0e7e4cc7b82e8b5c18af606458649f1","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1014/tex_ceiling_textures_1947/tex_floor_textures_8866/tex_table_textures_9366/tex_wall_textures_7572","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6388103236946662336,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6388103236946662336,"visual_seed":6388103236946662336,"scene_id":"lab_003","finished_at":"2026-09-03T08:45:04"} +{"episode_id":"ep_000031","started_at":"2026-09-03T08:45:06","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[0.2280288193617731,-1.9767514342583774,0.71338606911949],"aabb_xy":[[0.18701087597540222,-2.0267514348893347],[0.269046762748144,-1.92675143362742]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.2169758348931573,-2.3561007914571066,0.71338606911949],"aabb_xy":[[-0.2544758334687781,-2.368837087120664],[-0.1794758363175365,-2.343364495793548]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.05061241407179107,-0.5294805108946306,0.71338606911949],"aabb_xy":[[-0.08652591849678073,-0.5653940191113852],[-0.01469890964680138,-0.49356700267787595]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.6056408256264427,0.2788186738587948,0.71338606911949],"aabb_xy":[[-0.6696408263299122,0.23280029138587377],[-0.5416408249229735,0.3248370563317158]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.39165597231129573,0.4290318611503632,0.71338606911949],"aabb_xy":[[-0.45165597256269685,0.3747505361138985],[-0.3316559720598945,0.48331318618682784]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.28867692512907106,-2.1935035187408953,0.71338606911949],"aabb_xy":[[-0.29944989905043884,-2.2285035169599343],[-0.2779039512077033,-2.1585035205218563]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.5872288438287765,0.08116121634664752,0.71338606911949],"aabb_xy":[[0.5501947344007168,0.04678400901293806],[0.6242629532568362,0.11553842368035695]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.46919652511789184,1.4049558045375123,0.71338606911949],"aabb_xy":[[-0.47719001491317387,1.3969576725970367],[-0.4612030353226098,1.412953936477988]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.6401875148719196,1.1286314292380597,0.71338606911949],"aabb_xy":[[0.6235103788788242,1.1119315052641294],[0.6568646508650152,1.14533135321199]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.36205211741603777,-0.3402581351664491,0.71338606911949],"aabb_xy":[[-0.3683642169523762,-0.34602507441966784],[-0.35574001787969933,-0.33449119591323023]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.07376782318019937,-2.0651716441296006,0.71338606911949],"aabb_xy":[[-0.15376782461032656,-2.14468879914221],[0.006232178249927833,-1.9856544891169912]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.6547471873064858,-0.07222935173554212,0.71338606911949],"aabb_xy":[[0.6047741217739705,-0.12222935154807504],[0.7047202528390014,-0.022229351923009236]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.5093475402798953,1.656760407961317,0.71338606911949],"aabb_xy":[[0.5044482479733317,1.6290834886587477],[0.5142468325864586,1.6844373272638853]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.5800739655478269,-1.5926308614918043,0.71338606911949],"aabb_xy":[[0.5695064858897279,-1.6031758916048127],[0.5906414452059259,-1.5820858313787955]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.6364945399834296,-2.308254971911182,0.71338606911949],"aabb_xy":[[-0.64063039631613,-2.3457549713555395],[-0.6323586836507296,-2.2707549724668254]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.6045131544698984,-2.163597575151399,0.71338606911949],"aabb_xy":[[-0.6220131537479853,-2.180935675217745],[-0.5870131551918115,-2.146259475085053]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[0.33346832149653305,-1.0901197335313701,0.71338606911949],"aabb_xy":[[0.24846832307910988,-1.1749940289936551],[0.41846831991395633,-1.0052454380690852]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[0.5661771958560253,-0.6042063094620793,0.71338606911949],"aabb_xy":[[0.5249283848261105,-0.6592063089742968],[0.60742600688594,-0.5492063099498619]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.3093376380782323,-0.7554531533625557,0.71338606911949],"aabb_xy":[[-0.3322533509632822,-0.7783574504989793],[-0.2864219251931824,-0.7325488562261322]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.04558173635514717,0.515403332730509,0.71338606911949],"aabb_xy":[[-0.05745381936664829,0.4304033330368586],[-0.03370965334364607,0.6004033324241593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922804636868436,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/421.png","name":"421"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/421.png","name":"421"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3006.png","name":"3006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3619.png","name":"3619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5440.png","name":"5440"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3838.png","name":"3838"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.2984547305008,"rotation_z_degrees":344.4419599728068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01939079755346217,-0.017306024996855622,-0.00881801601262537]},{"name":"camera_2","offset_m":[0.015897597418916398,0.005618230198421063,0.015987711943303385]},{"name":"camera_3","offset_m":[-0.014020602472028236,-0.008634103708040542,0.0021999328518214033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00199747900878626,0.0013304511369142298,0.0014998125092499687],"end_effector_yaw_offset_degrees":0.5919846914058564},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016983933908336498,9.791296641988804e-05,0.0001630087156126044],"end_effector_yaw_offset_degrees":0.0367095857065598},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004337285600026822,0.0015058898796703655,-0.0016635850809316125],"end_effector_yaw_offset_degrees":0.22065135854119822}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004891206864904368,0.0014086819210606429],"position_m":[0.31519120686490437,0.09250868192106064,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0042787723563583275,0.0016352992758907536],"position_m":[0.3172787723563583,-0.11466470072410925,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005731380176068205,-0.00041407164668992927],"position_m":[0.35567313801760686,0.2962859283533101,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033460912758590906,0.0002060519603602328],"position_m":[0.24734609127585908,-0.3515939480396398,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a03ee46c1db9ed974170db08e2de2b7093b4a77ab3ca5b848d38b7213e222ffa","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_421/tex_ceiling_textures_3838/tex_floor_textures_5440/tex_table_textures_3006/tex_wall_textures_3619","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2531679160191079606,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2531679160191079606,"visual_seed":2531679160191079606,"scene_id":"lab_003","finished_at":"2026-09-03T08:47:37"} +{"episode_id":"ep_000032","started_at":"2026-09-03T08:47:41","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.6982308641868862,0.867836227403012,0.71338606911949],"aabb_xy":[[0.6857635060771506,0.8553709027696886],[0.7106982222966219,0.8803015520363356]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.057640905426774025,-2.0197070696170663,0.71338606911949],"aabb_xy":[[0.022640905530755154,-2.028081305129006],[0.0926409053227929,-2.0113328341051258]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[0.5800638248639851,-1.0979592649279915,0.71338606911949],"aabb_xy":[[0.5300707127547933,-1.1479592656021873],[0.6300569369731771,-1.047959264253796]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.5101165439905062,0.5532342610495324,0.71338606911949],"aabb_xy":[[0.43011654658691273,0.47324168985134957],[0.5901165413940995,0.6332268322477151]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.03923180495349432,-1.308673463664875,0.71338606911949],"aabb_xy":[[0.0024371718285880403,-1.3455793387614572],[0.0760264380784006,-1.2717675885682926]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.654528831434976,-1.8176829412580835,0.71338606911949],"aabb_xy":[[-0.670413324700301,-1.8320358815569076],[-0.6386443381696507,-1.8033300009592594]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.4537918567862615,0.18680380269593533,0.71338606911949],"aabb_xy":[[-0.5337918539458368,0.17525620173811832],[-0.3737918596266862,0.1983514036537524]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.3752620399230622,-2.46697273918971,0.71338606911949],"aabb_xy":[[0.30526203811431674,-2.488326507953897],[0.4452620417318076,-2.4456189704255222]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.06620959403197935,-0.5157072134241614,0.71338606911949],"aabb_xy":[[-0.13020959133432575,-0.560073640392018],[-0.0022095967296329316,-0.4713407864563045]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.03853538599171702,-1.717239020252488,0.71338606911949],"aabb_xy":[[-0.10253538921035488,-1.7639621321514964],[0.02546461722692083,-1.6705159083534797]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.5522584466087632,1.0680995478838158,0.71338606911949],"aabb_xy":[[-0.5772584458807254,1.0517541842876537],[-0.5272584473368008,1.0844449114799783]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.5660118484821326,-1.7908137617724722,0.71338606911949],"aabb_xy":[[0.5562558589729587,-1.8005762958317064],[0.5757678379913065,-1.7810512277132375]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.6488649938066756,0.16813880291375138,0.71338606911949],"aabb_xy":[[-0.6847784982316653,0.13222529469699676],[-0.612951489381686,0.204052311130506]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.4817683882437382,0.3926034825782634,0.71338606911949],"aabb_xy":[[-0.5152475555047792,0.35912436920715646],[-0.44828922098269736,0.4260825959493704]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.06591261290724104,-2.3087456921389684,0.71338606911949],"aabb_xy":[[0.05328582562004469,-2.3182917658405415],[0.07853940019443739,-2.2991996184373953]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.3347455726433161,1.6904368343265834,0.71338606911949],"aabb_xy":[[-0.40474557603487804,1.6551210606231526],[-0.2647455692517541,1.7257526080300143]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.6675411819139769,-1.7275205569794607,0.71338606911949],"aabb_xy":[[0.6175411815534109,-1.7775005441890634],[0.717541182274543,-1.6775405697698575]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.44429886126121,1.3615098100997742,0.71338606911949],"aabb_xy":[[0.4333930851736472,1.281509813700945],[0.45520463734877264,1.4415098064986034]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.3652206865426806,-0.7067589660065803,0.71338606911949],"aabb_xy":[[-0.38711043413162144,-0.7967589632958294],[-0.34333093895373984,-0.6167589687173312]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.3060609913626182,-1.3156074687667294,0.71338606911949],"aabb_xy":[[-0.3095016676026754,-1.319468901741094],[-0.30262031512256105,-1.3117460357923652]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[0.3899014080365928,-1.4538974140845105,0.71338606911949],"aabb_xy":[[0.3199014054000064,-1.474002279080376],[0.4599014106731791,-1.433792549088645]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.14704893777068984,-0.966052559588763,0.71338606911949],"aabb_xy":[[-0.1523865134366944,-0.9910525605179029],[-0.14171136210468527,-0.9410525586596233]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[-0.262678533321954,1.4327489501091857,0.71338606911949],"aabb_xy":[[-0.32767853442789735,1.4077835770410572],[-0.19767853221601078,1.4577143231773138]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.3326198343393818,-2.2698857847782885,0.71338606911949],"aabb_xy":[[-0.3650815352213092,-2.300018616893191],[-0.3001581334574543,-2.2397529526633853]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.17231804281626406,1.7652614030747462,0.71338606911949],"aabb_xy":[[-0.21356685384617877,1.7102614035625288],[-0.1310692317863493,1.8202614025869637]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.2685387049251581,-1.7029414355683732,0.71338606911949],"aabb_xy":[[-0.3485387081891712,-1.7165014678772867],[-0.18853870166114495,-1.68938140325946]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.40835306516335795,0.6547663422160199,0.71338606911949],"aabb_xy":[[-0.41248892149605815,0.617266342771663],[-0.40421720883065776,0.692266341660377]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[0.5483553199372846,-0.7214716455493082,0.71338606911949],"aabb_xy":[[0.5108553191452891,-0.7278394865074982],[0.58585532072928,-0.715103804591118]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[-0.0066660339255592005,0.8754441360112031,0.71338606911949],"aabb_xy":[[-0.011998548580172186,0.8701198077659674],[-0.0013335192709462143,0.8807684642564385]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_29","position":[-0.21924293360175523,0.2032870877902062,0.71338606911949],"aabb_xy":[[-0.22737062179506845,0.19437347937949856],[-0.211115245408442,0.21220069620091386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956575098981851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2281.png","name":"2281"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1399.png","name":"1399"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7731.png","name":"7731"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":792.6870286295544,"rotation_z_degrees":83.8755739962919,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004438812143227239,-0.010340920374427217,0.013975869489953354]},{"name":"camera_2","offset_m":[0.01801211129250937,0.0035422939924005595,-0.006738689620283674]},{"name":"camera_3","offset_m":[-0.006384915331420915,0.010249877038378694,-0.003431296531239948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001957592091787764,-0.00010954429070050733,-0.0015237805682795154],"end_effector_yaw_offset_degrees":0.9020608989489154},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010130443125598325,-0.0008816584122151774,-0.00032482548369869996],"end_effector_yaw_offset_degrees":0.8988386886731954},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019727013084019657,0.0018217606736143843,-0.0006931013790509759],"end_effector_yaw_offset_degrees":-0.4488673598225017}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006988680036948483,-0.0038391487356412455],"position_m":[0.31099886800369486,0.08726085126435876,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0046632537660249085,-0.0010295390210496337],"position_m":[0.3176632537660249,-0.11732953902104963,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028750934825678255,0.0026102730753154654],"position_m":[0.35797509348256784,0.2993102730753155,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003466778668924917,0.00011236067531327203],"position_m":[0.24053322133107508,-0.3516876393246867,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7e5da4156bbbf1e02cff5f6ec536a2cef29474f88604dcd3ca2256703a6ea9e2","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2274/tex_ceiling_textures_7731/tex_floor_textures_1399/tex_table_textures_2281/tex_wall_textures_5806","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1937921965721919555,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1937921965721919555,"visual_seed":1937921965721919555,"scene_id":"lab_003","finished_at":"2026-09-03T08:50:12"} +{"episode_id":"ep_000033","started_at":"2026-09-03T09:02:44","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.12783823193738753,1.137157068475279,0.71338606911949],"aabb_xy":[[-0.15832248206441768,1.087157068693783],[-0.09735398181035737,1.187157068256775]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[0.07663500910542553,-1.348532279940859,0.71338606911949],"aabb_xy":[[0.01663500746250368,-1.4005324292328034],[0.13663501074834739,-1.296532130648915]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.6438969210897547,0.6367738372478828,0.71338606911949],"aabb_xy":[[0.6351829520398201,0.6142738365886945],[0.6526108901396891,0.659273837907071]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.43286307878521324,1.6624115070880783,0.71338606911949],"aabb_xy":[[-0.4701943553104558,1.627758452293226],[-0.3955318022599706,1.6970645618829305]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.021749874655020873,1.7354941450393961,0.71338606911949],"aabb_xy":[[-0.0718473386360945,1.6714941445295841],[0.028347589326052747,1.7994941455492077]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.4982716302526303,0.45405516081504915,0.71338606911949],"aabb_xy":[[-0.504773266760635,0.4442873387887394],[-0.4917699937446258,0.4638229828413589]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.5322852562564729,-0.9161948342037423,0.71338606911949],"aabb_xy":[[-0.6122852595143159,-0.9961913419957262],[-0.45228525299863,-0.8361983264117583]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.001976923881809145,-2.464852448629962,0.71338606911949],"aabb_xy":[[-0.06597692099391483,-2.5138848184243727],[0.062023073230296544,-2.4158200788355515]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.16013049487540465,-1.5896307458532268,0.71338606911949],"aabb_xy":[[-0.21013049623629187,-1.6396086504286425],[-0.11013049351451744,-1.5396528412778112]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.6005577381305458,0.4122750551406651,0.71338606911949],"aabb_xy":[[0.5897061318816701,0.4014157644130141],[0.6114093443794213,0.4231343458683161]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[-0.011338173254017203,-0.8180330048152151,0.71338606911949],"aabb_xy":[[-0.056330759972467614,-0.8630330040896639],[0.03365441346443321,-0.7730330055407664]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[0.12363826505977604,-1.817926044055744,0.71338606911949],"aabb_xy":[[0.10584475812485962,-1.8357257896515418],[0.14143177199469248,-1.8001262984599464]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.260351831658402,0.1010737493049696,0.71338606911949],"aabb_xy":[[-0.31035183109859754,0.05110582482065325],[-0.2103518322182063,0.15104167378928585]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.12978649605518744,-1.5231327194257103,0.71338606911949],"aabb_xy":[[0.07980907918993384,-1.5731327209149586],[0.179763912920441,-1.4731327179364615]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.6015305012755144,0.5682889783417595,0.71338606911949],"aabb_xy":[[-0.6326774201190974,0.49828897965495234],[-0.5703835824319312,0.6382889770285667]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.6675456411701732,1.3593065378835316,0.71338606911949],"aabb_xy":[[0.6341054659741535,1.3258629120526013],[0.7009858163661927,1.3927501637144615]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.6645975439614424,-0.8481982216088559,0.71338606911949],"aabb_xy":[[0.6569732758712643,-0.8558314451453998],[0.6722218120516208,-0.8405649980723123]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.5808341802411014,1.6168234823018284,0.71338606911949],"aabb_xy":[[-0.5868711932417663,1.6107967812328805],[-0.5747971672404368,1.6228501833707767]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.6412250797632623,-2.405525917463642,0.71338606911949],"aabb_xy":[[-0.6536924378729979,-2.417991242096966],[-0.6287577216535266,-2.393060592830319]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.24308790982982909,-1.2830800478460296,0.71338606911949],"aabb_xy":[[0.19308790854598912,-1.3330589022366512],[0.29308791111366905,-1.233101193455407]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[-0.5720746628698349,0.986079510262591,0.71338606911949],"aabb_xy":[[-0.5895746620042018,0.9761998832250031],[-0.5545746637354675,0.9959591373001787]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.05028189726025667,-0.24364070406929628,0.71338606911949],"aabb_xy":[[-0.080273559994127,-0.2736407034060968],[-0.020290234526386335,-0.21364070473249575]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.46303327625634716,0.058579621360752565,0.71338606911949],"aabb_xy":[[0.42623864313144094,0.021673746264170284],[0.4998279093812535,0.09548549645733484]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.6189871813238563,1.560950644737455,0.71338606911949],"aabb_xy":[[0.5814871801390634,1.5565324220413943],[0.656487182508649,1.5653688674335153]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.012154076315101014,0.8759230639787754,0.71338606911949],"aabb_xy":[[-0.029654076574437645,0.8618315217900029],[0.00534592394423561,0.8900146061675481]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.3690148348384201,-1.1300329018987088,0.71338606911949],"aabb_xy":[[0.3140148356618306,-1.1850225766736664],[0.42401483401500956,-1.075043227123751]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.6475824107278991,1.238578625857183,0.71338606911949],"aabb_xy":[[0.6246666978428492,1.2156743287207594],[0.670498123612949,1.2614829229936064]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6919645960350602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9200.png","name":"9200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8880.png","name":"8880"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3290.png","name":"3290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":712.7400865181176,"rotation_z_degrees":63.06260253193569,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012875481055066862,-0.0023892574342701915,0.005721391167872406]},{"name":"camera_2","offset_m":[0.0026497379397965558,0.01726879552063428,0.002033171814294684]},{"name":"camera_3","offset_m":[0.016788666703616378,0.01931989559540163,-0.0029480287554228927]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.69937845037511e-05,0.0012354601730048672,0.00033350330294812554],"end_effector_yaw_offset_degrees":0.651409395509287},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000873122558569094,-0.001409665519875447,0.0017842470385589964],"end_effector_yaw_offset_degrees":0.930223914375923},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016343687843065518,-0.0005083405338173418,0.0010380617320969831],"end_effector_yaw_offset_degrees":0.6657292280023517}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002188691586374221,-0.0019485367763869888],"position_m":[0.3081113084136258,0.08915146322361302,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001891315604466127,-0.0011521441937143496],"position_m":[0.31110868439553385,-0.11745214419371434,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00039194090959262726,0.0008816353014401137],"position_m":[0.3547080590904074,0.2975816353014401,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037412214455568894,0.0017417812370250762],"position_m":[0.2402587785544431,-0.35005821876297494,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"979ab2ad12f65ef1ad1b85404c092316a924daf471f6bb3d9e5d9bf01dbe6b0b","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4827/tex_ceiling_textures_8264/tex_floor_textures_3290/tex_table_textures_9200/tex_wall_textures_8880","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6176869351238422716,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6176869351238422716,"visual_seed":6176869351238422716,"scene_id":"lab_003","finished_at":"2026-09-03T09:05:19"} +{"episode_id":"ep_000034","started_at":"2026-09-03T09:05:22","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.4810368024103415,-1.686925938730072,0.71338606911949],"aabb_xy":[[0.4737755548399341,-1.6997129489935814],[0.48829804998074894,-1.6741389284665624]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.47642787350752647,-2.498760774560717,0.71338606911949],"aabb_xy":[[0.44396617262559895,-2.528893606675619],[0.5088895743894538,-2.4686279424458135]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.4240138867277613,-1.8723030263936744,0.71338606911949],"aabb_xy":[[-0.4661983008885921,-1.9363030266708858],[-0.3818294725669306,-1.8083030261164634]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[0.40493874271467334,1.0448016882777846,0.71338606911949],"aabb_xy":[[0.3549387431383387,0.9948211093256787],[0.4549387422910081,1.0947822672298906]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.14227581809006984,-1.9297631437318847,0.71338606911949],"aabb_xy":[[0.13694330343545688,-1.9350874719771207],[0.14760833274468285,-1.9244388154866496]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.5782346900246575,-0.8726575142646766,0.71338606911949],"aabb_xy":[[0.5282613960213971,-0.9226575148192241],[0.628207984027918,-0.8226575137101294]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.23975255966099557,1.1686906137055746,0.71338606911949],"aabb_xy":[[-0.3037482570560921,1.104690615404866],[-0.17575686226589896,1.2326906120062833]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.37492061071800725,-0.37532432373036073,0.71338606911949],"aabb_xy":[[-0.3968292928573583,-0.3972249905504514],[-0.3530119285786562,-0.35342365691026995]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.6643665283670834,1.615458394258273,0.71338606911949],"aabb_xy":[[-0.6818665286264202,1.601366852069501],[-0.6468665281077469,1.6295499364470463]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.20883325972340455,1.416091836362828,0.71338606911949],"aabb_xy":[[-0.2988332591417755,1.3827163395186381],[-0.11883326030503369,1.4494673332070176]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.4806669449211747,1.294185252074743,0.71338606911949],"aabb_xy":[[0.447226769725155,1.2607416262438125],[0.5141071201171942,1.3276288779056726]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.3285697859341983,-1.0014136113410808,0.71338606911949],"aabb_xy":[[0.30228096161375756,-1.0276850449957318],[0.3548586102546389,-0.9751421776864294]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.43925364876210643,-1.1565391684342754,0.71338606911949],"aabb_xy":[[-0.4617536485760088,-1.161013784804756],[-0.41675364894820405,-1.1520645520637944]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.5200476987926623,-2.3704149246320343,0.71338606911949],"aabb_xy":[[0.45504769615486873,-2.4218945233314813],[0.5850477014304557,-2.3189353259325873]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.17939359479982786,0.03310878219691693,0.71338606911949],"aabb_xy":[[-0.18643504575057546,0.026082030459122385],[-0.17235214384908026,0.040135533934711476]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.27402426533671864,1.0652677511359547,0.71338606911949],"aabb_xy":[[0.2365242648393604,1.0612990675878362],[0.3115242658340769,1.0692364346840733]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.06915545713934423,-1.9008131105765491,0.71338606911949],"aabb_xy":[[-0.15915545387495444,-1.9539965738938434],[0.020844539596265976,-1.8476296472592544]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.3312733598543967,0.6182723619202539,0.71338606911949],"aabb_xy":[[-0.3687733599599896,0.6114502000672727],[-0.2937733597488037,0.6250945237732349]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.5346917056053443,0.9100359482180345,0.71338606911949],"aabb_xy":[[-0.5846848177145363,0.8600359475438389],[-0.4846985934961525,0.9600359488922302]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.21583720345407964,0.42393926817342864,0.71338606911949],"aabb_xy":[[-0.27083268127473903,0.3689392667395217],[-0.16084172563342022,0.47893926960733557]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.5827208351822031,-0.723798379564339,0.71338606911949],"aabb_xy":[[-0.6627208362553234,-0.7335764259017235],[-0.5027208341090827,-0.7140203332269546]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.41108689456506636,0.48450671499138576,0.71338606911949],"aabb_xy":[[-0.42149845324554996,0.47916098165548726],[-0.40067533588458254,0.48985244832728425]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[0.33112799708918517,0.9055251662834771,0.71338606911949],"aabb_xy":[[0.3186606389794496,0.8930598416501535],[0.34359535519892087,0.9179904909168005]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.3789366276763466,0.6927665018061062,0.71338606911949],"aabb_xy":[[0.29521440217626416,0.6027664982714103],[0.4626588531764291,0.7827665053408022]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.36832677384487844,-0.8730280573539071,0.71338606911949],"aabb_xy":[[-0.37176745008493567,-0.8768894903282716],[-0.3648860976048213,-0.8691666243795426]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[0.18857340866518635,-0.7945555514687594,0.71338606911949],"aabb_xy":[[0.1829917370310576,-0.807055551286535],[0.1941550802993151,-0.782055551650984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906616481396579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6108.png","name":"6108"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6108.png","name":"6108"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9997.png","name":"9997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6820.png","name":"6820"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4641.png","name":"4641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3025.png","name":"3025"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":625.8650750465342,"rotation_z_degrees":323.478020840682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009928755575744179,0.007476295795296756,-0.0035269537352883643]},{"name":"camera_2","offset_m":[0.0042793671736233475,-0.000497392332725468,0.014737934766250755]},{"name":"camera_3","offset_m":[-0.017066087531210205,0.007798566283377523,-0.012716835368450084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009784580647133273,0.0016673342103560237,0.0018986304500365138],"end_effector_yaw_offset_degrees":-0.0035101870318252626},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001550989184009922,0.0007320091355982432,-0.001125987143384093],"end_effector_yaw_offset_degrees":-0.4933444358063943},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005937114427624415,0.0010715229848149302,0.0010079091704281898],"end_effector_yaw_offset_degrees":-0.9746062599407506}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001064029258716237,0.003547041428693147],"position_m":[0.3092359707412838,0.09464704142869315,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00014642307349407423,0.003111968571102192],"position_m":[0.31285357692650595,-0.11318803142889781,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001219679091722087,-0.0004115526934044102],"position_m":[0.3538803209082779,0.2962884473065956,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003364675981378043,-0.0040013923202303955],"position_m":[0.24736467598137804,-0.3558013923202304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b70917a6742d1ea02426d60e1636916dd1e13d05dc598a3df0c9a1aa98e8472","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6108/tex_ceiling_textures_3025/tex_floor_textures_4641/tex_table_textures_9997/tex_wall_textures_6820","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5488040316606626204,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5488040316606626204,"visual_seed":5488040316606626204,"scene_id":"lab_003","finished_at":"2026-09-03T09:08:01"} +{"episode_id":"ep_000035","started_at":"2026-09-03T09:12:28","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.47280436115428115,1.1900082989953429,0.71338606911949],"aabb_xy":[[-0.5087178655792708,1.1540947907785883],[-0.43689085672929145,1.2259218072120974]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.0038583111030581208,-1.7152500115444445,0.71338606911949],"aabb_xy":[[-0.01579104546488619,-1.7276321643523038],[0.008074423258769947,-1.702867858736585]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.5291280583677418,0.3159949764808432,0.71338606911949],"aabb_xy":[[0.4916280580195139,0.30420358089975963],[0.5666280587159694,0.32778637206192673]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.33236880697464444,-1.5983624462447565,0.71338606911949],"aabb_xy":[[0.30122188813106127,-1.6683624449315637],[0.3635157258182275,-1.5283624475579494]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[-0.035550760171004225,-0.6600534814995549,0.71338606911949],"aabb_xy":[[-0.04645653625856694,-0.740053477898384],[-0.024644984083441512,-0.5800534851007257]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.4697598355431096,0.8251963156281086,0.71338606911949],"aabb_xy":[[0.4589868616217419,0.7901963174090696],[0.48053280946447746,0.8601963138471476]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[-0.10843742764001496,0.16919249512159373,0.71338606911949],"aabb_xy":[[-0.11819341714918884,0.15942996106235927],[-0.09868143813084106,0.17895502918082815]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.538797085844336,1.5496649005790233,0.71338606911949],"aabb_xy":[[-0.5612970856582383,1.5451902842085425],[-0.5162970860304336,1.554139516949504]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.11844143339156665,-2.327605100840456,0.71338606911949],"aabb_xy":[[0.10101071831256013,-2.344877215504307],[0.13587214847057313,-2.310332986176605]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.5333165956607921,-0.45327736635832316,0.71338606911949],"aabb_xy":[[0.46931659835844575,-0.49764379332617986],[0.5973165929631385,-0.40891093939046635]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.5383245847039555,1.4156570051717918,0.71338606911949],"aabb_xy":[[0.5192122773459765,1.39652222629455],[0.5574368920619343,1.434791784049034]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.6723110775813645,1.7202176595305407,0.71338606911949],"aabb_xy":[[0.6358152569540858,1.683733717103783],[0.7088068982086433,1.756701601957298]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.3928368189191678,1.2359597674599887,0.71338606911949],"aabb_xy":[[0.38559305287292245,1.1559597692563863],[0.4000805849654131,1.315959765663591]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.38216144637859795,0.2918769205716081,0.71338606911949],"aabb_xy":[[-0.404070128517949,0.2699762537515173],[-0.3602527642392469,0.31377758739169875]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.5130054757897369,-1.3173923021043143,0.71338606911949],"aabb_xy":[[0.4530054741468149,-1.3693924513962588],[0.5730054774326586,-1.2653921528123704]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.04506865663558679,1.1748441785933834,0.71338606911949],"aabb_xy":[[-0.08006865661208262,1.1653795625457668],[-0.010068656659090958,1.184308794641]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.17014560392303302,1.5805422936481244,0.71338606911949],"aabb_xy":[[0.16215161534532962,1.5725422135530338],[0.1781395925007364,1.5885423737432145]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.594736497846921,-2.3400630160270093,0.71338606911949],"aabb_xy":[[0.5744521951235221,-2.3603456411697175],[0.6150208005703196,-2.3197803908843]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.6818230704640986,-0.69185379445676,0.71338606911949],"aabb_xy":[[0.6737797105381433,-0.7768537955521263],[0.6898664303900537,-0.6068537933613934]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.5353049291105878,0.3621856665117371,0.71338606911949],"aabb_xy":[[-0.5578049296226283,0.3396938081463387],[-0.5128049285985471,0.3846775248771354]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.5446571432189737,0.756512287623968,0.71338606911949],"aabb_xy":[[0.5221580074927468,0.7340122868457051],[0.5671562789452007,0.779012288402231]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.5493639673022602,-1.1083732037169765,0.71338606911949],"aabb_xy":[[-0.6293639642652994,-1.1854488453607497],[-0.46936397033922106,-1.0312975620732028]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.20494060375496737,-1.7787255638307267,0.71338606911949],"aabb_xy":[[0.19408899750609176,-1.7895848545583777],[0.21579221000384297,-1.7678662731030756]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.000532386272490637,-1.4896984605809436,0.71338606911949],"aabb_xy":[[-0.06453238653296144,-1.5347072599338716],[0.06346761398798016,-1.4446896612280156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955668562828513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8245.png","name":"8245"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8245.png","name":"8245"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8215.png","name":"8215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5817.png","name":"5817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1983.png","name":"1983"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8506.png","name":"8506"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.339506901924,"rotation_z_degrees":240.04120592787112,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012298723849220244,0.0005047456754742156,-0.01899579305233805]},{"name":"camera_2","offset_m":[0.011516114178121564,0.01767029624249505,-0.002548714483901905]},{"name":"camera_3","offset_m":[0.007975576798865992,0.011721928784829933,0.01884314781189955]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001158095822161277,0.0016833221545003506,0.00014504804289169936],"end_effector_yaw_offset_degrees":0.5412091478463841},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011439311139233377,-0.00027979925396067937,-4.020606118813885e-05],"end_effector_yaw_offset_degrees":0.7563552928939785},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010601934051204963,0.001169301789638759,9.069154840096608e-05],"end_effector_yaw_offset_degrees":-0.20218829391094761}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003941585569536385,0.0019831862373030683],"position_m":[0.3142415855695364,0.09308318623730306,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00302880289960582,-0.003020361036399617],"position_m":[0.31602880289960583,-0.11932036103639962,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019576914338260386,0.004318088688522148],"position_m":[0.35705769143382604,0.30101808868852215,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.509145866490101e-05,0.002460770447999151],"position_m":[0.2439149085413351,-0.34933922955200086,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9a3ad17e119921882ffec057a826c93ab30e307754efaaa230dfabe171f7df09","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8245/tex_ceiling_textures_8506/tex_floor_textures_1983/tex_table_textures_8215/tex_wall_textures_5817","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3339125189756321020,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3339125189756321020,"visual_seed":3339125189756321020,"scene_id":"lab_003","finished_at":"2026-09-03T09:15:00"} +{"episode_id":"ep_000036","started_at":"2026-09-03T09:17:50","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.2440703024912425,-2.1397651264695625,0.71338606911949],"aabb_xy":[[0.21574059254270228,-2.1442258686632796],[0.27240001243978273,-2.1353043842758455]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.0002978729367544286,-0.7011030396766949,0.71338606911949],"aabb_xy":[[-0.07970212753346152,-0.7094137472910433],[0.08029787340697038,-0.6927923320623466]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.41848758433050104,1.687601392349937,0.71338606911949],"aabb_xy":[[-0.4340433537407664,1.67205095910553],[-0.4029318149202359,1.7031518255943443]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.28589935780522346,1.425035608550313,0.71338606911949],"aabb_xy":[[0.2359164076177441,1.3750356089077524],[0.33588230799270274,1.4750356081928733]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.40748445194421046,-2.4726130912314055,0.71338606911949],"aabb_xy":[[0.3845687390591606,-2.495517388367829],[0.4304001648292604,-2.449708794094982]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.1796093359438683,-1.0694977278329691,0.71338606911949],"aabb_xy":[[-0.21407168334201007,-1.1039916102307916],[-0.14514698854572647,-1.0350038454351462]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.22310707352749137,0.9634072151090605,0.71338606911949],"aabb_xy":[[0.14310707209736415,0.8838900600964509],[0.30310707495761857,1.04292437012167]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.5492360378365029,-1.067428435816349,0.71338606911949],"aabb_xy":[[0.5267360380226005,-1.0719030521868298],[0.5717360376504053,-1.0629538194458683]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.1399596207726661,-0.7668868475319301,0.71338606911949],"aabb_xy":[[0.05995962361309082,-0.7784344484897472],[0.2199596179322414,-0.7553392465741131]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.23272174736690437,-0.2238922309945579,0.71338606911949],"aabb_xy":[[-0.2927217490098262,-0.2758923802865021],[-0.17272174572398252,-0.17189208170261372]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.5074735020944228,1.1022571808933819,0.71338606911949],"aabb_xy":[[-0.5574577378026,1.0522571820798863],[-0.45748926638624554,1.1522571797068775]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.4505356267745102,-0.7615437122900115,0.71338606911949],"aabb_xy":[[0.41403980614723146,-0.7980276547167691],[0.48703144740178894,-0.7250597698632539]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.6423551354265359,-2.2507709008250476,0.71338606911949],"aabb_xy":[[-0.6894845144283714,-2.3147709018694487],[-0.5952257564247001,-2.1867708997806448]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.6238262598094717,0.3764680244387457,0.71338606911949],"aabb_xy":[[-0.6415018903980699,0.35878780815934297],[-0.6061506292208733,0.39414824071814847]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.23160808295349627,0.9835411638387579,0.71338606911949],"aabb_xy":[[-0.2866080825752422,0.9285574710512853],[-0.1766080833317505,1.0385248566262306]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.2677605468665244,1.5433214040944248,0.71338606911949],"aabb_xy":[[-0.2927605461384866,1.5269760404982624],[-0.2427605475945621,1.559666767690587]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.2324261384329871,0.7479940164107917,0.71338606911949],"aabb_xy":[[0.20720530157314743,0.7227702655579047],[0.25764697529282676,0.7732177672636782]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.4558131775614389,-1.3959427177515435,0.71338606911949],"aabb_xy":[[-0.46222699120462385,-1.402352537999212],[-0.44939936391825397,-1.3895328975038752]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.526214135741041,0.4360484130488147,0.71338606911949],"aabb_xy":[[0.5029322935429097,0.3510484117515866],[0.5494959779391724,0.5210484143460427]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.6063047912535919,-0.7684788775355234,0.71338606911949],"aabb_xy":[[0.556325982743276,-0.818478877541242],[0.6562835997639078,-0.7184788775298044]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941362969146512,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6412.png","name":"6412"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6412.png","name":"6412"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7711.png","name":"7711"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5931.png","name":"5931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":675.7438005477619,"rotation_z_degrees":313.36800293800354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006008961405963839,-0.012845926301641893,-0.012868380875266885]},{"name":"camera_2","offset_m":[0.017418874790626985,-0.009293973708136427,-0.011639960880148981]},{"name":"camera_3","offset_m":[0.01089519265017655,-0.007183357798118127,-0.008399063152241069]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015977545765314956,-0.0016060835247756118,0.0016356906615604353],"end_effector_yaw_offset_degrees":0.9487006327114038},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010220102642638268,0.0018259457284852277,-0.000558459657758084],"end_effector_yaw_offset_degrees":0.6043826085241037},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004101131630291168,-0.0016455409776201634,0.0008728368003814756],"end_effector_yaw_offset_degrees":-0.28314156258064993}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024568346046812874,-0.0009708422963251775],"position_m":[0.3127568346046813,0.09012915770367483,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028587954972924033,-0.004380387489109368],"position_m":[0.3101412045027076,-0.12068038748910936,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012722568150672145,0.0024370608037286587],"position_m":[0.35637225681506723,0.2991370608037287,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038961904853168543,-0.0013751669119938881],"position_m":[0.24789619048531686,-0.3531751669119939,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d00bec6c39b63f42c25abaf097fc67c783f92670396cb0595952c2cbdd740b2f","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6412/tex_ceiling_textures_6529/tex_floor_textures_4827/tex_table_textures_7711/tex_wall_textures_5931","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":943248667590421302,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":943248667590421302,"visual_seed":943248667590421302,"scene_id":"lab_003","finished_at":"2026-09-03T09:20:16"} +{"episode_id":"ep_000037","started_at":"2026-09-03T09:24:14","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.1330581512723863,0.3164890490275605,0.71338606911949],"aabb_xy":[[-0.14047060681377477,0.3106378386059325],[-0.12564569573099782,0.3223402594491884]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.6790320454744059,-1.309908014643134,0.71338606911949],"aabb_xy":[[0.6643886399203728,-1.3245667342999183],[0.6936754510284387,-1.2952492949863499]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.002957873924150478,-2.465316902892095,0.71338606911949],"aabb_xy":[[-0.03454212726064231,-2.4697351255881554],[0.04045787510894327,-2.4608986801960344]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[0.48374740622015544,0.75030060963828,0.71338606911949],"aabb_xy":[[0.4366180272183197,0.686300608593878],[0.5308767852219911,0.8143006106826819]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.5647938692625045,-1.4108912553028483,0.71338606911949],"aabb_xy":[[0.4797938705704299,-1.442877118697727],[0.6497938679545792,-1.3789053919079692]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.5136620427668459,-2.2674532829901706,0.71338606911949],"aabb_xy":[[0.47511634994164487,-2.3059990540463597],[0.5522077355920469,-2.2289075119339823]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.12965339994824632,1.1593796696942111,0.71338606911949],"aabb_xy":[[0.03965339761422726,1.0818973151090985],[0.21965340228226538,1.2368620242793238]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.3475770160565415,-1.9103308672343369,0.71338606911949],"aabb_xy":[[-0.4115770193462496,-1.9536657862382545],[-0.28357701276683334,-1.8669959482304193]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.16613824499890684,-2.5001825805995574,0.71338606911949],"aabb_xy":[[-0.18130111797584392,-2.515348037894676],[-0.15097537202196976,-2.4850171233044387]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.28577128902278137,1.2413945427437847,0.71338606911949],"aabb_xy":[[-0.29892253499407073,1.2163945429870981],[-0.272620043051492,1.2663945425004712]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.6551546092280982,0.32500644479405594,0.71338606911949],"aabb_xy":[[0.6051546096517636,0.27502586584195005],[0.705154608804433,0.37498702374616194]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.027727965446413427,-0.7862721844214549,0.71338606911949],"aabb_xy":[[-0.09172796461618336,-0.8330388715404174],[0.03627203372335651,-0.7395054973024925]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.2818376601579185,1.566393257210858,0.71338606911949],"aabb_xy":[[-0.3618376587452379,1.4870776552726972],[-0.20183766157059904,1.645708859149019]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.18967821457061795,1.6417817905892602,0.71338606911949],"aabb_xy":[[0.13967821320973073,1.5918038860138444],[0.23967821593150518,1.6917596951646756]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.3690999187331888,1.7579885035087002,0.71338606911949],"aabb_xy":[[-0.4065999193977675,1.7423014455084775],[-0.3315999180686101,1.773675561508922]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.38772114637012245,-0.6071992826986554,0.71338606911949],"aabb_xy":[[0.32372114778355,-0.6542062460981641],[0.4517211449566949,-0.5601923192991467]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.5825624757153783,-1.9528134227564613,0.71338606911949],"aabb_xy":[[-0.6365780719972781,-2.0168134256487185],[-0.5285468794334781,-1.8888134198642041]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.6628334504587846,-2.2718582882222167,0.71338606911949],"aabb_xy":[[-0.6757053539597248,-2.3518582886360524],[-0.6499615469578445,-2.19185828780838]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.5634782785943189,-2.193989201926201,0.71338606911949],"aabb_xy":[[-0.5879919026913247,-2.2182537952282373],[-0.538964654497313,-2.1697246086241644]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[-0.5403952882181312,-2.494767765728669,0.71338606911949],"aabb_xy":[[-0.5443091614135538,-2.5035167811352257],[-0.5364814150227086,-2.486018750322112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907297735996271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5004.png","name":"5004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5004.png","name":"5004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4261.png","name":"4261"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5019.png","name":"5019"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1264.png","name":"1264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":537.1779424890833,"rotation_z_degrees":179.4449951800454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013308067098016792,0.00474662419272379,7.255056680823338e-05]},{"name":"camera_2","offset_m":[0.019832360245358973,0.008594635307566576,0.015538786617856088]},{"name":"camera_3","offset_m":[0.001326894955721386,0.010269504725129254,0.011473190962691244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013653106464345736,-0.001269208408165996,-0.0017007763855572257],"end_effector_yaw_offset_degrees":-0.3007744673860313},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006254807746402689,-0.0018660507164456087,0.0012297095618088241],"end_effector_yaw_offset_degrees":-0.2573848760082438},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007303630559154573,0.0008264036866327154,0.0012341262796247403],"end_effector_yaw_offset_degrees":0.6875050785990497}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001956020925095049,0.0009367841074455728],"position_m":[0.30834397907490496,0.09203678410744558,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006089920541662549,-0.004290166651430679],"position_m":[0.31239100794583374,-0.12059016665143069,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005553495722750304,-0.0016549418176463782],"position_m":[0.354544650427725,0.29504505818235366,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004245733174462599,0.00487346575339022],"position_m":[0.2397542668255374,-0.3469265342466098,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"09ae71019a6ae8ba476ada239f4412025ccfbdce9cfb324344ac586e2dbe3de9","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5004/tex_ceiling_textures_2312/tex_floor_textures_1264/tex_table_textures_4261/tex_wall_textures_5019","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4725568673996787548,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4725568673996787548,"visual_seed":4725568673996787548,"scene_id":"lab_003","finished_at":"2026-09-03T09:26:44"} +{"episode_id":"ep_000038","started_at":"2026-09-03T09:26:47","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.6193295626608611,-0.8344792436742481,0.71338606911949],"aabb_xy":[[-0.6234455127729337,-0.8385947987070935],[-0.6152136125487884,-0.8303636886414024]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.59587839065002,-1.8451103996591387,0.71338606911949],"aabb_xy":[[0.573969708510669,-1.8670110664792292],[0.6177870727893711,-1.8232097328390477]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.5616144172183171,1.476746708530889,0.71338606911949],"aabb_xy":[[-0.5791144174633664,1.459246920691322],[-0.5441144169732677,1.4942464963704556]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.16391419520528216,-2.4803517691670827,0.71338606911949],"aabb_xy":[[0.1264141945407034,-2.4960388271673044],[0.2014141958698608,-2.46466471116686]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.3994180917847665,-2.461091963474919,0.71338606911949],"aabb_xy":[[0.37441809223302797,-2.471234447340054],[0.42441809133650493,-2.4509494796097844]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.2849425574622958,-2.4755928791197523,0.71338606911949],"aabb_xy":[[-0.34894255937463814,-2.5315040283777632],[-0.22094255554995346,-2.4196817298617423]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.19514826113516293,0.8162801936868491,0.71338606911949],"aabb_xy":[[0.15923475671017323,0.7803666854700945],[0.23106176556015262,0.8521937019036038]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.22850956208731893,0.12427813540529309,0.71338606911949],"aabb_xy":[[-0.23314467723955226,0.12041080032814443],[-0.22387444693508549,0.1281454704824417]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.5728506782349418,0.6624678173793277,0.71338606911949],"aabb_xy":[[-0.5846188650295994,0.5774678174741062],[-0.5610824914402843,0.7474678172845494]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.11987075417208382,-2.294194203495865,0.71338606911949],"aabb_xy":[[0.11595688097666128,-2.3029432189024215],[0.12378462736750633,-2.285445188089308]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.010828707291939632,-2.064048820189946,0.71338606911949],"aabb_xy":[[-0.06917129136494637,-2.0785536791142087],[0.09082870594882564,-2.049543961265683]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.2187339447891289,-2.0648634566471467,0.71338606911949],"aabb_xy":[[-0.22677027949041373,-2.072901575951563],[-0.21069761008784404,-2.056825337342729]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.07453977182943894,1.3311471607376069,0.71338606911949],"aabb_xy":[[0.06969617706820898,1.3262955082586227],[0.07938336659066893,1.335998813216591]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[-0.28376541056061794,-0.5887932776082072,0.71338606911949],"aabb_xy":[[-0.30067614299695966,-0.6022654832008216],[-0.2668546781242761,-0.5753210720155926]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.5803705102780776,-1.2034795648771555,0.71338606911949],"aabb_xy":[[0.5625014025236221,-1.2173124728543665],[0.5982396180325331,-1.1896466568999444]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.3603001997249512,1.0048650653831426,0.71338606911949],"aabb_xy":[[-0.45030019646056135,0.9516816020658478],[-0.27030020298934093,1.0580485287004369]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.48592445013051355,-1.814238359557322,0.71338606911949],"aabb_xy":[[-0.505982861743754,-1.8343034464664796],[-0.4658660385172734,-1.7941732726481643]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.4126328898730012,-2.3189974059924876,0.71338606911949],"aabb_xy":[[0.39513288961366466,-2.3330889481812607],[0.4301328901323379,-2.3049058638037154]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.13244683391431677,0.6573159351139917,0.71338606911949],"aabb_xy":[[0.09595101328703803,0.6208319926872341],[0.16894265454159552,0.6937998775407492]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.42540161247164354,-1.1274486481552082,0.71338606911949],"aabb_xy":[[0.39162605328095057,-1.141487143368373],[0.4591771716623365,-1.1134101529420428]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.007869245564392058,-1.1708187761936102,0.71338606911949],"aabb_xy":[[-0.0008447234855424329,-1.193318776852798],[0.01658321461432654,-1.1483187755344215]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.1914415908314021,-1.267149183214119,0.71338606911949],"aabb_xy":[[0.13644837949426533,-1.3221491835529127],[0.24643480216853886,-1.2121491828753255]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[0.574669594414559,-0.8086179569746468,0.71338606911949],"aabb_xy":[[0.550833376773954,-0.8986179577831334],[0.5985058120551642,-0.7186179561661603]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.03219826407209225,1.4734896670954245,0.71338606911949],"aabb_xy":[[-0.002801735057863415,1.4677444460197604],[0.06719826320204791,1.4792348881710886]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.3655607789319741,-0.46143977399796965,0.71338606911949],"aabb_xy":[[-0.38144527219729923,-0.4757927142967937],[-0.34967628566664893,-0.4470868336991456]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.5319240963035314,-1.024529635825826,0.71338606911949],"aabb_xy":[[-0.5396272869776084,-1.0322390065245641],[-0.5242209056294544,-1.016820265127088]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[0.2192533514099736,-1.7067390919245085,0.71338606911949],"aabb_xy":[[0.1692540762415374,-1.7567390932004556],[0.26925262657840976,-1.6567390906485613]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_27","position":[-0.0689834368409109,-1.9027341988713693,0.71338606911949],"aabb_xy":[[-0.09148257256713788,-1.925234199649632],[-0.046484301114683935,-1.880234198093106]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[0.5998779380261523,0.07450696731603479,0.71338606911949],"aabb_xy":[[0.529877935389566,0.05440210232016929],[0.6698779406627386,0.09461183231190029]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[-0.2566154874532172,0.253861280927306,0.71338606911949],"aabb_xy":[[-0.3466154911301353,0.1924288743502015],[-0.16661548377629895,0.3152936875044102]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.3178480793770718,-1.5128356463443047,0.71338606911949],"aabb_xy":[[-0.335348078511439,-1.5227152733818923],[-0.30034808024270465,-1.5029560193067166]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_31","position":[0.6227552960660003,-0.6473826855793015,0.71338606911949],"aabb_xy":[[0.5944255861174601,-0.6518434277730185],[0.6510850060145406,-0.6429219433855844]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_32","position":[-0.6650086646651032,0.0007419881200259049,0.71338606911949],"aabb_xy":[[-0.6825086639431901,-0.016596111946320047],[-0.6475086653870163,0.018080088186371857]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692610293823854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9357.png","name":"9357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9357.png","name":"9357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/641.png","name":"641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1126.png","name":"1126"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1482.png","name":"1482"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1234.png","name":"1234"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":524.2133555854831,"rotation_z_degrees":40.6850456734905,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009126476505663074,-0.016340681190901884,0.0004232784959829587]},{"name":"camera_2","offset_m":[-0.0035778974166978984,-0.013422394491008075,0.016311370446767292]},{"name":"camera_3","offset_m":[-0.019436743323332714,-0.015202175103455992,-0.005763215386086413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004824191112345602,-0.0019742144097112165,-0.0009700873155828536],"end_effector_yaw_offset_degrees":0.7127867007631059},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018755434206020327,0.0003681605157580723,-0.0014557213540710224],"end_effector_yaw_offset_degrees":-0.4595286076867313},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017852898151052856,0.001982591579689194,-0.0011893608292449613],"end_effector_yaw_offset_degrees":0.530156181668878}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005472688257479544,-0.002421060803790546],"position_m":[0.30975273117425206,0.08867893919620945,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029847951701369923,-0.004255193948163731],"position_m":[0.315984795170137,-0.12055519394816373,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016448337274158065,-0.0019120778283582686],"position_m":[0.35674483372741583,0.29478792217164174,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005702240255280825,-0.0007901451966763531],"position_m":[0.2434297759744719,-0.35259014519667636,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29aed5af3c0b0095428a1c7e30fa38b574bef18e3392ef7660ea9f9792e3574f","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9357/tex_ceiling_textures_1234/tex_floor_textures_1482/tex_table_textures_641/tex_wall_textures_1126","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6102032957064294507,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6102032957064294507,"visual_seed":6102032957064294507,"scene_id":"lab_003","finished_at":"2026-09-03T09:29:12"} +{"episode_id":"ep_000039","started_at":"2026-09-03T09:29:16","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.35982853285987293,-1.0131524630410633,0.71338606911949],"aabb_xy":[[-0.36854250190980736,-1.0356524637002513],[-0.3511145638099384,-0.990652462381875]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.48477985015272407,-0.6756479975503498,0.71338606911949],"aabb_xy":[[-0.518555409343417,-0.6896864927635148],[-0.4510042909620311,-0.6616095023371847]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.27816386932710657,-1.5937050711052427,0.71338606911949],"aabb_xy":[[0.24983415937856635,-1.59816581329896],[0.3064935792756468,-1.589244328911526]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.39979399264926374,0.7856932916219117,0.71338606911949],"aabb_xy":[[-0.41172672701109186,0.7733111388140524],[-0.38786125828743573,0.7980754444297712]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.021814618533532393,-1.9935800220153768,0.71338606911949],"aabb_xy":[[-0.05296153737711551,-2.063580020702184],[0.009332300310050723,-1.9235800233285694]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.4924092207413511,-0.6308379443931056,0.71338606911949],"aabb_xy":[[0.4827775845209214,-0.6404752571728144],[0.5020408569617807,-0.6212006316133966]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.5020821186033155,-0.09169705654173521,0.71338606911949],"aabb_xy":[[0.4768612817434757,-0.11692080739462196],[0.527302955463155,-0.06647330568884846]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.3202245251372086,1.2581661866918403,0.71338606911949],"aabb_xy":[[-0.3673539041390442,1.1941661856474384],[-0.27309514613537283,1.3221661877362423]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.6080350671738617,1.3161339299730344,0.71338606911949],"aabb_xy":[[0.5280350661007414,1.3063558836356497],[0.688035068246982,1.3259119763104186]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.1646962508233637,0.6236934485042562,0.71338606911949],"aabb_xy":[[0.13840742650292304,0.597422014849605],[0.19098507514380436,0.6499648821589075]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.47308897786732496,-1.1218134497123844,0.71338606911949],"aabb_xy":[[-0.5230889773075205,-1.1717813741967007],[-0.4230889784271292,-1.071845525228068]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.01007830869295967,-1.3202089630014273,0.71338606911949],"aabb_xy":[[-0.08007830510292145,-1.3406468986531086],[0.05992168771700212,-1.2997710273497451]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.25653032143071547,-2.323976795912317,0.71338606911949],"aabb_xy":[[-0.32653032356214495,-2.346738761538012],[-0.18653031929928587,-2.301214830286621]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.23720070066584165,0.9647156841310176,0.71338606911949],"aabb_xy":[[0.17720070081927483,0.9078970619379788],[0.29720070051240843,1.0215343063240563]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.11481390843019912,-0.8758857610112265,0.71338606911949],"aabb_xy":[[0.07981390845370329,-0.8853503770588431],[0.14981390840669495,-0.8664211449636099]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.4430460049949707,-1.2621894378161203,0.71338606911949],"aabb_xy":[[0.3930617692867935,-1.3121894366296158],[0.49303024070314794,-1.2121894390026247]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.2495280546561729,-1.3100752799113635,0.71338606911949],"aabb_xy":[[-0.25681037103283644,-1.4000752835208723],[-0.24224573827950918,-1.2200752763018543]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.6146995478516615,0.8982813998828689,0.71338606911949],"aabb_xy":[[-0.678695245246758,0.8342814015821601],[-0.5507038504565648,0.9622813981835775]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.18834505771230026,-1.6172253138073722,0.71338606911949],"aabb_xy":[[0.17571827042510388,-1.6267713875089451],[0.20097184499949658,-1.6076792401057993]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.2064140726936508,-1.6006300984772939,0.71338606911949],"aabb_xy":[[-0.2239140729529875,-1.6147216406660667],[-0.18891407243431424,-1.5865385562885215]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[0.2883682275007611,-0.7901978465962001,0.71338606911949],"aabb_xy":[[0.25086822670876563,-0.7965656875543902],[0.3258682282927565,-0.78383000563801]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.6213910437657995,1.0135280681679846,0.71338606911949],"aabb_xy":[[0.6062281707888625,0.9983626108728658],[0.6365539167427366,1.0286935254631033]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.673344852482789,1.4364864940337525,0.71338606911949],"aabb_xy":[[-0.6793818654834538,1.4304597929648046],[-0.6673078394821244,1.4425131951027008]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[0.5712455169833084,-0.3243377676872887,0.71338606911949],"aabb_xy":[[0.5493368348439572,-0.3462384345073794],[0.5931541991226593,-0.30243710086719794]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.36916493899805863,-1.9548353753965197,0.71338606911949],"aabb_xy":[[-0.4491649404281858,-2.0343525304091292],[-0.2891649375679314,-1.87531822038391]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.28236233296953994,-1.9363508920758234,0.71338606911949],"aabb_xy":[[0.23236305780110378,-1.9863508933517708],[0.3323616081379761,-1.8863508907998765]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.2865353345907291,-2.4474024709918725,0.71338606911949],"aabb_xy":[[0.27569485636421415,-2.464588752282521],[0.29737581281724396,-2.4302161897012238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903410862647548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9540.png","name":"9540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9540.png","name":"9540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5524.png","name":"5524"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7766.png","name":"7766"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/180.png","name":"180"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":571.9668258264945,"rotation_z_degrees":175.88726725621635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009251044713028537,0.01068367735221715,-0.010108516027231151]},{"name":"camera_2","offset_m":[0.007292627010171537,-0.005293545182847121,-0.015872229542896098]},{"name":"camera_3","offset_m":[-0.012419287309411331,-0.018243035263985515,0.01700894226251658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015681136432071272,-0.0006031452017520641,0.0007932234618734531],"end_effector_yaw_offset_degrees":0.05894035107718243},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007672349463779672,-0.0006025133132316705,0.001468040717460646],"end_effector_yaw_offset_degrees":-0.6519577306045825},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00010796165533567435,0.0008282021407326856,-0.000852205736252743],"end_effector_yaw_offset_degrees":-0.9913975306464202}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003854567331183753,0.0009985985173959766],"position_m":[0.3141545673311838,0.09209859851739598,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001915669203531747,0.0025589042719869172],"position_m":[0.31108433079646824,-0.11374109572801308,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006061014388157246,-0.0024583091319833896],"position_m":[0.3544938985611843,0.2942416908680166,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008146628427621143,-0.004489271000912037],"position_m":[0.2448146628427621,-0.356289271000912,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"42f9742b16b6bc2cf6638fab87091104ce1b1d8e1202b2a56d09a32b19acd666","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9540/tex_ceiling_textures_180/tex_floor_textures_7766/tex_table_textures_2682/tex_wall_textures_5524","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7085389087680640395,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7085389087680640395,"visual_seed":7085389087680640395,"scene_id":"lab_003","finished_at":"2026-09-03T09:31:41"} +{"episode_id":"ep_000040","started_at":"2026-09-03T09:31:44","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[0.06007890872814281,-1.3782418289897225,0.71338606911949],"aabb_xy":[[0.0232283607911552,-1.4157418298127562],[0.09692945666513042,-1.3407418281666887]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.038129087873358114,-0.6938853824961091,0.71338606911949],"aabb_xy":[[0.020335580938441684,-0.7116851280919068],[0.05592259480827456,-0.6760856369003114]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.4405405021234241,1.4133917165732917,0.71338606911949],"aabb_xy":[[0.4229621999344772,1.3958172269991869],[0.4581188043123709,1.430966206147397]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.4655697870155171,0.23441122512099888,0.71338606911949],"aabb_xy":[[-0.5133759546292858,0.1694112224139399],[-0.41776361940174844,0.29941122782805785]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[0.08149477972491403,1.3570870193834694,0.71338606911949],"aabb_xy":[[0.0014947775621515363,1.2771318357573258],[0.16149478188767652,1.437042203009613]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.21646037587990596,1.1071443184171792,0.71338606911949],"aabb_xy":[[-0.2814603768370332,1.0551961064834736],[-0.15146037492277878,1.1590925303508848]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[-0.3773293167938015,-1.3455026871347178,0.71338606911949],"aabb_xy":[[-0.4623293154858761,-1.3774885505295966],[-0.2923293181017268,-1.313516823739839]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.3635952694975335,-2.5087874899220943,0.71338606911949],"aabb_xy":[[0.35096848221033716,-2.518333563623667],[0.37622205678472986,-2.4992414162205216]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.25041833948719416,-1.2184710394253857,0.71338606911949],"aabb_xy":[[-0.3204183412959396,-1.2398248081895729],[-0.18041833767844873,-1.197117270661198]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.4785228309538414,-2.167212453859634,0.71338606911949],"aabb_xy":[[0.46811127227335764,-2.1725581871955324],[0.48893438963432506,-2.1618667205237356]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.16723369937546773,-0.14477583012237627,0.71338606911949],"aabb_xy":[[-0.2222269107126045,-0.19977583046116992],[-0.11224048803833098,-0.08977582978358269]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.49625910164047937,-2.1630817845534556,0.71338606911949],"aabb_xy":[[-0.5762591002973654,-2.1775866434777185],[-0.41625910298359337,-2.1485769256291927]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.39700853020492144,0.9177993234401294,0.71338606911949],"aabb_xy":[[-0.46100853242532847,0.873426239314841],[-0.3330085279845144,0.9621724075654176]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.5201308257316481,-1.852486723817559,0.71338606911949],"aabb_xy":[[0.4650056201020573,-1.912486725258846],[0.5752560313612388,-1.7924867223762717]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.2585196976850993,-0.7235505726476836,0.71338606911949],"aabb_xy":[[0.24097300276898037,-0.7610505742119349],[0.27606639260121824,-0.6860505710834324]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.3697946476326082,-2.540901553552809,0.71338606911949],"aabb_xy":[[-0.3822620057423439,-2.5533668781861327],[-0.3573272895228726,-2.5284362289194857]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.2584550214424377,-1.9788874268771783,0.71338606911949],"aabb_xy":[[0.24668683464778024,-2.063887426782401],[0.2702232082370953,-1.8938874269719574]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.1463286963722813,1.403884324054986,0.71338606911949],"aabb_xy":[[-0.15122798867884477,1.3762074047524169],[-0.14142940406571777,1.4315612433575544]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.5747611519737236,-0.3501696818246378,0.71338606911949],"aabb_xy":[[-0.6010499762941641,-0.376441115479289],[-0.5484723276532828,-0.3238982481699865]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.14470765033113264,-0.9528171034302646,0.71338606911949],"aabb_xy":[[0.10720765175551185,-0.9655533990938225],[0.18220764890675345,-0.9400808077667067]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.6174389553628293,-1.6755297124134958,0.71338606911949],"aabb_xy":[[-0.6814389570408266,-1.72404710389281],[-0.5534389536848319,-1.6270123209341816]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[0.3850490127169248,-0.8846619649918199,0.71338606911949],"aabb_xy":[[0.3050490116438045,-0.8944400113292044],[0.46504901379004515,-0.8748839186544355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961127288627038,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7809.png","name":"7809"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7809.png","name":"7809"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3175.png","name":"3175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4871.png","name":"4871"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/508.png","name":"508"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2519.png","name":"2519"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":531.3512442711163,"rotation_z_degrees":264.59049886533387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011656473467073328,0.016424635722377245,-0.0059212509668762035]},{"name":"camera_2","offset_m":[0.012947635030159558,0.008007878279581208,0.008917215080763083]},{"name":"camera_3","offset_m":[-0.001522153015437927,-0.018376333384344988,0.015220666292439077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006130451502489062,0.001616694783211376,-0.00016948364645094833],"end_effector_yaw_offset_degrees":0.6699618764297703},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018082422349221395,-0.0008620059385218096,0.0004436387036886743],"end_effector_yaw_offset_degrees":-0.8765756443042456},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006847801553146913,-0.00041141287162774405,-0.001089078438772849],"end_effector_yaw_offset_degrees":-0.761575729122991}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001551047535926775,0.004546603808062782],"position_m":[0.30874895246407325,0.09564660380806278,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026577838803797625,0.004062849835516525],"position_m":[0.31565778388037974,-0.11223715016448348,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025789850411167712,0.0042850653336535165],"position_m":[0.3576789850411168,0.30098506533365355,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000990455146712508,0.0038739613403217183],"position_m":[0.2449904551467125,-0.3479260386596783,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1336d16f8d80cd61ac17c1ed450fb20552ddf04b25faea35446355e7be40282d","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7809/tex_ceiling_textures_2519/tex_floor_textures_508/tex_table_textures_3175/tex_wall_textures_4871","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7273154923985506619,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7273154923985506619,"visual_seed":7273154923985506619,"scene_id":"lab_003","finished_at":"2026-09-03T09:34:18"} +{"episode_id":"ep_000041","started_at":"2026-09-03T09:34:21","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.4607402968768315,1.3732610894707715,0.71338606911949],"aabb_xy":[[0.4155689790286626,1.3092610923262331],[0.5059116147250005,1.43726108661531]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.05542837780448662,1.3522610257529322,0.71338606911949],"aabb_xy":[[-0.1105535834340774,1.2922610243116446],[-0.00030317217489584514,1.4122610271942189]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[0.6640325071196187,0.8204268318211314,0.71338606911949],"aabb_xy":[[0.6415188152961614,0.7504268312201239],[0.6865461989430758,0.8904268324221389]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.6307287759706821,0.9967322582361122,0.71338606911949],"aabb_xy":[[0.5964124987960642,0.9467322582629343],[0.6650450531453,1.0467322582092897]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.04199070772405311,-1.426110032605499,0.71338606911949],"aabb_xy":[[-0.05162234394448273,-1.4357473453852079],[-0.03235907150362349,-1.41647271982579]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.3466986102396048,0.8904708644459634,0.71338606911949],"aabb_xy":[[0.2890681413523339,0.8304708655192525],[0.40432907912687555,0.9504708633726737]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.34211469203117606,-2.4055987287079565,0.71338606911949],"aabb_xy":[[-0.4221146931042964,-2.415376775045341],[-0.26211469095805573,-2.395820682370572]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.10610179027513289,0.34505795015401075,0.71338606911949],"aabb_xy":[[-0.1286017907871735,0.32256609178861234],[-0.08360178976309228,0.36754980851940905]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.13451222981254507,1.6467231112729919,0.71338606911949],"aabb_xy":[[0.09951222846106332,1.6263633753161713],[0.16951223116402678,1.667082847229813]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.2666911311507189,0.2012597000576215,0.71338606911949],"aabb_xy":[[-0.27013180739077614,0.19739826708325708],[-0.2632504549106618,0.20512113303198604]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.07588076861294801,-1.0538869713233339,0.71338606911949],"aabb_xy":[[-0.01411923506397018,-1.115319377900438],[0.16588077228986614,-0.9924545647462293]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.12859699823593984,1.1321711221296948,0.71338606911949],"aabb_xy":[[0.12218318459275489,1.1257613018820263],[0.13501081187912475,1.138580942377363]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.4501685241556672,-2.1230328536243395,0.71338606911949],"aabb_xy":[[0.4372966206547271,-2.203032854038175],[0.46304042765660736,-2.043032853210503]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.48195670696449977,1.7479936687039124,0.71338606911949],"aabb_xy":[[-0.48729428263050445,1.7229936677747726],[-0.4766191312984953,1.7729936696330522]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.449231851760332,-1.4701358545564156,0.71338606911949],"aabb_xy":[[0.44123786318262853,-1.478135934651506],[0.4572258403380353,-1.4621357744613253]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.5213861464729441,0.8901811421961909,0.71338606911949],"aabb_xy":[[0.5013277348597038,0.8701160552870334],[0.5414445580861844,0.9102462291053485]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.610105973392989,0.16234660337442852,0.71338606911949],"aabb_xy":[[-0.6435461485890085,0.12890297754349841],[-0.5766657981969693,0.19579022920535857]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.5432826230306362,-2.3716307149482234,0.71338606911949],"aabb_xy":[[0.4882903723951254,-2.426630716691536],[0.5982748736661473,-2.3166307132049107]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.1584587218925757,-1.647335515211346,0.71338606911949],"aabb_xy":[[0.1365689743036349,-1.7373355125005951],[0.1803484694815165,-1.557335517922097]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.27310142530235687,-1.3966836048421822,0.71338606911949],"aabb_xy":[[-0.29060142443672404,-1.4065632318797698],[-0.2556014261679897,-1.3868039778045942]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.12861342649474383,-2.101966895992936,0.71338606911949],"aabb_xy":[[-0.17860843745419588,-2.151966895028528],[-0.07861841553529182,-2.0519668969573446]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[-0.31557470222782746,-1.2484451509171055,0.71338606911949],"aabb_xy":[[-0.365547767760343,-1.2984451507296386],[-0.26560163669531206,-1.1984451511045728]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[-0.5584613866497306,-0.030145601467306715,0.71338606911949],"aabb_xy":[[-0.5716923321844117,-0.04337302048930613],[-0.5452304411150491,-0.016918182445307288]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[0.08810351135872974,-0.8928964983679637,0.71338606911949],"aabb_xy":[[0.018103508722143377,-0.9130013633638291],[0.15810351399531608,-0.8727916333720981]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.1233267434676224,-1.6668230509534872,0.71338606911949],"aabb_xy":[[-0.17734233974952238,-1.7308230538457443],[-0.06931114718572237,-1.60282304806123]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[0.6246231882570359,0.15884218160064734,0.71338606911949],"aabb_xy":[[0.5871231883132695,0.15054909156581076],[0.6621231882008023,0.16713527163548392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947988554854749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9109.png","name":"9109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9109.png","name":"9109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":792.500836313353,"rotation_z_degrees":299.49011268035645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008782911531150784,-0.002982655043109062,0.009453056639124043]},{"name":"camera_2","offset_m":[-0.0025048377592755827,0.01691857175571215,0.018947563673688408]},{"name":"camera_3","offset_m":[-0.0024216066218224162,0.014989785732639715,0.0074812237640129245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00017328102977030857,0.0013368902296613462,-0.001812337123969364],"end_effector_yaw_offset_degrees":0.526947318333854},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001363168109123282,-0.001882672155244986,0.0018162317451705166],"end_effector_yaw_offset_degrees":0.6206398715985972},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017592552497683047,-0.00044254654278548283,-0.0011569611344067585],"end_effector_yaw_offset_degrees":0.8671133986360828}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00471975377723523,-0.002628080753133224],"position_m":[0.3055802462227648,0.08847191924686677,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026972231509738943,-0.004469012794956574],"position_m":[0.31569722315097387,-0.12076901279495658,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030651333625909332,0.0002073952135960809],"position_m":[0.358165133362591,0.2969073952135961,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017985638623486408,0.00023624206161856984],"position_m":[0.24579856386234863,-0.3515637579383814,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69eeae540be506670f022e80dd35bc1a9537bf6ab4ed3b1a0405e9c5e48cd7fd","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9109/tex_ceiling_textures_4332/tex_floor_textures_4870/tex_table_textures_544/tex_wall_textures_1861","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8206088739328356578,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8206088739328356578,"visual_seed":8206088739328356578,"scene_id":"lab_003","finished_at":"2026-09-03T09:36:51"} +{"episode_id":"ep_000042","started_at":"2026-09-03T09:36:53","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.45139596799692294,1.7960736960396209,0.71338606911949],"aabb_xy":[[-0.5363959666889976,1.7640878326447418],[-0.3663959693048483,1.8280595594344995]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.0026848383837528855,1.1250618147916862,0.71338606911949],"aabb_xy":[[-0.047315161192581834,1.0750812358395805],[0.052684837960087605,1.1750423937437924]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.40071512523669917,1.0936248419602976,0.71338606911949],"aabb_xy":[[-0.42321512548021456,1.081420207300526],[-0.37821512499318377,1.1058294766200698]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.5012841615257957,-2.284633875268308,0.71338606911949],"aabb_xy":[[0.44615895589620497,-2.3446338767095947],[0.5564093671553865,-2.2246338738270204]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.5648344008402565,-2.0832156438162013,0.71338606911949],"aabb_xy":[[-0.5767671352020846,-2.0955977966240606],[-0.5529016664784284,-2.070833491008342]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.6363433631636595,1.3617025169592916,0.71338606911949],"aabb_xy":[[0.5763433625676434,1.306890044414068],[0.6963433637596758,1.416514989504515]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.4664308756036559,-1.6701772366659602,0.71338606911949],"aabb_xy":[[-0.5039308740270563,-1.6833414506337907],[-0.4289308771802555,-1.6570130226981297]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.20848270906266997,-1.6466702589510898,0.71338606911949],"aabb_xy":[[-0.2984827127395881,-1.7081026655281935],[-0.11848270538575176,-1.5852378523739847]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.02395759989025803,1.2955245096247503,0.71338606911949],"aabb_xy":[[-0.08795760180260037,1.23961336036674],[0.04004240202208431,1.351435658882761]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.4808950522061395,0.6970470743133284,0.71338606911949],"aabb_xy":[[0.41689505577881764,0.6498774504912319],[0.5448950486334614,0.7442166981354248]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.4824953232204321,-0.40012075906094724,0.71338606911949],"aabb_xy":[[-0.4921269594408616,-0.40975807184065616],[-0.47286368700000236,-0.3904834462812383]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.21496359735260906,-2.1119240866200313,0.71338606911949],"aabb_xy":[[0.1509635987660366,-2.15893105001954],[0.2789635959391815,-2.0649171232205226]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.3741956106360752,-0.8993770293480476,0.71338606911949],"aabb_xy":[[-0.4101091150610649,-0.9352905375648022],[-0.3382821062110855,-0.8634635211312929]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.4122898422523283,-2.532872500628475,0.71338606911949],"aabb_xy":[[-0.4273921437133462,-2.547974022259536],[-0.39718754079131,-2.517770978997412]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.6715462710954856,-2.581403097700116,0.71338606911949],"aabb_xy":[[0.6340462712784519,-2.5860413090112573],[0.709046270912519,-2.5767648863889736]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.5617512737940124,0.6667059189564042,0.71338606911949],"aabb_xy":[[-0.5658672239060849,0.6625903639235586],[-0.5576353236819396,0.6708214739892497]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.059505417839041286,-1.1808174160215956,0.71338606911949],"aabb_xy":[[-0.020494579175206702,-1.200951967695007],[0.13950541485328927,-1.1606828643481844]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.6697120336109705,-0.6182483579611862,0.71338606911949],"aabb_xy":[[0.6354151225932299,-0.6525452441711274],[0.704008944628711,-0.5839514717512447]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.43842452221813305,-1.1379195098612764,0.71338606911949],"aabb_xy":[[-0.4440061938522618,-1.150419509679052],[-0.4328428505840043,-1.125419510043501]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.2973173455784568,-1.9498057659649106,0.71338606911949],"aabb_xy":[[-0.3467977667924156,-2.0138057638777624],[-0.247836924364498,-1.8858057680520586]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.6768012892282871,0.7707761404009155,0.71338606911949],"aabb_xy":[[-0.687641767454802,0.7535898591102665],[-0.6659608110017722,0.7879624216915642]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.07054045356153194,-0.7955431332909562,0.71338606911949],"aabb_xy":[[-0.07932168070876817,-0.8043228805794865],[-0.06175922641429572,-0.7867633860024262]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[0.4584151966582395,-0.5027143320041567,0.71338606911949],"aabb_xy":[[0.440546088903784,-0.5165472399813676],[0.476284304412695,-0.4888814240269458]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.674749096065536,-0.3624135766228367,0.71338606911949],"aabb_xy":[[0.6247559839563441,-0.4124135772970324],[0.7247422081747279,-0.31241357594864105]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.3425497558085988,-1.4924432345286036,0.71338606911949],"aabb_xy":[[0.31754975625686027,-1.5025857183937383],[0.36754975536033724,-1.482300750663469]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.4160709914375369,0.10819829788777069,0.71338606911949],"aabb_xy":[[-0.43370382703106447,0.09057535187214771],[-0.3984381558440093,0.12582124390339366]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.17479828529804464,-0.013015357160921948,0.71338606911949],"aabb_xy":[[-0.18636726604498122,-0.038015357277853656],[-0.16322930455110807,0.011984642956009761]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[-0.6239120334343958,-0.6153293489088822,0.71338606911949],"aabb_xy":[[-0.6311732810048032,-0.6281163591723918],[-0.6166507858639885,-0.6025423386453729]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.18190064221016156,-2.1388110729984064,0.71338606911949],"aabb_xy":[[-0.19314569778077936,-2.1500528707225017],[-0.1706555866395437,-2.127569275274311]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_29","position":[0.020503904720282295,-1.377498865285554,0.71338606911949],"aabb_xy":[[-0.027302262893486355,-1.4424988679926127],[0.06831007233405094,-1.3124988625784948]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[-0.5797552716832239,-1.1440103923512226,0.71338606911949],"aabb_xy":[[-0.6597552738459864,-1.2239655759773662],[-0.49975526952046145,-1.064055208725079]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884330977243791,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6856.png","name":"6856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6856.png","name":"6856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1127.png","name":"1127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5528.png","name":"5528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6264.png","name":"6264"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":733.3136177741196,"rotation_z_degrees":259.795303820405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005742789352561638,-0.013839743674028883,-0.013059272727167063]},{"name":"camera_2","offset_m":[0.01354666005820145,0.013954460224628523,-0.016457707134048597]},{"name":"camera_3","offset_m":[0.01362563431075824,-0.01568516490595703,0.01793832549357156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000890126883109338,-0.0009139746794796619,-0.00029785986721926963],"end_effector_yaw_offset_degrees":0.7231388763570283},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015767779299621974,0.0019490473908288534,-0.0009154305753150945],"end_effector_yaw_offset_degrees":-0.8490759136555428},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00026889495638492134,-0.0008952066205114466,0.0017952742549354646],"end_effector_yaw_offset_degrees":-0.7317112671778281}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-8.812161218800258e-05,0.0038806341707747763],"position_m":[0.310211878387812,0.09498063417077478,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001146700238407061,-0.0016942894217516482],"position_m":[0.3141467002384071,-0.11799428942175165,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00438096862072081,0.001038141336927775],"position_m":[0.35071903137927923,0.2977381413369278,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010530765380174431,-0.0006419387611657302],"position_m":[0.24505307653801744,-0.35244193876116575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d2f15e67a0b434828f61c7616dc4638ea241bd4052677f82fda187ec9db1c72","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6856/tex_ceiling_textures_6264/tex_floor_textures_2586/tex_table_textures_1127/tex_wall_textures_5528","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1520933035368060349,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1520933035368060349,"visual_seed":1520933035368060349,"scene_id":"lab_003","finished_at":"2026-09-03T09:39:30"} +{"episode_id":"ep_000043","started_at":"2026-09-03T09:39:33","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.44946896010231874,0.38063365167936736,0.71338606911949],"aabb_xy":[[-0.46975326282571744,0.36035102653665846],[-0.4291846573789199,0.40091627682207615]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[-0.297269742540363,0.8902477619091669,0.71338606911949],"aabb_xy":[[-0.31638204989834184,0.8711129830319249],[-0.2781574351823841,0.9093825407864089]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.20062871941007987,-0.7878248291897563,0.71338606911949],"aabb_xy":[[0.1656287202172616,-0.7987918751874188],[0.23562871860289814,-0.7768577831920935]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.3336849468385614,0.7899648714553997,0.71338606911949],"aabb_xy":[[0.28587877922479277,0.7249648687483408],[0.38149111445233,0.8549648741624586]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.003811267075829683,1.1015265196095463,0.71338606911949],"aabb_xy":[[-0.008121467285998385,1.089144366801687],[0.01574400143765775,1.1139086724174057]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.49726454257141184,0.8261600956524391,0.71338606911949],"aabb_xy":[[-0.5382824859577826,0.7761600950214816],[-0.4562465991850409,0.8761600962833963]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.13379494585084584,-1.195710904578175,0.71338606911949],"aabb_xy":[[-0.1887904236715052,-1.2507109060120818],[-0.07879946803018642,-1.140710903144268]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.43937688393192265,-0.5125907330034898,0.71338606911949],"aabb_xy":[[-0.5193768808949618,-0.5896663746472631],[-0.3593768869688835,-0.4355150913597162]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.35562638744871494,-1.1405831097152288,0.71338606911949],"aabb_xy":[[-0.4356263877223219,-1.2135326575409453],[-0.2756263871751079,-1.0676335618895119]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.6268259610681752,-0.2848233640822584,0.71338606911949],"aabb_xy":[[0.6194135055267868,-0.29067457450388634],[0.6342384166095637,-0.27897215366063044]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[0.11380639100434942,-2.1540751189078664,0.71338606911949],"aabb_xy":[[0.053806390143536616,-2.205501548914352],[0.17380639186516222,-2.102648688901379]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.5022463139320484,-2.202993471391445,0.71338606911949],"aabb_xy":[[-0.5572200359683814,-2.257993470955679],[-0.44727259189571567,-2.1479934718272125]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.4131614935086596,-1.7555408244028503,0.71338606911949],"aabb_xy":[[0.40400161456478295,-1.7620720424463874],[0.42232137245253615,-1.7490096063593132]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.4162436334134114,1.7604151507244041,0.71338606911949],"aabb_xy":[[-0.44078984903616214,1.7301662541753673],[-0.3916974177906607,1.7906640472734414]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.29750179497061163,-0.8735880361630883,0.71338606911949],"aabb_xy":[[-0.335001793394012,-0.8867522501309189],[-0.2600017965472113,-0.8604238221952576]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.47176384554211276,-0.1252502122098451,0.71338606911949],"aabb_xy":[[-0.5216465424198089,-0.17525021145611988],[-0.42188114866441656,-0.07525021296357039]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.4265325542917038,0.9895014884099482,0.71338606911949],"aabb_xy":[[0.36253255700605513,0.947994769457104],[0.4905325515773524,1.031008207362792]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.5450407360838274,-2.12593934832556,0.71338606911949],"aabb_xy":[[0.48004073792790847,-2.1522355928754724],[0.6100407342397466,-2.099643103775648]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.4456367853034917,-1.4147973342598614,0.71338606911949],"aabb_xy":[[-0.4806367851995106,-1.4231715697718013],[-0.41063678540747284,-1.4064230987479216]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.2661497992519163,0.3999457187884041,0.71338606911949],"aabb_xy":[[-0.272186812252581,0.393919017719456],[-0.26011278625125156,0.4059724198573524]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.35574979237072113,-1.6505274094353168,0.71338606911949],"aabb_xy":[[0.29074979233641834,-1.6972280861156441],[0.4207497924050238,-1.6038267327549895]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.6398673269319826,-2.3596743978502306,0.71338606911949],"aabb_xy":[[0.6252239213779495,-2.374333117507015],[0.6545107324860154,-2.3450156781934464]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.30363955776971546,-1.5609668486219892,0.71338606911949],"aabb_xy":[[-0.3676395563562879,-1.607973812021498],[-0.239639559183143,-1.5139598852224805]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[0.2593711257423694,1.2921146957203842,0.71338606911949],"aabb_xy":[[0.23485750164536356,1.2678501024183477],[0.2838847498393753,1.3163792890224206]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.4547740877921105,-2.486876259045793,0.71338606911949],"aabb_xy":[[0.4212949205310696,-2.5203553724169003],[0.4882532550531515,-2.4533971456746864]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.5925800893336884,-1.879059609636822,0.71338606911949],"aabb_xy":[[-0.598161760967817,-1.8915596094545974],[-0.5869984176995596,-1.8665596098190465]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.5574753654161805,0.9688748144434025,0.71338606911949],"aabb_xy":[[-0.5799753652300829,0.9644001980729219],[-0.5349753656022781,0.9733494308138834]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[0.14315045061398268,-2.399380743478502,0.71338606911949],"aabb_xy":[[0.13512417998335668,-2.4081322384558543],[0.15117672124460868,-2.390629248501149]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924205465534803,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6989.png","name":"6989"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6989.png","name":"6989"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4134.png","name":"4134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7409.png","name":"7409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4970.png","name":"4970"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9087.png","name":"9087"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.7245035160856,"rotation_z_degrees":117.43650057113335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003868616092389289,-0.009114279990093732,-0.005435605383634315]},{"name":"camera_2","offset_m":[-0.019347597833156628,-0.00011737551375740757,0.00611145700066984]},{"name":"camera_3","offset_m":[-0.01880776316159739,-0.0011792564242851314,-0.01617875671806365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016708960775379728,-0.0017191816685125838,0.0007256144044689192],"end_effector_yaw_offset_degrees":-0.6215659919426362},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005146723940188977,-0.00018202477624343631,-0.0011631377889127776],"end_effector_yaw_offset_degrees":-0.32069379461964487},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005164011691419059,-0.0006540318896715691,-0.00046638564773396405],"end_effector_yaw_offset_degrees":0.593476690823894}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002589645307830257,-0.0033204613112124393],"position_m":[0.3077103546921698,0.08777953868878756,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028529375323542152,0.004622416083585718],"position_m":[0.3158529375323542,-0.11167758391641429,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002608772567539298,-0.004419489767100014],"position_m":[0.3577087725675393,0.2922805102329,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025404053198157433,0.0020069896146853415],"position_m":[0.24654040531981575,-0.3497930103853147,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"23cfdfa807f74f8f076f53a89d8f9c53ed5ca647ba3f15b73cffdfb0f6d1aa91","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6989/tex_ceiling_textures_9087/tex_floor_textures_4970/tex_table_textures_4134/tex_wall_textures_7409","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1537091046589406811,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1537091046589406811,"visual_seed":1537091046589406811,"scene_id":"lab_003","finished_at":"2026-09-03T09:42:04"} +{"episode_id":"ep_000044","started_at":"2026-09-03T09:42:07","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.2412086009111284,-1.7332203412677378,0.71338606911949],"aabb_xy":[[0.23035699466225282,-1.7440796319953888],[0.252060207160004,-1.7223610505400868]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.44555107892793466,-2.4884663735534005,0.71338606911949],"aabb_xy":[[-0.5095510809776667,-2.5285608566427085],[-0.38155107687820267,-2.4483718904640925]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.39860176520216184,1.5832773475987758,0.71338606911949],"aabb_xy":[[0.37610176495864645,1.5710727129390039],[0.42110176544567723,1.5954819822585478]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.6197175294700037,-0.6873644599166213,0.71338606911949],"aabb_xy":[[-0.684717530575947,-0.7123298329847496],[-0.5547175283640604,-0.662399086848493]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.20158126569417856,0.7648670210193416,0.71338606911949],"aabb_xy":[[0.1515812646750433,0.7284008052815136],[0.2515812667133138,0.8013332367571696]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.5889500966406644,-1.6112004327332166,0.71338606911949],"aabb_xy":[[0.5477012856107496,-1.666200432245434],[0.6301989076705791,-1.556200433220999]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.5049283423811521,0.8698953106735212,0.71338606911949],"aabb_xy":[[-0.5274420342046092,0.7998953100725137],[-0.48241465055769484,0.9398953112745287]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.6504081772138035,0.3285480702051866,0.71338606911949],"aabb_xy":[[0.6093902338274326,0.2785480695742293],[0.6914261206001744,0.37854807083614395]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.24739781676719474,-1.2386437008691271,0.71338606911949],"aabb_xy":[[0.21006654024195212,-1.2732967556639794],[0.28472909329243734,-1.2039906460742749]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.3823748599982346,-2.3022270673589547,0.71338606911949],"aabb_xy":[[0.3697480727110383,-2.311773141060527],[0.395001647285431,-2.2926809936573815]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.6488170517690168,-1.8095018599810881,0.71338606911949],"aabb_xy":[[0.6263179160427899,-1.8320018607593513],[0.6713161874952438,-1.7870018592028254]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.3024278280663061,0.11581572994687361,0.71338606911949],"aabb_xy":[[-0.3084648410669708,0.10978902887792542],[-0.29639081506564136,0.12184243101582183]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.05779932446667746,-2.474812692964388,0.71338606911949],"aabb_xy":[[-0.007200676533823065,-2.525599058119063],[0.12279932546717798,-2.424026327809713]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.6020295771096942,1.782792453218653,0.71338606911949],"aabb_xy":[[0.5933156080597595,1.7602924525594643],[0.6107435461596284,1.8052924538778408]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.6196994860644423,-0.9892371796948103,0.71338606911949],"aabb_xy":[[0.6081305053175057,-1.014237179811742],[0.6312684668113788,-0.9642371795778787]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.07587171724093589,-1.899053812275734,0.71338606911949],"aabb_xy":[[0.0589609848045941,-1.9125260178683487],[0.09278244967727765,-1.8855816066831195]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.5937703484914159,0.17754640686669143,0.71338606911949],"aabb_xy":[[0.568770348558898,0.17066373864576814],[0.6187703484239337,0.18442907508761477]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.3720040036448177,-2.279515482884559,0.71338606911949],"aabb_xy":[[-0.4269972149819546,-2.334515483223353],[-0.31701079230768103,-2.224515482545766]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.4944164772017072,-1.7655594326468707,0.71338606911949],"aabb_xy":[[0.49030052708963456,-1.769674987679716],[0.4985324273137799,-1.7614438776140249]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.1160542423679648,-2.166685310160423,0.71338606911949],"aabb_xy":[[-0.181054243325092,-2.218633522094128],[-0.05105424141083759,-2.114737098226717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965543657339385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4773.png","name":"4773"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4773.png","name":"4773"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7386.png","name":"7386"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1969.png","name":"1969"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1681.png","name":"1681"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.1022414859519,"rotation_z_degrees":354.07883913550495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019793611595688196,0.010726774924266796,0.007152223332361391]},{"name":"camera_2","offset_m":[0.018772903763183305,-0.016050135359767383,-0.002321456113290137]},{"name":"camera_3","offset_m":[-0.014482115880886642,0.007673959558754953,0.006978053709654531]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007629335350059546,0.000505886191205767,0.000889863977122277],"end_effector_yaw_offset_degrees":-0.2658256718282488},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00019233283780965664,0.00014529834346226024,0.0014657710342102586],"end_effector_yaw_offset_degrees":0.369355155567457},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006482284091988012,7.675555293067344e-05,-0.0007752897582938413],"end_effector_yaw_offset_degrees":-0.48119897956999247}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004179314844672761,-0.004903535826523662],"position_m":[0.30612068515532725,0.08619646417347634,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029131297097094574,-0.004715281356262079],"position_m":[0.3159131297097095,-0.12101528135626208,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004012618966812366,0.0023071630921829515],"position_m":[0.3591126189668124,0.29900716309218295,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00032148355107303704,-0.0034605061641387967],"position_m":[0.24367851644892696,-0.3552605061641388,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1938329e3358c61eda018640a60ed124e8cbdfedffdbed645d66e37cdc29c364","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4773/tex_ceiling_textures_1497/tex_floor_textures_1681/tex_table_textures_7386/tex_wall_textures_1969","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6666634878883848306,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6666634878883848306,"visual_seed":6666634878883848306,"scene_id":"lab_003","finished_at":"2026-09-03T09:44:36"} +{"episode_id":"ep_000045","started_at":"2026-09-03T09:49:03","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[-0.4317894868213425,-2.1389953820488086,0.71338606911949],"aabb_xy":[[-0.4437222211831706,-2.151377534856668],[-0.4198567524595145,-2.126613229240949]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.20434256577885823,1.4587961761275543,0.71338606911949],"aabb_xy":[[-0.24119311371584584,1.4212961753045208],[-0.16749201784187062,1.4962961769505883]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.020078910038710762,-1.7580353796754697,0.71338606911949],"aabb_xy":[[0.006927664067421404,-1.7830353794321565],[0.03323015601000013,-1.7330353799187834]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.1331430766720465,-2.356068922482749,0.71338606911949],"aabb_xy":[[0.10315141393817617,-2.3860689218195494],[0.16313473940591683,-2.3260689231459484]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.3193527967320083,-2.3880689077333175,0.71338606911949],"aabb_xy":[[-0.3254474246201266,-2.396638302284986],[-0.31325816884388996,-2.3794995131816488]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.4319674088910277,1.104748572594172,0.71338606911949],"aabb_xy":[[0.3419674091678534,1.0816752200589919],[0.5219674086142017,1.1278219251293515]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.5330781169380996,-0.13857230972030532,0.71338606911949],"aabb_xy":[[-0.5403604333147631,-0.22857231332981426],[-0.5257958005614358,-0.04857230611079629]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.5200634717142142,-0.8976972970759842,0.71338606911949],"aabb_xy":[[-0.5276877398043924,-0.9053305206125281],[-0.5124392036240359,-0.8900640735394406]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.10446539128412147,-0.21465803680221018,0.71338606911949],"aabb_xy":[[-0.1694653898411943,-0.2444105702160928],[-0.03946539272704862,-0.18490550338832756]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.43354381320675023,-2.484118401731076,0.71338606911949],"aabb_xy":[[-0.4414670934454986,-2.5066184019690794],[-0.42562053296800195,-2.4616184014930726]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.5480046607060707,-1.9103109607835387,0.71338606911949],"aabb_xy":[[0.5303718251125431,-1.9279339067991614],[0.5656374962995983,-1.8926880147679155]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.5095845678326887,-1.4866350488840814,0.71338606911949],"aabb_xy":[[-0.5314932499720397,-1.5085357157041717],[-0.48767588569333764,-1.4647343820639902]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.6999672208220848,1.3087855029548425,0.71338606911949],"aabb_xy":[[0.6808549134641061,1.2896507240776005],[0.7190795281800638,1.3279202818320845]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.6262376135208187,-1.0321511071535652,0.71338606911949],"aabb_xy":[[-0.6812376117225635,-1.0726730737800025],[-0.5712376153190738,-0.9916291405271275]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.38383315351328773,1.653318212606702,0.71338606911949],"aabb_xy":[[0.3385545386321384,1.5893182132585184],[0.42911176839443693,1.7173182119548858]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.6118265059191959,1.3294905608385603,0.71338606911949],"aabb_xy":[[0.5989546024182556,1.249490560424724],[0.6246984094201359,1.4094905612523962]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.538055044447183,-2.2396028336717357,0.71338606911949],"aabb_xy":[[0.4930624577287326,-2.284602832946184],[0.5830476311656334,-2.1946028343972865]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.38749358773848774,-1.2424655636025987,0.71338606911949],"aabb_xy":[[0.2974935891440178,-1.2587161499160198],[0.4774935863329577,-1.2262149772891777]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.4285301513227937,-2.2905928513022005,0.71338606911949],"aabb_xy":[[0.4110994362437872,-2.3078649659660506],[0.4459608664018002,-2.2733207366383485]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.3520301194626222,-0.6929419413874114,0.71338606911949],"aabb_xy":[[-0.36913219742099035,-0.7100487469186811],[-0.33492804150425404,-0.6758351358561416]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.3127276670084249,-0.9332381699745962,0.71338606911949],"aabb_xy":[[0.24872766783865494,-0.9800048570935587],[0.3767276661781948,-0.8864714828556337]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.06242467692705733,0.6900136107150874,0.71338606911949],"aabb_xy":[[-0.11644027320895732,0.6260136078228302],[-0.008409080645157316,0.7540136136073445]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.4242019683580629,-0.25963511645545667,0.71338606911949],"aabb_xy":[[0.40170554692419885,-0.28213511626220417],[0.44669838979192705,-0.2371351166487093]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[-0.6548734679933677,-1.3437714565985315,0.71338606911949],"aabb_xy":[[-0.6777891808784176,-1.366675753734955],[-0.6319577551083178,-1.320867159462108]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[-0.4085094029653028,-0.18355974923130924,0.71338606911949],"aabb_xy":[[-0.4330556185880535,-0.2138086457803463],[-0.3839631873425521,-0.15331085268227218]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[0.5892289672364417,-0.6688303344912043,0.71338606911949],"aabb_xy":[[0.5470445530756111,-0.7328303347684155],[0.6314133813972725,-0.6048303342139931]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.5488887306650914,0.9557844288524171,0.71338606911949],"aabb_xy":[[-0.61288872795074,0.9142777098995731],[-0.4848887333794427,0.9972911478052611]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954246859855068,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4535.png","name":"4535"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4535.png","name":"4535"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7041.png","name":"7041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/962.png","name":"962"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/470.png","name":"470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/878.png","name":"878"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":683.3813891607348,"rotation_z_degrees":355.2608789071459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006196130668050838,0.003054897346986628,-0.005177103092561492]},{"name":"camera_2","offset_m":[-0.009995011727719869,-0.006645911572625453,0.009485947246527439]},{"name":"camera_3","offset_m":[0.005024150071184629,-0.014951481505001807,-0.017843653281348668]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003704716474192669,0.0017244578402821615,-0.0009344894817520739],"end_effector_yaw_offset_degrees":0.5582933085470587},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006581555786033216,0.0019587373393635662,0.0013366411152565699],"end_effector_yaw_offset_degrees":0.9752489689970096},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000779939613938804,0.001588945870906721,0.0002668532441454283],"end_effector_yaw_offset_degrees":0.5351489309032693}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003943442084509492,0.0006075876532007553],"position_m":[0.3142434420845095,0.09170758765320075,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00015458889430635357,-0.0030018558633835915],"position_m":[0.31284541110569364,-0.1193018558633836,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00208850546391818,0.0037164759695644265],"position_m":[0.3571885054639182,0.30041647596956444,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008192559621001986,-0.0006332622963557445],"position_m":[0.2448192559621002,-0.35243326229635574,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"18ebb6906fb471c5778e478494d8806c4e350eb2188e5e5adafe29c6392f7b40","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0076.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4535/tex_ceiling_textures_878/tex_floor_textures_470/tex_table_textures_7041/tex_wall_textures_962","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5679339591463290342,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5679339591463290342,"visual_seed":5679339591463290342,"scene_id":"lab_003","finished_at":"2026-09-03T09:51:35"} +{"episode_id":"ep_000046","started_at":"2026-09-03T09:51:39","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.6879284535932795,0.3703288097285924,0.71338606911949],"aabb_xy":[[0.6629284540415409,0.36018632586345767],[0.7129284531450178,0.3804712935937271]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.277604200234576,-2.164205905111828,0.71338606911949],"aabb_xy":[[0.2276311347020606,-2.2142059049243614],[0.3275772657670915,-2.1142059052992956]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.4453430325648837,-0.11000825698552896,0.71338606911949],"aabb_xy":[[0.4321917865935944,-0.13500825674221553],[0.45849427853617314,-0.08500825722884243]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[-0.1823819921555373,-0.330085710380037,0.71338606911949],"aabb_xy":[[-0.21988199226113023,-0.3369078722330181],[-0.1448819920499443,-0.32326354852705586]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.11581267882883728,-2.5052274069137668,0.71338606911949],"aabb_xy":[[-0.153312680344469,-2.5164541799299114],[-0.07831267731320556,-2.4940006338976213]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.3548973693632963,-2.45670256255407,0.71338606911949],"aabb_xy":[[-0.37247567155224315,-2.474277052128175],[-0.33731906717434945,-2.439128072979965]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.25731026034395,0.7945704130632665,0.71338606911949],"aabb_xy":[[-0.33731026177407714,0.7150532580506569],[-0.17731025891382274,0.8740875680758758]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.16545492147521668,-2.3473782013538167,0.71338606911949],"aabb_xy":[[-0.22945492352494865,-2.3874726844431247],[-0.10145491942548465,-2.3072837182645087]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.6416845792165795,-2.1293324630776285,0.71338606911949],"aabb_xy":[[0.63153156366243,-2.165402004650368],[0.6518375947707288,-2.0932629215048872]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.35576657892393787,-0.22200157460456404,0.71338606911949],"aabb_xy":[[-0.4357665791975448,-0.29495112243028077],[-0.27576657865033083,-0.14905202677884732]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.17100909723764413,0.1790364615988973,0.71338606911949],"aabb_xy":[[-0.18388100073858424,0.09903646118506114],[-0.15813719373670396,0.2590364620127334]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.0032991625345336617,-0.8984371812150003,0.71338606911949],"aabb_xy":[[-0.016530108069214955,-0.9116646002369995],[0.009931783000147631,-0.8852097621930006]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.05400412292614021,0.6430901740444184,0.71338606911949],"aabb_xy":[[-0.09150412371813565,0.6367223330862282],[-0.016504122134144754,0.6494580150026084]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.19127876222528606,-0.6022541020530343,0.71338606911949],"aabb_xy":[[0.15627876395516613,-0.6093282297480225],[0.22627876049540593,-0.5951799743580461]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.45848385952366677,1.0207475142476703,0.71338606911949],"aabb_xy":[[-0.5079642807376257,0.9567475163348187],[-0.40900343830970803,1.0847475121605223]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.6502407829425918,-0.3742832833313421,0.71338606911949],"aabb_xy":[[0.6159245057679739,-0.4242832833045198],[0.6845570601172097,-0.32428328335816436]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.233992320588077,1.0795701701060358,0.71338606911949],"aabb_xy":[[-0.24169551126215402,1.0718607994072977],[-0.22628912991399994,1.087279540804774]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.20701273629244377,1.5543559789032444,0.71338606911949],"aabb_xy":[[0.18573472814897152,1.4893559765771711],[0.22829074443591602,1.6193559812293172]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.3352211924614976,-0.78245019450609,0.71338606911949],"aabb_xy":[[0.25522119380461167,-0.7969550534303529],[0.4152211911183837,-0.7679453355818273]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.3229918294613288,-2.5303378360970146,0.71338606911949],"aabb_xy":[[-0.3270699873683786,-2.534418816345278],[-0.31891367155427913,-2.526256855848751]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.36713391861374545,-0.79781362632527,0.71338606911949],"aabb_xy":[[-0.4046339171893662,-0.8105499219888278],[-0.3296339200381246,-0.7850773306617119]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.12265455205516185,-1.1560794986095262,0.71338606911949],"aabb_xy":[[-0.14515455256720244,-1.1785713569749243],[-0.10015455154312124,-1.1335876402441276]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.3386366671112042,-1.4635606937511605,0.71338606911949],"aabb_xy":[[-0.3936103891475371,-1.5185606933153937],[-0.28366294507487133,-1.4085606941869273]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[-0.5600386864180191,0.32389777525870356,0.71338606911949],"aabb_xy":[[-0.6100386867785852,0.2739177880491006],[-0.5100386860574531,0.3738777624683065]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.4941869748382812,-1.4664155336674705,0.71338606911949],"aabb_xy":[[0.48809234695016296,-1.4749849282191392],[0.5002816027263997,-1.4578461391158017]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[-0.5119080187133729,-1.9039502136752278,0.71338606911949],"aabb_xy":[[-0.5364542343361235,-1.9341991102242648],[-0.4873618030906221,-1.8737013171261907]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_26","position":[-0.10144834808399739,-1.8819316311690235,0.71338606911949],"aabb_xy":[[-0.15644834726058687,-1.9369213059439807],[-0.046448348907407885,-1.8269419563940654]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[-0.22498411025737797,-0.8078949146762662,0.71338606911949],"aabb_xy":[[-0.2750815742384516,-0.871894915186078],[-0.17488664627630435,-0.7438949141664544]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[-0.4826801841129551,-0.9289401963376647,0.71338606911949],"aabb_xy":[[-0.5201801852977478,-0.9333584190337252],[-0.44518018292816225,-0.9245219736416042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928297795774798,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4836.png","name":"4836"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4836.png","name":"4836"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/63.png","name":"63"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2539.png","name":"2539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9553.png","name":"9553"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":583.0216255629924,"rotation_z_degrees":301.575294214729,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016764629349235255,0.00841166857575439,-0.0003066244939908709]},{"name":"camera_2","offset_m":[0.016218171633881468,0.0035184240080410774,-0.010076814394202098]},{"name":"camera_3","offset_m":[0.0032288101024672486,-0.010962982397892672,-0.011869948051210734]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014320424878739436,0.0013992605913855536,-0.0012335522699574604],"end_effector_yaw_offset_degrees":-0.6644208989568641},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00025997127460640956,0.0019118884471027251,0.0007637435809073208],"end_effector_yaw_offset_degrees":-0.5082111263180449},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011133973164794537,0.0010203329174160577,-7.181207168952138e-05],"end_effector_yaw_offset_degrees":-0.07674236666493095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001449445375324895,-0.00030822006594393575],"position_m":[0.30885055462467514,0.09079177993405607,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017779386085511632,-0.002924205847955853],"position_m":[0.3147779386085512,-0.11922420584795586,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009477681320947586,0.004044212796917795],"position_m":[0.3541522318679053,0.3007442127969178,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00451022004987151,0.003058881689088894],"position_m":[0.2394897799501285,-0.3487411183109111,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c5606db0233c64be1fe8bfa36cc12945daa0eec1c5e2c679c53166287640ff77","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4836/tex_ceiling_textures_9553/tex_floor_textures_2539/tex_table_textures_63/tex_wall_textures_9616","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2069553962844245483,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2069553962844245483,"visual_seed":2069553962844245483,"scene_id":"lab_003","finished_at":"2026-09-03T09:54:04"} +{"episode_id":"ep_000047","started_at":"2026-09-03T09:55:33","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.1664151883018128,-0.6288598255645681,0.71338606911949],"aabb_xy":[[0.14190156420480693,-0.6531244188666046],[0.19092881239881865,-0.6045952322625316]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.4840308040175376,-0.054993275087319216,0.71338606911949],"aabb_xy":[[0.4490308057068421,-0.06270829001086486],[0.5190308023282331,-0.04727826016377357]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.3397605248018698,-1.077329158120607,0.71338606911949],"aabb_xy":[[0.28978171629155386,-1.1273291581263256],[0.38973933331218563,-1.027329158114888]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.31840085460400014,1.5135836473163828,0.71338606911949],"aabb_xy":[[-0.32924133283051504,1.4963973660257341],[-0.30756037637748523,1.5307699286070315]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.4691442536614225,0.21145612657968238,0.71338606911949],"aabb_xy":[[-0.474043545967986,0.18377920727711358],[-0.464244961354859,0.23913304588225112]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.39471332404063947,-1.964906857666001,0.71338606911949],"aabb_xy":[[-0.40486633959478874,-2.000976399238741],[-0.38456030848649,-1.9288373160932601]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.5146365778862888,1.0104269580753038,0.71338606911949],"aabb_xy":[[-0.5226799378122439,0.9254269569799374],[-0.5065932179603335,1.0954269591706702]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.03020297314700604,1.453406458972562,0.71338606911949],"aabb_xy":[[-0.0337970287653363,1.3974953097145517],[0.09420297505934838,1.5093176082305726]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.31166963233851086,0.6088275639310674,0.71338606911949],"aabb_xy":[[0.2782294571424912,0.5753839381001372],[0.3451098075345304,0.6422711897619974]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.0033999554010869515,1.3026057404303764,0.71338606911949],"aabb_xy":[[-0.061600047236706534,1.2511261417309294],[0.06839995803888044,1.3540853391298233]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.3364625649532924,-0.7760122468335584,0.71338606911949],"aabb_xy":[[0.3271155573709972,-0.7903158690512025],[0.34580957253558764,-0.7617086246159145]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.3653428551514708,1.3754652283694204,0.71338606911949],"aabb_xy":[[0.3501799821745338,1.3602997710743017],[0.380505728128408,1.3906306856645392]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.6127486957083371,-0.22097152436136014,0.71338606911949],"aabb_xy":[[-0.6256205992092772,-0.30097152477519623],[-0.5998767922073969,-0.14097152394752396]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.274906662100054,-0.483826957497707,0.71338606911949],"aabb_xy":[[0.2617554161287647,-0.5088269572543935],[0.2880579080713434,-0.4588269577410205]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.16522398188097298,-0.9277161777345839,0.71338606911949],"aabb_xy":[[-0.18213471431731473,-0.9411883833271982],[-0.14831324944463117,-0.9142439721419692]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.6105566178733699,-2.483719471170854,0.71338606911949],"aabb_xy":[[-0.6480566164489907,-2.496455766834412],[-0.5730566192977491,-2.470983175507296]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.09006201810675196,-0.9272790852158859,0.71338606911949],"aabb_xy":[[0.07256201786170258,-0.9447788730554526],[0.10756201835180135,-0.9097792973763189]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.1680517871199091,-0.22386322118084578,0.71338606911949],"aabb_xy":[[-0.24805178413415707,-0.24399777285425706],[-0.08805179010566111,-0.2037286695074345]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.37252875529609164,-2.0019849921814075,0.71338606911949],"aabb_xy":[[0.3360329346688129,-2.0384689346081646],[0.4090245759233704,-1.9655010497546495]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.5637375915553519,-0.9481891145799088,0.71338606911949],"aabb_xy":[[-0.6277375947739897,-0.9949122264789172],[-0.499737588336714,-0.9014660026809005]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.37573388225146026,-1.0512566680105164,0.71338606911949],"aabb_xy":[[-0.3836571624902086,-1.0737566682485198],[-0.36781060201271193,-1.028756667772513]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.022749210815857457,-0.6957675513228101,0.71338606911949],"aabb_xy":[[-0.04225079014126975,-0.7477157632565157],[0.08774921177298466,-0.6438193393891045]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.4061307440818971,-0.44942610909328806,0.71338606911949],"aabb_xy":[[0.3711307449519414,-0.4551713301689522],[0.44113074321185275,-0.443680888017624]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.22701932021836096,-1.559523703444443,0.71338606911949],"aabb_xy":[[-0.2870193218612828,-1.6115238527363873],[-0.1670193185754391,-1.507523554152499]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.4960917238368019,0.48766515807297406,0.71338606911949],"aabb_xy":[[-0.5068646977581697,0.4526651598539351],[-0.4853187499154341,0.522665156292013]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.5786429194375962,0.21933668247412497,0.71338606911949],"aabb_xy":[[-0.6161429206223887,0.21491845977806442],[-0.5411429182528031,0.2237549051701855]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.223733599855728,-1.8208721867931392,0.71338606911949],"aabb_xy":[[-0.2877336021985295,-1.8658130380372715],[-0.15973359751292643,-1.7759313355490065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688511094000385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6261.png","name":"6261"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6261.png","name":"6261"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/22.png","name":"22"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8968.png","name":"8968"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2344.png","name":"2344"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6201.png","name":"6201"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":549.639484069673,"rotation_z_degrees":248.92672360048792,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013736488851989827,-0.009912382278329166,0.015756507145973122]},{"name":"camera_2","offset_m":[-0.0014724462131350362,-0.0009949544824395008,-0.0007550690978401914]},{"name":"camera_3","offset_m":[-0.0035191955324986694,-0.0011822113299865059,0.015936887184141244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003686794275649459,-0.0009683153727094006,-0.0004452474138263423],"end_effector_yaw_offset_degrees":0.7425885315402365},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00019278092695275374,0.0006235863592381216,-0.0005350682756272986],"end_effector_yaw_offset_degrees":0.731386803385744},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009831722366409213,-0.0013480098696726653,-0.0006683676939957506],"end_effector_yaw_offset_degrees":-0.4517124193572839}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030581350778462442,-0.0024365825228004835],"position_m":[0.31335813507784627,0.08866341747719951,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031064804966463265,-0.0028722279763056745],"position_m":[0.3098935195033537,-0.11917222797630568,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002491579198904468,-0.0027505697412471474],"position_m":[0.35260842080109556,0.29394943025875286,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033105942630521227,-0.004696769695369385],"position_m":[0.24068940573694786,-0.35649676969536936,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6f9d2d83ec11f1fe50b7bbec3a4bac4b3c89938b1cbdc8408a8dea2b71b5485e","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6261/tex_ceiling_textures_6201/tex_floor_textures_2344/tex_table_textures_22/tex_wall_textures_8968","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3519406441932906590,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3519406441932906590,"visual_seed":3519406441932906590,"scene_id":"lab_003","finished_at":"2026-09-03T09:58:11"} +{"episode_id":"ep_000048","started_at":"2026-09-03T09:58:14","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[-0.5335156897908218,-1.9038703744053251,0.71338606911949],"aabb_xy":[[-0.5454484241526498,-1.9162525272131847],[-0.5215829554289937,-1.891488221597466]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.16184437554076136,-1.3327466579633154,0.71338606911949],"aabb_xy":[[-0.17894645349912952,-1.3498534634945853],[-0.1447422975823932,-1.3156398524320458]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.47777965459845495,-1.3618044437508794,0.71338606911949],"aabb_xy":[[0.4696659999250779,-1.3699102602049082],[0.4858933092718321,-1.35369862729685]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.2630673435221791,-1.1848062464050986,0.71338606911949],"aabb_xy":[[-0.2731490506007525,-1.264806244297213],[-0.25298563644360555,-1.1048062485129837]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.18782063771534907,1.6808212855700417,0.71338606911949],"aabb_xy":[[0.1628206384433868,1.6644759219738796],[0.21282063698731135,1.6971666491662043]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.07986538787591824,-1.6777758614270923,0.71338606911949],"aabb_xy":[[0.009865386273638754,-1.6912086546287497],[0.14986538947819772,-1.6643430682254345]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.14342835399953013,1.7266035917482694,0.71338606911949],"aabb_xy":[[-0.16106118959305768,1.7089806457326464],[-0.12579551840600253,1.7442265377638924]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.07434707963997622,-1.8500239008397514,0.71338606911949],"aabb_xy":[[0.06939105945509502,-1.8725239010418737],[0.07930309982485742,-1.8275239006376305]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.5566233473066292,-0.6759616123054,0.71338606911949],"aabb_xy":[[-0.5657832262505058,-0.6824928303489369],[-0.5474634683627526,-0.6694303942618628]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.3593323808701503,-1.5377855665481648,0.71338606911949],"aabb_xy":[[0.2953323844745772,-1.6017488549668983],[0.42333237726572337,-1.4738222781294312]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.16460321761237628,0.8080098680208807,0.71338606911949],"aabb_xy":[[-0.1789376427385397,0.7959496524663418],[-0.1502687924862128,0.8200700835754194]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.3747633609384424,-2.3393755841336317,0.71338606911949],"aabb_xy":[[0.2910411354383599,-2.4293755876683276],[0.45848558643852483,-2.2493755805989357]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.11529637143230498,1.294360154792757,0.71338606911949],"aabb_xy":[[-0.1262021475198677,1.2143601583939279],[-0.10439059534474227,1.3743601511915862]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.25864183273356234,0.6229601850865318,0.71338606911949],"aabb_xy":[[0.18864182934200033,0.587644411383101],[0.32864183612512426,0.6582759587899627]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.1514054211454815,-0.7223681224346234,0.71338606911949],"aabb_xy":[[0.14749154795005895,-0.7311171378411803],[0.155319294340904,-0.7136191070280666]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.49532376608358475,-2.4955720023713908,0.71338606911949],"aabb_xy":[[-0.5120009020766803,-2.512271926345321],[-0.47864663009048924,-2.4788720783974605]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.3627401402761785,0.6107394972170934,0.71338606911949],"aabb_xy":[[-0.3977401394689967,0.5997724512194307],[-0.3277401410833602,0.6217065432147559]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.38276698865555675,1.0335174525987285,0.71338606911949],"aabb_xy":[[-0.4049395156322075,1.0113417854426052],[-0.36059446167890585,1.0556931197548514]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.1955810007937805,-1.9584895409055487,0.71338606911949],"aabb_xy":[[-0.25058099997037,-2.0134792156805066],[-0.140581001617191,-1.9034998661305909]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.32563781794566715,-1.1854981513349698,0.71338606911949],"aabb_xy":[[0.2656378180991003,-1.2423167735280083],[0.3856378177922339,-1.128679529141931]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.4977595108583388,-1.893801682344702,0.71338606911949],"aabb_xy":[[0.4858874278468377,-1.9788016820383523],[0.5096315938698399,-1.8088016826510516]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.5632144896829764,0.528558480017649,0.71338606911949],"aabb_xy":[[-0.6103438686848119,0.46455847897324687],[-0.5160851106811406,0.5925584810620508]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[0.5783276563406812,-0.5688333554994003,0.71338606911949],"aabb_xy":[[0.5412935469126213,-0.6032105628331097],[0.6153617657687408,-0.5344561481656909]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[0.2911040155660297,1.7985493164424757,0.71338606911949],"aabb_xy":[[0.26860487983980275,1.7760493156642128],[0.3136031512922567,1.8210493172207387]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[0.6662736967756064,1.1135776167765403,0.71338606911949],"aabb_xy":[[0.6565177072664324,1.1038150827173057],[0.6760296862847802,1.1233401508357745]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.6160917769856221,-0.23969792422563563,0.71338606911949],"aabb_xy":[[-0.6535917785012539,-0.2509246972417807],[-0.5785917754699905,-0.22847115120949057]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[0.6880012206723796,-2.1581268021532547,0.71338606911949],"aabb_xy":[[0.6627803838125398,-2.1833505530061403],[0.7132220575322191,-2.1329030513003673]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.03907242309986447,-0.5452359549719707,0.71338606911949],"aabb_xy":[[-0.0669174598804716,-0.5760204537102824],[-0.011227386319257356,-0.5144514562336591]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908791778522602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7557.png","name":"7557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7557.png","name":"7557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5615.png","name":"5615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7333.png","name":"7333"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":550.3322631014707,"rotation_z_degrees":175.51312594328923,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014604107749566896,0.004021613769795547,-0.017679112365840913]},{"name":"camera_2","offset_m":[-0.010209598838864676,0.00020924043500111095,-0.017161600005306598]},{"name":"camera_3","offset_m":[0.00814121343670076,0.006419762311162966,0.016595538257627673]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022486884230353034,0.0010838430145031835,-0.0009210549498953999],"end_effector_yaw_offset_degrees":-0.1705526476544461},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014744972271769968,0.001753661389589383,0.0019938968380668427],"end_effector_yaw_offset_degrees":0.8204186360732091},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014655674156728367,0.00010430595597872875,0.00033666392961922325],"end_effector_yaw_offset_degrees":0.5031439335970738}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00383096671354626,0.004434202902108708],"position_m":[0.30646903328645375,0.0955342029021087,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030299103469141773,-0.0017614674394795006],"position_m":[0.3160299103469142,-0.1180614674394795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002420896314178901,0.0026071313243191604],"position_m":[0.3526791036858211,0.2993071313243192,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039490042790059935,0.0007793344506849273],"position_m":[0.24794900427900599,-0.35102066554931505,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1003f62c701eaba6eb674d5a91f5115d98ca0ac1dc330b19422f71627c372b9b","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7557/tex_ceiling_textures_7333/tex_floor_textures_4804/tex_table_textures_9027/tex_wall_textures_5615","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5835925378079124926,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5835925378079124926,"visual_seed":5835925378079124926,"scene_id":"lab_003","finished_at":"2026-09-03T10:00:47"} +{"episode_id":"ep_000049","started_at":"2026-09-03T10:03:43","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.49137299392676814,0.5533594540886311,0.71338606911949],"aabb_xy":[[0.42737299662442174,0.5089930271207742],[0.5553729912291145,0.5977258810564877]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.46972175554413687,-0.2458179715878792,0.71338606911949],"aabb_xy":[[0.43975419863431114,-0.27581797188576496],[0.4996893124539625,-0.2158179712899935]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.6138814717924816,-2.0922843761931187,0.71338606911949],"aabb_xy":[[-0.6638814734539763,-2.142282818448821],[-0.5638814701309868,-2.0422859339374155]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.3628928111197467,1.0820596038279158,0.71338606911949],"aabb_xy":[[0.3580492163585167,1.0772079513489319],[0.36773640588097667,1.0869112563069]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[-0.4178769728461867,1.7074331225064454,0.71338606911949],"aabb_xy":[[-0.45217388386392726,1.6731362362965039],[-0.383580061828446,1.7417300087163865]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.4956296092747732,-1.9615722522184935,0.71338606911949],"aabb_xy":[[-0.49907028551483035,-1.9654336851928587],[-0.492188933034716,-1.9577108192441297]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.4478697580119919,0.8158080324858048,0.71338606911949],"aabb_xy":[[0.3678697569388715,0.8060299861484204],[0.5278697590851121,0.8255860788231892]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.02444925836795231,-0.7591093618039708,0.71338606911949],"aabb_xy":[[-0.050738082688392964,-0.7853807954586218],[0.0018395659524883532,-0.7328379281493194]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.475058781533775,-1.1331545024099774,0.71338606911949],"aabb_xy":[[0.46245608239669855,-1.145749898634843],[0.48766148067085147,-1.120559106185112]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.16083325792550407,-1.2160199239831084,0.71338606911949],"aabb_xy":[[0.12228756510030303,-1.2545656950392972],[0.1993789507507051,-1.1774741529269197]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.3917587759426977,-0.5671286289831641,0.71338606911949],"aabb_xy":[[0.3341283070554268,-0.6271286279098744],[0.44938924482996845,-0.5071286300564533]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.18468102604776737,-1.901797052927654,0.71338606911949],"aabb_xy":[[-0.2346760370072194,-1.9517970519632464],[-0.13468601508831532,-1.851797053892063]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.6569189541043208,-0.8155802839962276,0.71338606911949],"aabb_xy":[[-0.6682806887576069,-0.8269487504025157],[-0.6455572194510346,-0.8042118175899395]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[-0.09066402924701122,-1.5961322257085955,0.71338606911949],"aabb_xy":[[-0.125126507260099,-1.6027959028915182],[-0.05620155123392345,-1.5894685485256723]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[-0.16746266875652172,0.7907630872615732,0.71338606911949],"aabb_xy":[[-0.18996266857042407,0.7862884708910923],[-0.1449626689426193,0.7952377036320538]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.556981816080184,-0.11361302479801427,0.71338606911949],"aabb_xy":[[0.49198181344239056,-0.16509262349746123],[0.6219818187179775,-0.06213342609856731]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.6042964746540511,-2.0809322792159097,0.71338606911949],"aabb_xy":[[0.5823877925147001,-2.102832946036],[0.6262051567934022,-2.0590316123958186]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.38854492774368177,1.0995918766118056,0.71338606911949],"aabb_xy":[[-0.4260449289284745,1.0951736539157448],[-0.3510449265588889,1.1040100993078659]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.02227211994451095,-0.6395460965785029,0.71338606911949],"aabb_xy":[[-0.029896388034689195,-0.6471793201150466],[-0.014647851854332705,-0.6319128730419592]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.5726206244462975,0.41418224733240594,0.71338606911949],"aabb_xy":[[0.5645069697729204,0.4060764308783769],[0.5807342791196746,0.4222880637864351]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.4325342087045958,-2.427890408213468,0.71338606911949],"aabb_xy":[[0.3975342087281,-2.437355024261085],[0.4675342086810917,-2.418425792165851]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.19237814143288345,-1.7707367836612584,0.71338606911949],"aabb_xy":[[-0.20213413094205732,-1.7804993177204929],[-0.18262215192370954,-1.760974249602024]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.5005973399836685,-0.7917177250762857,0.71338606911949],"aabb_xy":[[0.47931933184019615,-0.8567177274023587],[0.5218753481271406,-0.7267177227502126]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962770404176052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3275.png","name":"3275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3275.png","name":"3275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2193.png","name":"2193"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/309.png","name":"309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5454.png","name":"5454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3328.png","name":"3328"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":671.3610238530475,"rotation_z_degrees":322.6453537113504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008114951886108975,-0.009921676652918742,-0.012728405901343179]},{"name":"camera_2","offset_m":[0.00819431250292842,0.0028554415295635877,-0.004562539240638621]},{"name":"camera_3","offset_m":[-0.01223628953737586,-0.0019317543211378081,0.018193285280029305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005462920646573969,0.0005114496096958816,-0.0012384116399328736],"end_effector_yaw_offset_degrees":0.06353862004567623},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018939554015229348,-0.00011584801736142262,0.0004541766267587336],"end_effector_yaw_offset_degrees":-0.915054358320395},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-3.190378575320058e-05,0.0017352915888737453,-0.0019842141763337815],"end_effector_yaw_offset_degrees":-0.9804446709382197}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002722558806748696,-0.004130534811335839],"position_m":[0.3075774411932513,0.08696946518866416,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022016214422154626,0.001618251843645795],"position_m":[0.3107983785577845,-0.11468174815635421,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0046396849715114015,0.00033473310697717824],"position_m":[0.35973968497151143,0.2970347331069772,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034172131542250057,-0.0022169532242794043],"position_m":[0.247417213154225,-0.3540169532242794,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"46e72a1107fffaa52f2457ab66faa8445858a1e37ed3644591474b5e3f2794e3","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3275/tex_ceiling_textures_3328/tex_floor_textures_5454/tex_table_textures_2193/tex_wall_textures_309","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3285767170021420340,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3285767170021420340,"visual_seed":3285767170021420340,"scene_id":"lab_003","finished_at":"2026-09-03T10:06:15"} +{"episode_id":"ep_000050","started_at":"2026-09-03T10:06:18","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.49961897360070406,-1.0661107594760264,0.71338606911949],"aabb_xy":[[-0.549612085709896,-1.116110760150222],[-0.4496258614915122,-1.0161107588018308]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.22183594012808333,0.6321862687139927,0.71338606911949],"aabb_xy":[[-0.2463495642250892,0.6079216754119564],[-0.19732231603107747,0.6564508620160293]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.38751950254866174,0.5406765933478983,0.71338606911949],"aabb_xy":[[-0.4219819805617495,0.5340129161649754],[-0.35305702453557397,0.547340270530821]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[-0.20567684649692258,-1.8568631959146291,0.71338606911949],"aabb_xy":[[-0.2856768469671386,-1.8651739035289776],[-0.12567684602670665,-1.848552488300281]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[0.10249549789962586,1.0188000001409496,0.71338606911949],"aabb_xy":[[0.03849549567921884,0.9744269160156613],[0.1664955001200329,1.063173084266238]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.061696011794410865,1.2928445101148416,0.71338606911949],"aabb_xy":[[-0.008303990842175493,1.2727396451189759],[0.1316960144309972,1.3129493751107069]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.3959198868434637,-1.0138302626535127,0.71338606911949],"aabb_xy":[[0.3584198861788849,-1.0295173206537347],[0.43341988750804233,-0.9981432046532904]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.4176185023470463,-2.0371318163026424,0.71338606911949],"aabb_xy":[[-0.48261850050296534,-2.0634280608525546],[-0.3526185041911272,-2.01083557175273]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.5726725782028784,-0.23631034524034877,0.71338606911949],"aabb_xy":[[-0.662359654510994,-0.3263103454947993],[-0.4829855018947631,-0.14631034498589826]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[0.15732383064260036,1.7602395128330701,0.71338606911949],"aabb_xy":[[0.09732382899967851,1.7082393635411257],[0.2173238322855222,1.812239662125014]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.03781209160060672,-0.7501526462604291,0.71338606911949],"aabb_xy":[[0.015903409461255673,-0.7720533130805198],[0.05972077373995776,-0.7282519794403384]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.5661356359779248,-0.7522955478667201,0.71338606911949],"aabb_xy":[[-0.6311356369784253,-0.8030819130213951],[-0.5011356349774243,-0.7015091827120452]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.6261943833131215,-1.1794761209838514,0.71338606911949],"aabb_xy":[[-0.6636943832568878,-1.187769211018688],[-0.588694383369355,-1.1711830309490148]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.6546218025610706,1.4226700135518304,0.71338606911949],"aabb_xy":[[0.599621803384481,1.3676803387768726],[0.70962180173766,1.4776596883267878]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.28054465219202207,-1.6989675462519984,0.71338606911949],"aabb_xy":[[0.26918291753873586,-1.7103360126582863],[0.2919063868453082,-1.6875990798457101]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.1926667874085115,0.6755391776577988,0.71338606911949],"aabb_xy":[[0.17516678827414434,0.6656595506202109],[0.21016678654287868,0.6854188046953865]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.045150809731138164,-0.9361096755621185,0.71338606911949],"aabb_xy":[[-0.05060875536815823,-1.0161096788697777],[-0.0396928640941181,-0.8561096722544594]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.18179416114477576,-2.2216501113181772,0.71338606911949],"aabb_xy":[[0.1737678905141498,-2.23040160629553],[0.18982043177540178,-2.2128986163408246]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.31397023099018034,-0.339476484343618,0.71338606911949],"aabb_xy":[[-0.37556099021417316,-0.40347648245266493],[-0.2523794717661875,-0.27547648623457116]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.46700086853766887,0.7815935063816366,0.71338606911949],"aabb_xy":[[-0.489465638509074,0.7590935055027761],[-0.44453609856626375,0.8040935072604971]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.2484650644452937,-0.623410092295511,0.71338606911949],"aabb_xy":[[0.18446506303730298,-0.6751990438194357],[0.31246506585328426,-0.5716211407715863]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.3771234743963779,-0.9325217010500149,0.71338606911949],"aabb_xy":[[-0.3841649253471255,-0.9395484527878095],[-0.3700820234456303,-0.9254949493122204]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.5865467780859694,0.6817048099332172,0.71338606911949],"aabb_xy":[[-0.6221759339859291,0.6460721431763643],[-0.5509176221860096,0.7173374766900702]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.13347683975711266,-1.7229659621764686,0.71338606911949],"aabb_xy":[[-0.17097684004928748,-1.727007437577072],[-0.09597683946493785,-1.718924486775865]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.34883899011247627,-0.8397172976783358,0.71338606911949],"aabb_xy":[[-0.3863389885358765,-0.8528815116461664],[-0.3113389916890758,-0.8265530837105052]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.6026979412374196,1.4293688170002024,0.71338606911949],"aabb_xy":[[-0.6151652993471554,1.4169034923668788],[-0.5902305831276841,1.4418341416335259]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.2887520308028063,1.2765048317626175,0.71338606911949],"aabb_xy":[[0.28278549186207047,1.2705436871032534],[0.29471856974354205,1.2824659764219817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692935378296884,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1672.png","name":"1672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1672.png","name":"1672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6384.png","name":"6384"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1759.png","name":"1759"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3622.png","name":"3622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3959.png","name":"3959"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.4984185678562,"rotation_z_degrees":232.823903656154,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018173564015154544,0.005578731412031215,0.012157463883523175]},{"name":"camera_2","offset_m":[-0.016241476646215065,0.009788975690719015,-0.004722955041564924]},{"name":"camera_3","offset_m":[-0.016847741558499673,0.0010228288552977423,-0.007227918655312084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000736763433604585,5.214285389990459e-05,-0.0004873869357500044],"end_effector_yaw_offset_degrees":-0.5185249529330846},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012645895633744166,-0.001457802129917511,-0.001319659186062615],"end_effector_yaw_offset_degrees":-0.4117926009366941},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00035620623257715824,0.0010331753499490328,0.00020351800095385047],"end_effector_yaw_offset_degrees":-0.08166067595546656}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004800767448283754,-0.004895090434468695],"position_m":[0.3054992325517163,0.08620490956553131,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000550737824924187,-0.0014590360415860783],"position_m":[0.3124492621750758,-0.11775903604158608,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[9.308504608754493e-06,0.0022946111603767624],"position_m":[0.35510930850460876,0.2989946111603768,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0047702282417628585,-0.0031376409216087456],"position_m":[0.24877022824176284,-0.35493764092160873,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f1d9f9d9784171620be6e1328bc797af27d8ba7184b8308bb25414835ed31b9","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1672/tex_ceiling_textures_3959/tex_floor_textures_3622/tex_table_textures_6384/tex_wall_textures_1759","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":206473469285663167,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":206473469285663167,"visual_seed":206473469285663167,"scene_id":"lab_003","finished_at":"2026-09-03T10:08:43"} +{"episode_id":"ep_000051","started_at":"2026-09-03T10:11:32","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.3155355385979308,-2.246064206607324,0.71338606911949],"aabb_xy":[[-0.35012662145197593,-2.3110642068923553],[-0.2809444557438855,-2.181064206322293]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.5701097162834062,1.7381570114785263,0.71338606911949],"aabb_xy":[[-0.6341097165573845,1.6880909112812386],[-0.506109716009428,1.7882231116758145]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.5116136473283998,-2.475794160327283,0.71338606911949],"aabb_xy":[[-0.5756136466225681,-2.539780300696137],[-0.44761364803423165,-2.4118080199584284]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.2724047972462249,-1.1440134309712002,0.71338606911949],"aabb_xy":[[0.22240479558473011,-1.1940118732269027],[0.3224047989077196,-1.0940149887154973]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.5605943225550605,-0.877192156248171,0.71338606911949],"aabb_xy":[[-0.5738252680897418,-0.8904195752701703],[-0.5473633770203792,-0.8639647372261715]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[-0.5379389966284718,1.1202340916258886,0.71338606911949],"aabb_xy":[[-0.5459324864237538,1.1122359596854132],[-0.5299455068331898,1.1282322235663644]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.09913068596434826,1.725727004460325,0.71338606911949],"aabb_xy":[[0.08625878246340811,1.6457270040464889],[0.11200258946528839,1.8057270048741612]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.05435262665059448,-0.6922836133888255,0.71338606911949],"aabb_xy":[[-0.11835262986923234,-0.7390067252878337],[0.009647376568043375,-0.645560501489817]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.6292858548899798,-1.3328357154162942,0.71338606911949],"aabb_xy":[[-0.650563863033452,-1.3978357177423673],[-0.6080078467465075,-1.2678357130902211]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.13793830316679045,-2.1695561934272107,0.71338606911949],"aabb_xy":[[0.10754019206764685,-2.19996309542888],[0.16833641426593401,-2.1391492914255408]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.6591459772354007,0.5031444690357172,0.71338606911949],"aabb_xy":[[-0.679037017115741,0.49048865775102046],[-0.6392549373550606,0.5158002803204141]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.0021066206010599275,0.9039607961788008,0.71338606911949],"aabb_xy":[[-0.06610662294386148,0.8590199449346683],[0.06189338174174163,0.9489016474229333]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.18553804346756508,1.0187368723671093,0.71338606911949],"aabb_xy":[[-0.2495380451455624,0.9702194808877949],[-0.1215380417895677,1.0672542638464233]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.5377827638030481,0.49642213951824,0.71338606911949],"aabb_xy":[[0.5286228848591715,0.489890921474703],[0.5469426427469247,0.5029533575617771]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.23160365367447122,-0.13790228135256255,0.71338606911949],"aabb_xy":[[-0.28160365495831113,-0.18788113574318463],[-0.18160365239063123,-0.08792342696194043]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[0.6552474098489567,0.49961918895385304,0.71338606911949],"aabb_xy":[[0.6052474088984238,0.46807004195033153],[0.7052474107994894,0.5311683359573743]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.611203745819177,0.2360656659322009,0.71338606911949],"aabb_xy":[[0.5987363877094414,0.2236003412988774],[0.6236711039289127,0.2485309905655244]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.32201009110875634,-1.8029390068522293,0.71338606911949],"aabb_xy":[[-0.3297132817828334,-1.8106483775509672],[-0.3143069004346793,-1.795229636153491]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.10959329823664532,1.6030970778633642,0.71338606911949],"aabb_xy":[[-0.13317842170054017,1.5380970756179326],[-0.08600817477275045,1.6680970801087962]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.059681172332676335,-0.1767732301593785,0.71338606911949],"aabb_xy":[[-0.08158985447202738,-0.19867389697946924],[-0.037772490193325285,-0.15487256333928778]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.4813997292221046,0.5542426513104823,0.71338606911949],"aabb_xy":[[-0.5038988649483316,0.5317426505322194],[-0.45890059349587764,0.5767426520887453]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.20730124401215277,-1.5538006839700569,0.71338606911949],"aabb_xy":[[0.15730813190296092,-1.603800684644253],[0.2572943561213447,-1.5038006832958617]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.12641092899275563,0.9630008055407853,0.71338606911949],"aabb_xy":[[0.10729862163477677,0.9438660266635432],[0.1455232363507345,0.9821355844180273]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.5452881719489358,-1.7027208143444894,0.71338606911949],"aabb_xy":[[-0.6002881711255251,-1.757710489119447],[-0.49028817277234615,-1.6477311395695318]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.5177778564406943,-1.423485371203825,0.71338606911949],"aabb_xy":[[0.45777785557988143,-1.4749118012103113],[0.577777857301507,-1.3720589411973385]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[-0.39532763265378873,-0.884482640877194,0.71338606911949],"aabb_xy":[[-0.4453224655817304,-0.9344826397724375],[-0.3453327997258472,-0.8344826419819504]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.37114631899643,-1.6442608910542107,0.71338606911949],"aabb_xy":[[-0.4211413299558821,-1.6942608900898029],[-0.321151308036978,-1.5942608920186194]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.12732425001529668,-0.8762935722806744,0.71338606911949],"aabb_xy":[[0.07735118448278124,-0.9262935720932075],[0.17729731554781217,-0.8262935724681417]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.5690446215814912,-0.013912134225972483,0.71338606911949],"aabb_xy":[[-0.633044621841962,-0.058920933578900485],[-0.5050446213210203,0.031096665126955518]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[-0.02233020674753028,1.5112894829655468,0.71338606911949],"aabb_xy":[[-0.03987690166364921,1.4737894814012955],[-0.004783511831411347,1.548789484529798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954488631228796,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/718.png","name":"718"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2253.png","name":"2253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5504.png","name":"5504"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":732.8259844418366,"rotation_z_degrees":193.22265284449554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016062108618233525,-0.016370603348191844,-0.001621073348150301]},{"name":"camera_2","offset_m":[-0.004087956226029494,0.006296269716975739,0.004533904052676445]},{"name":"camera_3","offset_m":[0.008058145911741713,0.015281811666224016,0.0016690957849220256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00031256089526378143,-0.0018632521350834203,-1.5371087411837885e-05],"end_effector_yaw_offset_degrees":0.6168169236290049},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015806273234459777,-0.0003206487871620287,0.0013282532330542215],"end_effector_yaw_offset_degrees":0.2300397487225554},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001960007942331088,0.0018357325622674787,0.0006028243395846226],"end_effector_yaw_offset_degrees":-0.4110607237372381}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00245148533479548,0.0012442824060585377],"position_m":[0.3127514853347955,0.09234428240605853,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002867017334866161,0.0015039267221735363],"position_m":[0.31586701733486616,-0.11479607327782647,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002948330795177866,0.0019710597427231137],"position_m":[0.3580483307951779,0.2986710597427231,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003842302618794763,0.0008343415202439952],"position_m":[0.24015769738120524,-0.350965658479756,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"662f5a097df8e4d8f99dfd71b743ce5523277263563077cad1c4aa4bf9d4f088","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0086.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_44/tex_ceiling_textures_5504/tex_floor_textures_1707/tex_table_textures_718/tex_wall_textures_2253","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2546140530703894928,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2546140530703894928,"visual_seed":2546140530703894928,"scene_id":"lab_003","finished_at":"2026-09-03T10:13:56"} +{"episode_id":"ep_000052","started_at":"2026-09-03T10:16:44","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.36311318220237876,0.32435795602765527,0.71338606911949],"aabb_xy":[[-0.38339748492577747,0.30407533088494637],[-0.34282887947897994,0.34464058117036406]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.0929375905806833,-1.8870010724261197,0.71338606911949],"aabb_xy":[[0.02894189318558671,-1.9510010707268284],[0.15693328797577988,-1.823001074125411]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.6902105414613244,-2.419582421754692,0.71338606911949],"aabb_xy":[[0.6825862733711462,-2.427215645291236],[0.6978348095515027,-2.4119491982181485]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.12748514922015164,-2.1374051723066416,0.71338606911949],"aabb_xy":[[0.062485151338503866,-2.188528836013183],[0.19248514710179948,-2.086281508600101]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.6388458801879837,0.9046680932123752,0.71338606911949],"aabb_xy":[[-0.6547303734533088,0.8903151529135512],[-0.6229613869226585,0.9190210335111993]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.3570498564591182,0.15660772562079917,0.71338606911949],"aabb_xy":[[-0.39806779984548907,0.10660772498984183],[-0.3160319130727473,0.2066077262517565]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.046509880567984885,1.0462294277011912,0.71338606911949],"aabb_xy":[[-0.023490121240760546,1.0248756589370038],[0.11650988237673032,1.0675831964653786]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.31661082858802253,-2.246194762907232,0.71338606911949],"aabb_xy":[[-0.32068898649507227,-2.2502757431554956],[-0.3125326706809728,-2.2421137826589685]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.6325892894227012,1.590908122205287,0.71338606911949],"aabb_xy":[[0.5429022131145858,1.5009081219508362],[0.7222763657308167,1.6809081224597373]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.1188519635773242,1.3884028801479804,0.71338606911949],"aabb_xy":[[-0.1413519640893648,1.3659110217825818],[-0.09635196306528358,1.4108947385133785]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.5548540613600397,0.6725770308437808,0.71338606911949],"aabb_xy":[[0.49972885573044895,0.6125770294024937],[0.6099792669896305,0.732577032285068]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.2748448687853954,0.8421795923362372,0.71338606911949],"aabb_xy":[[0.22484486776626011,0.8057133765984094],[0.32484486980453064,0.8786458080740652]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.48994881472944585,-1.7178395922436556,0.71338606911949],"aabb_xy":[[-0.5045922202834787,-1.7324983119004393],[-0.4753054091754128,-1.703180872586871]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.6361489624115921,-1.3728962464632686,0.71338606911949],"aabb_xy":[[-0.671148962388088,-1.3823608625108854],[-0.6011489624350963,-1.3634316304156522]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.3506500103704393,-0.9589823295326021,0.71338606911949],"aabb_xy":[[0.3453124347044348,-0.9839823304617418],[0.3559875860364439,-0.9339823286034622]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.21566716951503828,-1.3855413170369362,0.71338606911949],"aabb_xy":[[0.19238532731690694,-1.470541318334164],[0.23894901171316962,-1.3005413157397079]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.2221738636921065,-1.110556117611195,0.71338606911949],"aabb_xy":[[-0.2422322753053468,-1.1306212045203528],[-0.20211545207886622,-1.0904910307020375]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.34397039485468195,1.1288187964296101,0.71338606911949],"aabb_xy":[[-0.39109977385651756,1.064818795385208],[-0.2968410158528462,1.1928187974740119]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.08717261619683292,0.08219140535298619,0.71338606911949],"aabb_xy":[[-0.15117261941547078,0.03546829345397785],[-0.023172612978195062,0.12891451725199454]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.013371437993616953,-1.4309844019599336,0.71338606911949],"aabb_xy":[[-0.0773714403364185,-1.4759252532040659],[0.050628564349184606,-1.3860435507158009]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.6193696607839163,1.2861533305415516,0.71338606911949],"aabb_xy":[[0.5693963667806559,1.2361533299870042],[0.6693429547871768,1.336153331096099]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[-0.1555858649729932,0.19451463531585,0.71338606911949],"aabb_xy":[[-0.16208750148099782,0.18474681328954023],[-0.1490842284649886,0.2042824573421598]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[-0.42518426904153017,-0.23927216758859515,0.71338606911949],"aabb_xy":[[-0.4901842699986574,-0.29122037952230073],[-0.36018426808440296,-0.18732395565488957]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.5765183429141658,0.040948471839699074,0.71338606911949],"aabb_xy":[[-0.6405183401998144,-0.0005582471131448871],[-0.5125183456285171,0.08245519079254304]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.596306801763148,-0.5479361502023576,0.71338606911949],"aabb_xy":[[-0.6441129693769164,-0.6129361529094165],[-0.5485006341493791,-0.48293614749529856]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.3465341272731375,0.6129874612201984,0.71338606911949],"aabb_xy":[[0.3309783578628723,0.5974370279757913],[0.3620898966834028,0.6285378944646057]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.5916218271053688,-0.08691689387576362,0.71338606911949],"aabb_xy":[[0.5116218300911208,-0.10705144554917488],[0.6716218241196168,-0.06678234220235234]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[-0.41764177255581364,-1.2517991699899762,0.71338606911949],"aabb_xy":[[-0.5076417722789879,-1.2748725225251558],[-0.32764177283263946,-1.2287258174547961]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943625770129603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5480.png","name":"5480"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5480.png","name":"5480"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4950.png","name":"4950"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7782.png","name":"7782"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6889.png","name":"6889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7025.png","name":"7025"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":796.585686515509,"rotation_z_degrees":306.9771711161459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001328642011629251,0.007749286674407833,0.019839448530683684]},{"name":"camera_2","offset_m":[0.019832220200694476,0.007297494892498705,-0.009176461373117456]},{"name":"camera_3","offset_m":[-0.018940544430099144,0.013818184051874054,-0.016241694545625514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016271329150004147,-0.0001318078642446054,-0.0014867467706659232],"end_effector_yaw_offset_degrees":0.15617997281413798},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007989246106676795,-0.0015190588242882939,0.00028146563869028756],"end_effector_yaw_offset_degrees":-0.6891962578302826},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005354978599268782,0.0009130425004332779,0.0016618887294506612],"end_effector_yaw_offset_degrees":0.10785960034992859}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004560213763037867,0.0020569085675735607],"position_m":[0.30573978623696213,0.09315690856757355,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004661284759710354,-0.004657039843516869],"position_m":[0.30833871524028966,-0.12095703984351687,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004577016569489692,-0.004046229054155553],"position_m":[0.3596770165694897,0.2926537709458445,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033794499083617748,0.0031733416909127425],"position_m":[0.2406205500916382,-0.34862665830908723,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8ff6593ac83334cf9fdfa182a2a15d7058bb2a91284e99b909e24659c00294df","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5480/tex_ceiling_textures_7025/tex_floor_textures_6889/tex_table_textures_4950/tex_wall_textures_7782","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7397980619363103777,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7397980619363103777,"visual_seed":7397980619363103777,"scene_id":"lab_003","finished_at":"2026-09-03T10:19:06"} +{"episode_id":"ep_000053","started_at":"2026-09-03T10:23:06","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.5297825141157653,-0.7850278126046413,0.71338606911949],"aabb_xy":[[0.5122825149813981,-0.794907439642229],[0.5472825132501324,-0.7751481855670533]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.36610306249975827,-2.5235783861776926,0.71338606911949],"aabb_xy":[[-0.38377869308835655,-2.541258602457095],[-0.3484274319111599,-2.5058981698982894]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.47173550868585334,-0.549166207314463,0.71338606911949],"aabb_xy":[[-0.47877695963660094,-0.5561929590522575],[-0.46469405773510575,-0.5421394555766684]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.11780168688293868,0.9752093650992322,0.71338606911949],"aabb_xy":[[0.10838421231307593,0.9657931879615131],[0.12721916145280143,0.9846255422369512]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.017138403920999856,-1.7579939695417783,0.71338606911949],"aabb_xy":[[-0.03269417333126512,-1.7735444027861857],[-0.00158263451073459,-1.7424435362973714]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.09206809090577839,-1.0833875191916618,0.71338606911949],"aabb_xy":[[-0.09932933847618579,-1.0961745294551712],[-0.08480684333537096,-1.0706005089281523]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.38634832443085454,-2.0238390098436123,0.71338606911949],"aabb_xy":[[0.3600595001104139,-2.050110443498263],[0.4126371487512952,-1.9975675761889609]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.3696979442897548,0.5946316690974345,0.71338606911949],"aabb_xy":[[0.3147024664690954,0.5396316676635274],[0.42469342211041416,0.6496316705313413]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.4217935356549292,-0.44883142623572425,0.71338606911949],"aabb_xy":[[-0.4857935348246992,-0.49559811335468673],[-0.3577935364851593,-0.40206473911676177]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.19971736154197162,1.6696575618972216,0.71338606911949],"aabb_xy":[[-0.23721735996537197,1.6564933479293908],[-0.16221736311857127,1.6828217758650523]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.6184132264498925,-1.2492404672701722,0.71338606911949],"aabb_xy":[[-0.6281692159590664,-1.2590030013294067],[-0.6086572369407186,-1.2394779332109378]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.6345373169603826,-1.4329029701838318,0.71338606911949],"aabb_xy":[[-0.6704508213853722,-1.4688164784005864],[-0.5986238125353929,-1.3969894619670773]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.6721770180267364,-1.1942532989886327,0.71338606911949],"aabb_xy":[[0.6346770165111045,-1.2054800720047778],[0.709677019542368,-1.1830265259724877]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.3133906063041073,-2.0971530112329804,0.71338606911949],"aabb_xy":[[-0.37739060273142927,-2.144322635055077],[-0.24939060987678546,-2.049983387410884]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.6207258182552797,-0.016038847751481455,0.71338606911949],"aabb_xy":[[-0.6300194364924302,-0.053538846239615356],[-0.611432200018129,0.02146115073665245]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.02630063557593909,-1.1667709421742627,0.71338606911949],"aabb_xy":[[0.019018319199275425,-1.2567709457837712],[0.03358295195260273,-1.0767709385647533]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.11954264347753707,-0.8921297656250904,0.71338606911949],"aabb_xy":[[-0.14204264372105246,-0.9043344002848623],[-0.09704264323402167,-0.8799251309653184]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.41811547740056454,1.7282403419655936,0.71338606911949],"aabb_xy":[[-0.4681154760464857,1.6783207983061312],[-0.3681154787546433,1.778159885625056]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.0731182677963772,1.151108445701332,0.71338606911949],"aabb_xy":[[0.0650046131230001,1.1430026292473028],[0.0812319224697543,1.159214262155361]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.1741520421158016,-1.3426441360334866,0.71338606911949],"aabb_xy":[[0.14300512327221848,-1.4126441347202936],[0.2052989609593847,-1.2726441373466792]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.3828851527074373,0.7629590464832661,0.71338606911949],"aabb_xy":[[-0.4728851521258082,0.7295835496390762],[-0.2928851532890664,0.7963345433274557]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.1482706834892159,0.36622677072692955,0.71338606911949],"aabb_xy":[[-0.20827068513213773,0.3142266214349854],[-0.08827068184629402,0.4182269200188738]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.25109990821017525,-0.6086489970877274,0.71338606911949],"aabb_xy":[[-0.30109990778650997,-0.6586295760398333],[-0.20109990863384053,-0.5586684181356214]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.22087764153648715,1.0470574920234772,0.71338606911949],"aabb_xy":[[-0.24337764154663544,1.032961272383874],[-0.19837764152633885,1.0611537116630805]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[-0.43782224508283146,-0.853811676042574,0.71338606911949],"aabb_xy":[[-0.5078222472142611,-0.8765736416682696],[-0.36782224295140187,-0.8310497104168783]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[0.27439019660680697,-0.7278616704342389,0.71338606911949],"aabb_xy":[[0.21939698526967022,-0.7828616707730326],[0.3293834079439437,-0.6728616700954453]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.4069694771654422,-0.9427766326819682,0.71338606911949],"aabb_xy":[[0.3269694785781227,-1.0220922346201289],[0.48696947575276156,-0.8634610307438072]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[-0.445204213108906,-0.036826923107240894,0.71338606911949],"aabb_xy":[[-0.4827042116845267,-0.04956321877079883],[-0.4077042145332851,-0.02409062744368295]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.2136075486246964,-0.27338039435347206,0.71338606911949],"aabb_xy":[[-0.260736927626532,-0.33738039539787396],[-0.16647816962286066,-0.20938039330907005]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.33046726316017083,1.6705065407729545,0.71338606911949],"aabb_xy":[[0.27645166687827083,1.6065065378806973],[0.38448285944207083,1.7345065436652116]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[0.6114342653150666,0.5789411254000596,0.71338606911949],"aabb_xy":[[0.5739342646504877,0.5632540673998373],[0.6489342659796451,0.5946281834002817]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_31","position":[0.5837578745298351,-0.8698426331473215,0.71338606911949],"aabb_xy":[[0.5587578753642019,-0.8767948788526779],[0.6087578736954681,-0.8628903874419648]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_32","position":[0.018566069129316354,-1.8621968092568566,0.71338606911949],"aabb_xy":[[0.013228493463311786,-1.8871968101859964],[0.023903644795320922,-1.8371968083277168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863969406340037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1564.png","name":"1564"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9389.png","name":"9389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3795.png","name":"3795"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":684.0462785597141,"rotation_z_degrees":176.37519665351252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015750493803215616,0.016568077019127287,-0.010344527929282124]},{"name":"camera_2","offset_m":[0.019153365164980642,-0.003914836848643789,0.006982469024552542]},{"name":"camera_3","offset_m":[-0.015102916551355806,-0.0006383124872944429,-0.005783835842624785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001503995832363676,-0.0002992353547107904,0.0003578456798937384],"end_effector_yaw_offset_degrees":-0.11444878319995122},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011098209296460265,0.00189023452378993,0.0013913122563836366],"end_effector_yaw_offset_degrees":-0.3630321056544126},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005063428774195653,0.0001087551021355217,-0.0012917881045694153],"end_effector_yaw_offset_degrees":0.3618099600916871}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016079437593546453,-0.004631030475392835],"position_m":[0.3086920562406454,0.08646896952460717,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004488272273060729,-0.004572213610993185],"position_m":[0.31748827227306076,-0.12087221361099318,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004334121300515762,-0.003799896493725401],"position_m":[0.3507658786994843,0.2929001035062746,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014221975849052692,-0.0014150875938398364],"position_m":[0.24257780241509472,-0.35321508759383985,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"20324207f6e1cc9e8d20bb464ae54c195535d62c434fbf4cab00dad14579f440","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4788/tex_ceiling_textures_3795/tex_floor_textures_9389/tex_table_textures_1564/tex_wall_textures_5807","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8987333636620348103,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8987333636620348103,"visual_seed":8987333636620348103,"scene_id":"lab_003","finished_at":"2026-09-03T10:25:37"} +{"episode_id":"ep_000054","started_at":"2026-09-03T10:25:41","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.21604351192150717,-0.7144754166685494,0.71338606911949],"aabb_xy":[[0.16104351274491766,-0.7694650914435069],[0.27104351109809666,-0.6594857418935917]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.3873597981747935,0.14946191332274372,0.71338606911949],"aabb_xy":[[-0.4286643412385294,0.08546191375462664],[-0.34605525511105745,0.2134619128908608]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.6397781674018821,0.6562645433381746,0.71338606911949],"aabb_xy":[[0.5898007505366284,0.606264541848926],[0.6897555842671356,0.7062645448274231]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.4235276249856572,-2.1412572216176304,0.71338606911949],"aabb_xy":[[0.35352762285422756,-2.164019187243326],[0.49352762711708664,-2.118495255991934]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.09370118599949173,0.9941161414235848,0.71338606911949],"aabb_xy":[[0.029701189603918654,0.9301528530048513],[0.1577011823950648,1.0580794298423184]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.6092378307718811,1.1276052085065462,0.71338606911949],"aabb_xy":[[0.5452378288595388,1.0716940592485358],[0.6732378326842234,1.1835163577645567]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.4573405312458632,-2.0171138023089368,0.71338606911949],"aabb_xy":[[-0.5073405316064291,-2.0670937895185393],[-0.4073405308852971,-1.9671338150993336]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.08620880217417493,-1.0194648124091257,0.71338606911949],"aabb_xy":[[-0.10949064437230625,-1.1044648137063535],[-0.06292695997604357,-0.9344648111118975]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.1943357734727833,-1.2433129992692526,0.71338606911949],"aabb_xy":[[0.12933577083498982,-1.2947925979686996],[0.2593357761105768,-1.1918334005698057]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.621474932008193,-0.6474337946764133,0.71338606911949],"aabb_xy":[[-0.6285163829589406,-0.6544605464142077],[-0.6144334810574454,-0.6404070429386186]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.5490529374067783,0.1998928645483562,0.71338606911949],"aabb_xy":[[0.5040603506883279,0.15489286527390744],[0.5940455241252287,0.24489286382280495]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.08488232321751588,0.7131229939535557,0.71338606911949],"aabb_xy":[[0.060368699120510017,0.6888584006515193],[0.10939594731452174,0.7373875872555922]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.5800891189587105,1.7622227101145067,0.71338606911949],"aabb_xy":[[0.5514397865982942,1.7335771508374307],[0.6087384513191266,1.7908682693915823]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.11432429576155434,1.559930955674362,0.71338606911949],"aabb_xy":[[-0.1319571313550819,1.5423080096587387],[-0.09669146016802677,1.5775539016899847]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.6529406259000083,-0.48769660789282554,0.71338606911949],"aabb_xy":[[-0.6758563387850582,-0.510600905029249],[-0.6300249130149584,-0.46479231075640204]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.5708816282132432,-1.1340692211884393,0.71338606911949],"aabb_xy":[[0.5611256387040693,-1.1438317552476736],[0.5806376177224171,-1.1243066871292047]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.22992764867426552,-1.9927893433527553,0.71338606911949],"aabb_xy":[[-0.24772115560918195,-2.010589088948553],[-0.21213414173934908,-1.9749895977569578]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.5462643192122459,1.4691679516322718,0.71338606911949],"aabb_xy":[[-0.5523013322129108,1.4631412505633237],[-0.5402273062115813,1.4751946527012199]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.51124124801072,-1.5658935924816988,0.71338606911949],"aabb_xy":[[0.4937412477656706,-1.5833933803212654],[0.5287412482557693,-1.5483938046421317]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.5840609680739552,-2.391805890455529,0.71338606911949],"aabb_xy":[[-0.6640609713317982,-2.471802398247513],[-0.5040609648161123,-2.311809382663545]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.11241926590488716,1.5320957816600536,0.71338606911949],"aabb_xy":[[0.08719842904504747,1.5068720308071666],[0.1376401027647268,1.55731953251294]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.5157600636826067,-0.1550481986028709,0.71338606911949],"aabb_xy":[[-0.5273290444295433,-0.18004819871980263],[-0.5041910829356702,-0.1300481984859392]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.3018681269796526,-1.6380963461865945,0.71338606911949],"aabb_xy":[[0.2910951530582848,-1.6730963444056335],[0.3126411009010204,-1.6030963479675555]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.6303439794195114,1.6248377132625618,0.71338606911949],"aabb_xy":[[-0.6803439804386466,1.5883714975247338],[-0.5803439784003761,1.6613039290003897]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.2892098374668173,-1.777971992758105,0.71338606911949],"aabb_xy":[[0.28477920811197716,-1.7834203644927875],[0.2936404668216575,-1.7725236210234225]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.41109223978242576,0.5439915563619335,0.71338606911949],"aabb_xy":[[-0.4207238760028554,0.5343542435822246],[-0.40146060356199614,0.5536288691416424]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.11996703377771079,1.740996162527113,0.71338606911949],"aabb_xy":[[-0.1839670359981178,1.6966230784018248],[-0.05596703155730376,1.7853692466524014]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[0.4063555644217469,-1.1493655317581424,0.71338606911949],"aabb_xy":[[0.3693214549936871,-1.1837427390918518],[0.4433896738498066,-1.114988324424433]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.33339034035316895,-0.7766806091767924,0.71338606911949],"aabb_xy":[[-0.3408027958945575,-0.7825318195984202],[-0.3259778848117805,-0.7708293987551643]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.32672595213151334,-1.9329460591918735,0.71338606911949],"aabb_xy":[[0.3180119830815788,-1.9554460598510612],[0.3354399211814478,-1.9104460585326848]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[0.3702927379881633,-0.38650370576830584,0.71338606911949],"aabb_xy":[[0.36021103090958984,-0.46650370366042043],[0.3803744450667368,-0.30650370787619113]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[-0.2220738767640198,0.8269599588712362,0.71338606911949],"aabb_xy":[[-0.2565362241621615,0.7924660764734133],[-0.18761152936587794,0.8614538412690587]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_32","position":[-0.24046341616653166,-1.5601510184572627,0.71338606911949],"aabb_xy":[[-0.29447901244843167,-1.6241510213495196],[-0.18644781988463166,-1.4961510155650053]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[-0.2985553349369293,-1.7918940892487791,0.71338606911949],"aabb_xy":[[-0.32970225378051243,-1.8618940879355859],[-0.2674084160933462,-1.7218940905619715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905230099872238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9200.png","name":"9200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9200.png","name":"9200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/235.png","name":"235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2472.png","name":"2472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":507.4512386795159,"rotation_z_degrees":216.66700774297203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018643380813802957,0.003046047239748613,-0.005377434876915782]},{"name":"camera_2","offset_m":[-0.007116061545056307,0.00636893039296663,0.017298791505316113]},{"name":"camera_3","offset_m":[0.014093515048778548,0.015726616612040858,-0.018553457663859085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014074843906204584,0.0005786967040112652,0.0014817253078582343],"end_effector_yaw_offset_degrees":0.4673839610658661},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017539310317800112,-0.0013625241613000622,0.0008731149113685496],"end_effector_yaw_offset_degrees":-0.7115321879661467},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006964173855619755,0.001815662406254825,0.0010949127577990678],"end_effector_yaw_offset_degrees":-0.3208224671849331}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-8.461841987182639e-06,-0.00022079360509574472],"position_m":[0.31029153815801286,0.09087920639490425,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002533494555194927,0.0025154739414413587],"position_m":[0.3155334945551949,-0.11378452605855864,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015924803224016994,4.9704040770474044e-05],"position_m":[0.3535075196775983,0.2967497040407705,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003199535435682876,0.00449503987125621],"position_m":[0.24719953543568288,-0.3473049601287438,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"90cb065599cf696513b0427578a5f9d0a92de9aa37dc67794f57dc7014a9b42e","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9200/tex_ceiling_textures_8061/tex_floor_textures_2472/tex_table_textures_235/tex_wall_textures_7239","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6652989075136926811,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6652989075136926811,"visual_seed":6652989075136926811,"scene_id":"lab_003","finished_at":"2026-09-03T10:28:09"} +{"episode_id":"ep_000055","started_at":"2026-09-03T10:31:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.301925958050568,0.740791690170012,0.71338606911949],"aabb_xy":[[-0.3394259564739682,0.7276274762021813],[-0.26442595962716753,0.7539559041378425]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.6378931815653688,-0.2539700896360446,0.71338606911949],"aabb_xy":[[0.6306108651887049,-0.34397009324555355],[0.6451754979420322,-0.1639700860265356]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.36564659280304257,-1.7565593935582693,0.71338606911949],"aabb_xy":[[-0.4031465929086355,-1.7633815554112504],[-0.3281465926974496,-1.7497372317052882]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.6078974902213561,-2.183805764949059,0.71338606911949],"aabb_xy":[[0.5711028570964498,-2.2207116400456415],[0.6446921233462624,-2.146899889852477]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[-0.1851504276975261,-1.8856825451910886,0.71338606911949],"aabb_xy":[[-0.19146252723386453,-1.8914494844443075],[-0.17883832816118767,-1.8799156059378697]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[0.10802451147021519,-0.8971977407848215,0.71338606911949],"aabb_xy":[[0.08914012770170499,-0.9160836655651743],[0.1269088952387254,-0.8783118160044687]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.5908736599007792,-2.1215986600654517,0.71338606911949],"aabb_xy":[[-0.5943143361408364,-2.125460093039816],[-0.587432983660722,-2.1177372270910872]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.5208735789747876,0.8551713120857789,0.71338606911949],"aabb_xy":[[0.5065391538486241,0.8431110965312401],[0.535208004100951,0.8672315276403177]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.05334480973181743,-1.4451472594071078,0.71338606911949],"aabb_xy":[[-0.05777543908665761,-1.4505956311417902],[-0.048914180376977257,-1.4396988876724253]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.4281667469238908,1.3078523003088516,0.71338606911949],"aabb_xy":[[0.41775518824340707,1.302506566972953],[0.4385783056043745,1.3131980336447497]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.09330146023480201,0.3747487225144246,0.71338606911949],"aabb_xy":[[-0.12163117018334224,0.37028798032070753],[-0.06497175028626179,0.37920946470814165]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.04125019321143497,1.396403245361478,0.71338606911949],"aabb_xy":[[-0.05875012664541833,1.3789032454412433],[-0.023750259777451585,1.4139032452817124]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.5329504550133926,-2.299659966290133,0.71338606911949],"aabb_xy":[[0.5104504550032444,-2.3137561859297366],[0.555450455023541,-2.28556374665053]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.5078866594967382,0.6571630780592028,0.71338606911949],"aabb_xy":[[-0.5138531984374739,0.6512019333998388],[-0.5019201205560024,0.6631242227185669]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.5219482313202101,-0.5101314176427869,0.71338606911949],"aabb_xy":[[-0.5256514926493489,-0.5138334359515047],[-0.5182449699910711,-0.5064293993340689]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[-0.3970102673163326,-0.9870929609039187,0.71338606911949],"aabb_xy":[[-0.40963705460352895,-0.9966390346054915],[-0.38438348002913625,-0.9775468872023457]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.4515389099571905,0.634535276827811,0.71338606911949],"aabb_xy":[[0.4434112217638773,0.6256216684171033],[0.45966659815050376,0.6434488852385186]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.43683833100782327,1.333572759889134,0.71338606911949],"aabb_xy":[[-0.45272282427314847,1.31921981959031],[-0.42095383774249817,1.347925700187958]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.25440081404707926,1.369953899179717,0.71338606911949],"aabb_xy":[[0.19040081366954564,1.3202086323289046],[0.3184008144246129,1.4196991660305291]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.012415558037802255,0.8049861004332124,0.71338606911949],"aabb_xy":[[-0.0008153874968790404,0.791758681411213],[0.025646503572483548,0.8182135194552118]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[-0.4438792640656467,-0.7158281638264994,0.71338606911949],"aabb_xy":[[-0.4499162770663115,-0.7218548648954476],[-0.43784225106498204,-0.7098014627575512]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.5508965598307133,-1.091847399604272,0.71338606911949],"aabb_xy":[[-0.6308903834092715,-1.1718474021971135],[-0.47090273625215506,-1.0118473970114303]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.4056411875531958,-1.8789023597441767,0.71338606911949],"aabb_xy":[[0.3855827759399555,-1.898967446653334],[0.42569959916643607,-1.858837272835019]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.10469096947770451,0.6935638718177839,0.71338606911949],"aabb_xy":[[0.05470801929022517,0.6435638721752234],[0.15467391966518382,0.7435638714603442]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.6010963746476438,1.4423936819777423,0.71338606911949],"aabb_xy":[[-0.6136990737847202,1.429798285752877],[-0.5884936755105673,1.454989078202608]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.4410580372961604,1.5617339490109408,0.71338606911949],"aabb_xy":[[-0.4529301203076615,1.4767339493172904],[-0.4291859542846593,1.646733948704591]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.45457210968623085,0.08277809224964994,0.71338606911949],"aabb_xy":[[-0.4665048440480589,0.07039593944179057],[-0.4426393753244028,0.09516024505750931]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[0.5272221547210294,-1.050057138651098,0.71338606911949],"aabb_xy":[[0.47722215370189414,-1.086523354388926],[0.5772221557401647,-1.0135909229132702]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[0.07936876861810271,-1.9759545595033832,0.71338606911949],"aabb_xy":[[0.06928706153952921,-2.0559545573954976],[0.08945047569667616,-1.8959545616112685]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[-0.6309086938211056,0.019290848028952645,0.71338606911949],"aabb_xy":[[-0.6949086952290962,-0.03249810349497205],[-0.5669086924131148,0.07107979955287734]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.6072625717815543,0.4636257735051781,0.71338606911949],"aabb_xy":[[-0.6688533310055471,0.39962577539613126],[-0.5456718125575615,0.527625771614225]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[0.3971882026848914,0.9406636237898507,0.71338606911949],"aabb_xy":[[0.34218820306314557,0.885679931002378],[0.45218820230663725,0.9956473165773234]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_32","position":[0.27725181720813497,-1.2374308318699054,0.71338606911949],"aabb_xy":[[0.22725181684756893,-1.2874108190795082],[0.32725181756870103,-1.1874508446603023]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_33","position":[0.6286916448891535,0.7175133969351779,0.71338606911949],"aabb_xy":[[0.5792112236751947,0.6535133990223261],[0.6781720661031123,0.7815133948480297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913083142203091,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5726.png","name":"5726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5726.png","name":"5726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3210.png","name":"3210"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7881.png","name":"7881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2652.png","name":"2652"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4189.png","name":"4189"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":706.09293023315,"rotation_z_degrees":288.5330424637161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0075007630724899105,-0.00015832846231981362,0.01170041291914201]},{"name":"camera_2","offset_m":[0.0005734482674462776,-0.015761231451401868,-0.007957103555843208]},{"name":"camera_3","offset_m":[-0.01951922575591866,0.001174278986393728,0.005002297695297933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011207970551316113,8.105084587617991e-05,-0.0005971700762657469],"end_effector_yaw_offset_degrees":0.8845501565597764},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015138358002196543,-0.0015250849365052602,0.00016337298278166568],"end_effector_yaw_offset_degrees":-0.1587789878897945},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008225572761959899,-0.00031370606215371574,-5.945578596681022e-05],"end_effector_yaw_offset_degrees":0.9025822644356962}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023783494525481024,-0.004005608765596571],"position_m":[0.31267834945254813,0.08709439123440343,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031651590347536165,-0.002556813860100643],"position_m":[0.3098348409652464,-0.11885681386010065,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017216311064832202,0.002142067201951002],"position_m":[0.3533783688935168,0.298842067201951,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024485268907029146,0.003963383922187613],"position_m":[0.2415514731092971,-0.3478366160778124,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3a73a7c445692138bbbacd1436b1a67d7a60f1d350e2d1e4d58f2d6ea79f1b72","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5726/tex_ceiling_textures_4189/tex_floor_textures_2652/tex_table_textures_3210/tex_wall_textures_7881","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2600439372362727628,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2600439372362727628,"visual_seed":2600439372362727628,"scene_id":"lab_003","finished_at":"2026-09-03T10:33:39"} +{"episode_id":"ep_000056","started_at":"2026-09-03T10:33:43","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.5982444777631972,-1.456660176430777,0.71338606911949],"aabb_xy":[[0.5873928715143216,-1.467519467158428],[0.6090960840120728,-1.445800885703126]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.5006092296614107,1.3163625063646096,0.71338606911949],"aabb_xy":[[-0.509390456808647,1.3075827590760793],[-0.49182800251417463,1.3251422536531399]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.6705527272915368,0.4887394376755747,0.71338606911949],"aabb_xy":[[0.633052726626958,0.4730523796753524],[0.7080527279561154,0.5044264956757967]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.300856707932623,1.253466258329111,0.71338606911949],"aabb_xy":[[0.2633567075843952,1.2416748627480274],[0.33835670828085074,1.2652576539101945]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.1171117764269719,-0.16251859047924144,0.71338606911949],"aabb_xy":[[-0.17711177667837308,-0.21679991551570607],[-0.057111776175570714,-0.10823726544277676]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.695989529069653,1.2951993067040943,0.71338606911949],"aabb_xy":[[0.6825430024356096,1.2817294550510032],[0.7094360557036963,1.308669158357186]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.3187932007222305,-2.3308617058653027,0.71338606911949],"aabb_xy":[[0.28433072270914267,-2.3375253830482254],[0.3532556787353182,-2.32419802868238]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.1652915756883201,0.6407462051863977,0.71338606911949],"aabb_xy":[[-0.17087324732244885,0.6282462053686222],[-0.15970990405419133,0.6532462050041732]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.523144720833504,-0.3946582605220246,0.71338606911949],"aabb_xy":[[0.4856447210164704,-0.39929647183316636],[0.5606447206505375,-0.3900200492108827]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.4610951817938766,-1.3544760218590561,0.71338606911949],"aabb_xy":[[-0.5110901927533287,-1.404476020894648],[-0.4111001708344246,-1.3044760228234646]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.4888310584401665,-0.8116831885012259,0.71338606911949],"aabb_xy":[[-0.5077154422086767,-0.8305691132815787],[-0.46994667467165635,-0.7927972637208731]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.1330067712294848,-1.712498985375344,0.71338606911949],"aabb_xy":[[-0.19700677290748214,-1.761016376854658],[-0.06900676955148743,-1.6639815938960296]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.03299315236014311,0.3817227560047791,0.71338606911949],"aabb_xy":[[-0.055908865245193014,0.35881845886835567],[-0.010077439475093203,0.40462705314120273]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.6816342348453354,0.24872490856674423,0.71338606911949],"aabb_xy":[[-0.6924072087667031,0.21372491034770524],[-0.6708612609239676,0.2837249067857832]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[0.1382868762148679,-2.204915677708222,0.71338606911949],"aabb_xy":[[0.12886940164500518,-2.214331854845941],[0.14770435078473068,-2.195499500570503]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.30395780074920475,0.22731714811088022,0.71338606911949],"aabb_xy":[[-0.35393109475246515,0.17731714755633288],[-0.25398450674594425,0.27731714866542756]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[-0.16078684940396337,0.4104907900063548,0.71338606911949],"aabb_xy":[[-0.19578685075544508,0.39013105404953397],[-0.1257868480524816,0.43085052596317563]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.6229349250735807,-1.3241234642194004,0.71338606911949],"aabb_xy":[[0.5729506893654035,-1.374123463032896],[0.672919160781758,-1.2741234654059048]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[0.4142471120320017,-0.9780989392557338,0.71338606911949],"aabb_xy":[[0.3892471128663686,-0.9850511849610905],[0.4392471111976348,-0.9711466935503773]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.22403915599335927,-2.534805057750705,0.71338606911949],"aabb_xy":[[-0.23560813674029585,-2.5598050578676377],[-0.2124701752464227,-2.5098050576337743]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.22703353826390127,-1.7770715046042598,0.71338606911949],"aabb_xy":[[0.18848784543870023,-1.8156172756604485],[0.2655792310891023,-1.738525733548071]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.2906108528066279,-2.002093092686011,0.71338606911949],"aabb_xy":[[-0.34561085198321734,-2.0570827674609684],[-0.23561085363003836,-1.9471034179110531]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.08232248963893951,1.6476827588587946,0.71338606911949],"aabb_xy":[[0.049860788757012046,1.6175499267438915],[0.11478419052086695,1.6778155909736967]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.5646729619369193,1.7122484342522806,0.71338606911949],"aabb_xy":[[-0.5798358349138565,1.697082976957162],[-0.5495100889599823,1.7274138915473995]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.08278091242708385,-1.447171651190607,0.71338606911949],"aabb_xy":[[0.01878091512473745,-1.4915380781584635],[0.14678090972943025,-1.40280522422275]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.586486951704156,-2.1081579609553573,0.71338606911949],"aabb_xy":[[0.5565193947943302,-2.138157961253243],[0.6164545086139815,-2.078157960657472]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.12853199518450265,-1.1774194897336578,0.71338606911949],"aabb_xy":[[-0.16603199670013435,-1.188646262749803],[-0.09103199366887094,-1.1661927167175128]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[-0.07935076084264547,1.7473801218782135,0.71338606911949],"aabb_xy":[[-0.09523525410797061,1.733027181579389],[-0.06346626757732031,1.761733062177037]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_28","position":[-0.3694916067088706,1.5719518741212002,0.71338606911949],"aabb_xy":[[-0.4294916073048868,1.5171394015759767],[-0.3094916061128544,1.6267643466664237]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[0.23681005248289155,-1.0563540905441333,0.71338606911949],"aabb_xy":[[0.1768100516220787,-1.1077805205506195],[0.29681005334370425,-1.0049276605376467]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_30","position":[-0.3392259515583787,1.3120892808468172,0.71338606911949],"aabb_xy":[[-0.3730015107490717,1.2980507856336523],[-0.30545039236768573,1.326127776059982]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[-0.5406286942504839,0.6037162688275566,0.71338606911949],"aabb_xy":[[-0.5535005977514239,0.5237162684137204],[-0.5277567907495436,0.6837162692413927]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933546128627918,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2325.png","name":"2325"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3819.png","name":"3819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3202.png","name":"3202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":732.8080972561692,"rotation_z_degrees":56.20894966813778,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01915340385563281,-0.017444320522496143,0.0020946578875355483]},{"name":"camera_2","offset_m":[-0.01676263925919073,-0.01823040521733863,-0.013380962109863321]},{"name":"camera_3","offset_m":[0.011858570251545127,-0.005179689711519716,0.014445917584413787]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018673249928309087,-0.001105403961171544,-0.000657679883139144],"end_effector_yaw_offset_degrees":-0.06953735901654978},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003942991093725673,-0.0010123405972316708,0.0012891215555715378],"end_effector_yaw_offset_degrees":0.5229712111578833},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010629849764792003,0.0001301185818522099,-5.778273986674289e-05],"end_effector_yaw_offset_degrees":0.45919242606392574}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00021783558483978033,-0.0006501235757706272],"position_m":[0.31008216441516023,0.09044987642422937,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023170542373165616,-0.0035880234154142187],"position_m":[0.31068294576268346,-0.11988802341541421,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002821130882813859,-0.0026665680654083136],"position_m":[0.3579211308828139,0.2940334319345917,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007034002454121627,0.0012036282879846361],"position_m":[0.24329659975458784,-0.35059637171201535,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"be5a73dc09f723c29a57143bf6f6c917e845a5f6b0497c429630d2cdd26bcf6c","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5252/tex_ceiling_textures_1606/tex_floor_textures_3202/tex_table_textures_2325/tex_wall_textures_3819","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7402120375532646226,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7402120375532646226,"visual_seed":7402120375532646226,"scene_id":"lab_003","finished_at":"2026-09-03T10:36:06"} +{"episode_id":"ep_000057","started_at":"2026-09-03T10:41:35","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.28171381342090945,1.3697428140502828,0.71338606911949],"aabb_xy":[[-0.30671381258654257,1.362790568344926],[-0.25671381425527634,1.376695059755639]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.5650998881709306,0.8055293678726696,0.71338606911949],"aabb_xy":[[0.5074694192836596,0.7455293689459589],[0.6227303570582013,0.86552936679938]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.3893086977098994,-1.1508747007601454,0.71338606911949],"aabb_xy":[[0.38560543638076045,-1.1545767190688632],[0.39301195903903824,-1.1471726824514277]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.3952367543234745,0.4943383357875244,0.71338606911949],"aabb_xy":[[0.3727403328896104,0.471838335980777],[0.4177331757573386,0.5168383355942718]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.38680634928900853,-2.2555212452587194,0.71338606911949],"aabb_xy":[[-0.3949200039623856,-2.2636270617127483],[-0.3786926946156314,-2.2474154288046906]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.2676350969471287,0.7726667071286988,0.71338606911949],"aabb_xy":[[0.261598083946464,0.7666400060597508],[0.27367210994779345,0.7786934081976472]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.5589716873596877,-1.14057239010002,0.71338606911949],"aabb_xy":[[0.5418696094013196,-1.1576791956312897],[0.5760737653180559,-1.1234655845687502]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.02593432553778141,-2.578185792480613,0.71338606911949],"aabb_xy":[[-0.060934323807901314,-2.585259920175601],[0.009065672732338496,-2.5711116647856245]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.548415889605867,0.8596882057155191,0.71338606911949],"aabb_xy":[[-0.6134158922436604,0.8082086070160721],[-0.48341588696807347,0.911167804414966]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.5446893691485806,-1.0901010554978634,0.71338606911949],"aabb_xy":[[-0.5996893687703264,-1.1450847482853364],[-0.48968936952683473,-1.035117362710391]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.5554721924171702,-0.8063878265580937,0.71338606911949],"aabb_xy":[[0.46547219591629835,-0.8522994689765518],[0.6454721889180418,-0.7604761841396354]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[0.3118485894546692,-2.2163592496411084,0.71338606911949],"aabb_xy":[[0.2915642867312704,-2.2366418747838166],[0.3321328921780679,-2.1960766244983985]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[0.07893094911776866,-2.3001233204434346,0.71338606911949],"aabb_xy":[[0.07479509278506846,-2.3376233198877916],[0.08306680545046885,-2.2626233209990776]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.5604403483469901,0.15615061360006388,0.71338606911949],"aabb_xy":[[-0.5829403485905055,0.14394597894029196],[-0.5379403481034747,0.16835524825983586]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.37761994317286696,-1.480439667517717,0.71338606911949],"aabb_xy":[[-0.3837145710609853,-1.4890090620693857],[-0.37152531528474864,-1.4718702729660482]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.19970456004214254,-1.2736790475773168,0.71338606911949],"aabb_xy":[[-0.2797045572017178,-1.2852266485351338],[-0.1197045628825672,-1.2621314466194997]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.5335978980853712,-0.8319309316844321,0.71338606911949],"aabb_xy":[[-0.55271020544335,-0.851065710561674],[-0.5144855907273923,-0.81279615280719]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.5602948094914668,-0.5014304688866105,0.71338606911949],"aabb_xy":[[0.4962948092174885,-0.5514965690838984],[0.6242948097654449,-0.4513643686893225]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.06758638773347647,0.7254597383181287,0.71338606911949],"aabb_xy":[[0.059371842617792485,0.7167831480204871],[0.07580093284916044,0.7341363286157698]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.5438404838145965,-1.7838783861768592,0.71338606911949],"aabb_xy":[[-0.577280659010616,-1.817322012007789],[-0.5104003086185768,-1.750434760345929]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.5718411984945805,-2.1782558429021646,0.71338606911949],"aabb_xy":[[-0.6018087554044061,-2.2082558432000505],[-0.5418736415847548,-2.1482558426042786]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.6780245093685946,-0.4827988716334253,0.71338606911949],"aabb_xy":[[0.6661524263570935,-0.5677988713270756],[0.6898965923800957,-0.3977988719397749]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.29256814749438165,-2.5362412027870898,0.71338606911949],"aabb_xy":[[-0.29960959844512924,-2.543267954524884],[-0.28552669654363405,-2.5292144510492953]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.16663164427615185,0.9283420631690498,0.71338606911949],"aabb_xy":[[-0.2306316466189534,0.8834012119249174],[-0.1026316419333503,0.9732829144131824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902537614175523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3198.png","name":"3198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5009.png","name":"5009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3018.png","name":"3018"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/542.png","name":"542"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":673.8715347125815,"rotation_z_degrees":298.69787271529384,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007074536693864047,0.009045250988368728,0.001252788130841842]},{"name":"camera_2","offset_m":[-0.0010384473396818014,-0.006043489128036414,0.01914945864859219]},{"name":"camera_3","offset_m":[-0.018999642249461383,-0.019707109722182894,0.01655707521921716]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012469080970873366,0.001824915998601235,-0.0011713383299085142],"end_effector_yaw_offset_degrees":-0.1928775615309386},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001206846056901788,0.0010116156390859521,0.0018737861142111016],"end_effector_yaw_offset_degrees":-0.7957635014014288},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-8.923135979417964e-05,-0.0007878373616508028,-0.00018887142269225963],"end_effector_yaw_offset_degrees":-0.7081321207795934}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002119071412039394,-0.004464043446924066],"position_m":[0.3124190714120394,0.08663595655307593,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033905632938695087,-0.004894541175539176],"position_m":[0.3096094367061305,-0.12119454117553918,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00036151896329326104,-0.003183267840495849],"position_m":[0.35473848103670674,0.2935167321595042,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003946334262724877,0.00299150872948276],"position_m":[0.24005366573727513,-0.3488084912705172,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b2321e6c5dd3b17d75ed03b890b3567e1efc493fa918fdcb882493f69d577d8","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1160/tex_ceiling_textures_542/tex_floor_textures_3018/tex_table_textures_3198/tex_wall_textures_5009","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2298885610887330572,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2298885610887330572,"visual_seed":2298885610887330572,"scene_id":"lab_003","finished_at":"2026-09-03T10:44:05"} +{"episode_id":"ep_000058","started_at":"2026-09-03T10:44:09","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.5233380968578785,-0.41004485091205556,0.71338606911949],"aabb_xy":[[0.5192599389508288,-0.4141258311603188],[0.5274162547649281,-0.4059638706637922]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.63394508517598,1.552390229823064,0.71338606911949],"aabb_xy":[[0.6221768983813226,1.4673902299178425],[0.6457132719706377,1.6373902297282859]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.1788504823660263,-1.4036378390902813,0.71338606911949],"aabb_xy":[[0.16296598910070115,-1.4179907793891053],[0.19473497563135145,-1.3892848987914572]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.17717695875178063,1.261652040063924,0.71338606911949],"aabb_xy":[[0.1428606815771627,1.211652040090746],[0.21149323592639857,1.3116520400371015]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.5054471616985279,-2.5342997000761662,0.71338606911949],"aabb_xy":[[0.4354471652885659,-2.5547376357278475],[0.5754471581084895,-2.513861764424484]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.6078154604837218,-0.14470923364161337,0.71338606911949],"aabb_xy":[[-0.6453154612757173,-0.1510770745998035],[-0.5703154596917264,-0.1383413926834233]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.5866066970090926,-0.29668896085924956,0.71338606911949],"aabb_xy":[[0.5740039978720162,-0.30928435708411506],[0.5992093961461691,-0.28409356463438407]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.11117403545366844,-2.14202215362349,0.71338606911949],"aabb_xy":[[-0.1751740386723063,-2.188745265522498],[-0.04717403223503058,-2.0952990417244814]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.24226372200614354,1.4055406909441888,0.71338606911949],"aabb_xy":[[0.22535298956980174,1.3920684853515741],[0.25917445444248527,1.4190128965368034]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.504179264109181,-0.7832176639351425,0.71338606911949],"aabb_xy":[[-0.5541792627551022,-0.8331372075946047],[-0.4541792654632598,-0.73329812027568]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.4943065734228065,1.6477301970902132,0.71338606911949],"aabb_xy":[[-0.5311012065477128,1.6108243219936307],[-0.45751194029790027,1.6846360721867952]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.663048631867615,-0.7273966798876135,0.71338606911949],"aabb_xy":[[0.6454157962740873,-0.7450196259032364],[0.6806814674611424,-0.7097737338719905]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.050110972395297715,-1.0238634524751151,0.71338606911949],"aabb_xy":[[0.04248670430511947,-1.0314966760116588],[0.057735240485475965,-1.0162302289385714]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.40413814571623924,-1.291273705977647,0.71338606911949],"aabb_xy":[[-0.4391381449090574,-1.3022407519753092],[-0.36913814652342086,-1.2803066599799842]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.3614060685076592,-1.2607670425192792,0.71338606911949],"aabb_xy":[[0.31140606755712635,-1.2923161895228004],[0.41140606945819197,-1.2292178955157576]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[-0.2914438787758911,-0.6986330951810307,0.71338606911949],"aabb_xy":[[-0.3030128595228277,-0.7236330952979625],[-0.27987489802895454,-0.6736330950640991]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.5758852152877901,-0.31481008912627706,0.71338606911949],"aabb_xy":[[-0.6658852138822601,-0.33106067543969814],[-0.4858852166933202,-0.2985595028128561]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.16204101841009744,1.5114136086819205,0.71338606911949],"aabb_xy":[[0.09804101673210006,1.4628962172026063],[0.22604102008809476,1.5599310001612348]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.33653913270154023,-2.328281188050431,0.71338606911949],"aabb_xy":[[-0.34380038027194765,-2.3410681983139403],[-0.3292778851311328,-2.3154941777869213]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.2636767648255831,-0.8167659117043571,0.71338606911949],"aabb_xy":[[-0.274517243052098,-0.8339521929950059],[-0.2528362865990682,-0.7995796304137083]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.3566761736857793,1.483808755925923,0.71338606911949],"aabb_xy":[[0.3139094668063591,1.4198087525041205],[0.3994428805651995,1.5478087593477254]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.47216412381577244,-2.271987735745351,0.71338606911949],"aabb_xy":[[-0.5521641248888928,-2.281765782082736],[-0.3921641227426521,-2.262209689407967]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[0.5879743464472571,1.40312477116276,0.71338606911949],"aabb_xy":[[0.5736399213210936,1.391064555608221],[0.6023087715734206,1.4151849867172988]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.5404936324479181,1.7648961059979773,0.71338606911949],"aabb_xy":[[0.48049363194006517,1.708049372312056],[0.600493632955771,1.8217428396838986]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[-0.5784846630114604,0.6338792617681559,0.71338606911949],"aabb_xy":[[-0.6153352109484481,0.5963792609451222],[-0.5416341150744729,0.6713792625911896]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[0.15511707890999715,-2.4697111285102995,0.71338606911949],"aabb_xy":[[0.12065473151185531,-2.5042050109081213],[0.1895794263081389,-2.435217246112476]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[0.01650752792021215,1.3717671115651262,0.71338606911949],"aabb_xy":[[-0.020992472577146096,1.3677984280170077],[0.054007528417570394,1.3757357951132447]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[0.49099858781185324,1.5797842127931623,0.71338606911949],"aabb_xy":[[0.4534985892362324,1.5670479171296043],[0.5284985863874739,1.5925205084567202]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[-0.005602526139184771,0.9481718362942888,0.71338606911949],"aabb_xy":[[-0.02888436833731611,0.8631718349970607],[0.017679316058946567,1.0331718375915169]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_29","position":[0.4838147291615664,0.7216317826539833,0.71338606911949],"aabb_xy":[[0.47885870897668537,0.6991317824518618],[0.4887707493464477,0.744131782856105]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946605557917952,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9177.png","name":"9177"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9177.png","name":"9177"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6609.png","name":"6609"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1840.png","name":"1840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6525.png","name":"6525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6023.png","name":"6023"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":807.6836643683927,"rotation_z_degrees":265.458218178752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01388782300046429,-0.01403245315411819,0.0041341206296651445]},{"name":"camera_2","offset_m":[-0.002201516385732672,-0.006446001558558678,0.0057409471133185695]},{"name":"camera_3","offset_m":[-0.007978551785269712,0.005154188771832255,0.0015819387326166008]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006961592747132884,0.0009541278133150945,2.410430030751849e-05],"end_effector_yaw_offset_degrees":0.016940024472068993},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008551795370087007,0.0012964783981949356,-7.565828030152541e-05],"end_effector_yaw_offset_degrees":-0.4313930078723358},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017277114454665701,0.0016892118509808196,-0.0005458236313967363],"end_effector_yaw_offset_degrees":-0.39626823054289173}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012921728804440235,-0.0012401390974192228],"position_m":[0.309007827119556,0.08985986090258077,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00040686983737826723,0.0005977769025158645],"position_m":[0.31340686983737825,-0.11570222309748414,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036795568834211345,-0.0014212450474829197],"position_m":[0.35877955688342117,0.2952787549525171,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003267174789018147,0.002189502092575823],"position_m":[0.24367328252109818,-0.34961049790742416,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad36f6d82e3bb3ad4aed0c08030ea96a225ad130271598fc85222b25731bedb1","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9177/tex_ceiling_textures_6023/tex_floor_textures_6525/tex_table_textures_6609/tex_wall_textures_1840","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1303991595319054486,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1303991595319054486,"visual_seed":1303991595319054486,"scene_id":"lab_003","finished_at":"2026-09-03T10:46:35"} +{"episode_id":"ep_000059","started_at":"2026-09-03T10:48:02","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.48210766301037,1.0334570428199985,0.71338606911949],"aabb_xy":[[0.3921076593334517,0.9720246362428937],[0.5721076666872881,1.0948894493971024]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.050575299546950836,-0.7911740739643631,0.71338606911949],"aabb_xy":[[0.017096132285909907,-0.8246531873354702],[0.08405446680799178,-0.7576949605932563]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.23936370166529886,-0.23514142452227826,0.71338606911949],"aabb_xy":[[-0.2697618127644424,-0.2655483265239478],[-0.20896559056615524,-0.20473452252060878]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.2822667620557938,1.8234282462294753,0.71338606911949],"aabb_xy":[[0.2740522169401097,1.8147516559318337],[0.2904813071714777,1.8321048365271164]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.527488312125541,-0.5172437830879462,0.71338606911949],"aabb_xy":[[-0.6124883108176157,-0.549229646482825],[-0.4424883134334664,-0.4852579196930673]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.5618887662115619,-0.6901799662702428,0.71338606911949],"aabb_xy":[[-0.6118887656517575,-0.740147890754559],[-0.5118887667713663,-0.6402120417859264]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.12170792114324602,-1.6197717768774444,0.71338606911949],"aabb_xy":[[0.04171409756468779,-1.699771779470286],[0.20170174472180424,-1.5397717742846029]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.08285535764698604,-1.932626414057876,0.71338606911949],"aabb_xy":[[-0.16285535480656133,-1.9441740150156928],[-0.002855360487410738,-1.9210788131000587]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.6991788665014087,1.7645572845000221,0.71338606911949],"aabb_xy":[[0.6865520792142122,1.755011210798449],[0.7118056537886049,1.7741033582015948]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.4334413740481818,1.4821223179776069,0.71338606911949],"aabb_xy":[[-0.43994301055618645,1.472354495951297],[-0.4269397375401772,1.4918901400039166]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.1547596127794486,-2.0373820032487364,0.71338606911949],"aabb_xy":[[0.08475960938788661,-2.072697776952167],[0.22475961617101056,-2.002066229545305]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.5874810902699092,1.4879629835162587,0.71338606911949],"aabb_xy":[[-0.5951842809439862,1.48025361281752],[-0.5797778995958323,1.4956723542149963]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.390964697695784,-1.1597012593649019,0.71338606911949],"aabb_xy":[[-0.4259646968257397,-1.165446480440566],[-0.35596469856582835,-1.1539560382892378]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.09244720481280433,1.410598456399721,0.71338606911949],"aabb_xy":[[-0.09740322499768554,1.3880984561975995],[-0.08749118462792313,1.4330984566018428]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.380949558605693,1.597149440258796,0.71338606911949],"aabb_xy":[[0.31694955834522215,1.552140640905868],[0.4449495588661638,1.642158239611724]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.05346022992066379,-2.073877686699863,0.71338606911949],"aabb_xy":[[-0.08792270793375156,-2.080541363882785],[-0.018997751907576015,-2.0672140095169396]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.5579521302681589,-2.080528517835879,0.71338606911949],"aabb_xy":[[0.5523704586340301,-2.0930285176536545],[0.5635338019022877,-2.068028518018104]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.42925660021145506,-1.7777904311274282,0.71338606911949],"aabb_xy":[[-0.47922966574397063,-1.8277904309399615],[-0.3792835346789397,-1.7277904313148957]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.1952240546780889,-0.9784268952188422,0.71338606911949],"aabb_xy":[[0.17759121908456127,-0.996049841234465],[0.21285689027161642,-0.9608039492032191]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.43834212981866494,-1.075402589175331,0.71338606911949],"aabb_xy":[[0.4349014535786079,-1.0792640221496954],[0.4417828060587222,-1.0715411562009665]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.6998224439735854,-0.7691187507127453,0.71338606911949],"aabb_xy":[[0.6823224437142488,-0.783210292901518],[0.717322444232922,-0.7550272085239728]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.22601315517887743,0.6992858848642824,0.71338606911949],"aabb_xy":[[0.1838287410180467,0.6352858845870712],[0.2681975693397082,0.7632858851414936]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.13058492746763517,-1.099603377861612,0.71338606911949],"aabb_xy":[[0.11030062474423642,-1.1198860030043205],[0.15086923019103393,-1.0793207527189028]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.2855059295260858,-1.8141199586331365,0.71338606911949],"aabb_xy":[[0.26859519708974394,-1.8275921642257509],[0.3024166619624275,-1.800647753040522]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[-0.45166577993872875,0.9775360450061625,0.71338606911949],"aabb_xy":[[-0.516665781044672,0.9525706719380341],[-0.38666577883278547,1.0025014180742908]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.5850052526892111,0.26662979052814295,0.71338606911949],"aabb_xy":[[0.5515650774931914,0.23318616469721284],[0.6184454278852306,0.300073416359073]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[-0.02601566360944252,0.2378215004308588,0.71338606911949],"aabb_xy":[[-0.04929750580757385,0.15282149913363072],[-0.0027338214113111765,0.3228215017280868]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[-0.12477967243997046,-1.544826504494266,0.71338606911949],"aabb_xy":[[-0.13074621138070625,-1.5507876491536299],[-0.11881313349923468,-1.5388653598349016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909796530627308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2902.png","name":"2902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2902.png","name":"2902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1702.png","name":"1702"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3113.png","name":"3113"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2853.png","name":"2853"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4345.png","name":"4345"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.8774251354623,"rotation_z_degrees":180.8122449926039,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009610669746871619,0.016859793970899314,-0.0014549203277321524]},{"name":"camera_2","offset_m":[0.0059524639200595995,0.019831647463356184,0.01508631256829365]},{"name":"camera_3","offset_m":[-0.0029295293706179636,-0.015162951945713567,-0.010557341681398005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009667062623875968,-0.00043996289170761217,-0.00025498134923432943],"end_effector_yaw_offset_degrees":-0.15710779029629895},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012582121947392424,-0.000568890152495762,0.00048442672754456977],"end_effector_yaw_offset_degrees":0.2648560493292542},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-9.290253383999626e-05,-0.0006552841294589116,-0.0008091685146237961],"end_effector_yaw_offset_degrees":0.08765154094140382}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024382206168406906,-0.0032328602579540545],"position_m":[0.30786177938315934,0.08786713974204595,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024732641516691635,-0.0036355676939090285],"position_m":[0.31052673584833085,-0.11993556769390903,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011997144475027754,-0.004806979886921304],"position_m":[0.3562997144475028,0.2918930201130787,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003563890973535066,-6.906840877386831e-05],"position_m":[0.24756389097353507,-0.35186906840877386,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"12d918a23b614717968863fa7a5ebd1565336b027fd6c43f5f7a28384f52d16b","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0103.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2902/tex_ceiling_textures_4345/tex_floor_textures_2853/tex_table_textures_1702/tex_wall_textures_3113","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6715330708644242152,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6715330708644242152,"visual_seed":6715330708644242152,"scene_id":"lab_003","finished_at":"2026-09-03T10:50:41"} +{"episode_id":"ep_000060","started_at":"2026-09-03T10:52:04","dimensions":{"distractor":{"count":27,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.4477238745431292,-2.1090926667668137,0.71338606911949],"aabb_xy":[[-0.5377238782200472,-2.170525073343917],[-0.35772387086621094,-2.0476602601897085]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.6434441570475289,-0.5567588529859853,0.71338606911949],"aabb_xy":[[0.638600562286299,-0.5616105054649694],[0.648287751808759,-0.5519072005070011]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.5661805562728555,0.45606911567787645,0.71338606911949],"aabb_xy":[[0.548387049337939,0.4382693700820787],[0.5839740632077719,0.47386886127367406]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.13194009813514096,0.9250337978456251,0.71338606911949],"aabb_xy":[[-0.21194010139298392,0.8450372900536411],[-0.051940094877298004,1.005030305637609]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.2000330588884498,1.5248261735399038,0.71338606911949],"aabb_xy":[[0.1937209593521114,1.5190592342866849],[0.20634515842478826,1.5305931127931227]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.524952389002104,-0.48493404562141285,0.71338606911949],"aabb_xy":[[0.5097802197204706,-0.5001029025496162],[0.5401245582837373,-0.4697651886932095]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.6296244349587978,0.5743686160531616,0.71338606911949],"aabb_xy":[[0.5846318482403473,0.5293686167787128],[0.6746170216772481,0.6193686153276103]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.415676077890752,-1.8919025020880118,0.71338606911949],"aabb_xy":[[0.374371534827016,-1.9559025016561287],[0.456980620954488,-1.8279025025198945]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[-0.3678839797887367,1.2496263182174392,0.71338606911949],"aabb_xy":[[-0.43788398242532306,1.2295214532215735],[-0.29788397715215037,1.2697311832133045]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.5104454657709931,-0.4216932833916056,0.71338606911949],"aabb_xy":[[-0.5279454660303299,-0.4357848255803783],[-0.49294546551165663,-0.40760174120283305]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.39950872913814073,1.6430471996489255,0.71338606911949],"aabb_xy":[[0.33550873055156827,1.5960402362494168],[0.4635087277247132,1.6900541630484343]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.6871692600696269,0.11851285060451522,0.71338606911949],"aabb_xy":[[-0.6935830737128117,0.11210303035684686],[-0.6807554464264418,0.12492267085218355]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.546208849264965,0.6333704667786626,0.71338606911949],"aabb_xy":[[-0.5550109045739378,0.6255591406237334],[-0.5374067939559923,0.6411817929335916]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.3756935073803296,-0.7882867260856392,0.71338606911949],"aabb_xy":[[-0.43969350466597823,-0.8297934450384833],[-0.31169351009468094,-0.7467800071327954]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.42864210408225545,0.32903610890391777,0.71338606911949],"aabb_xy":[[-0.466142103899289,0.3243978975927759],[-0.3911421042652219,0.33367432021505955]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.18439780180242293,-1.7249362680865281,0.71338606911949],"aabb_xy":[[-0.2343766103127388,-1.774936268092247],[-0.13441899329210702,-1.6749362680808093]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.15889201410441445,0.1400337900002775,0.71338606911949],"aabb_xy":[[-0.1938920140809103,0.13056917395266088],[-0.12389201412791864,0.1494984060478941]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.02288071242715506,-1.3598288030376873,0.71338606911949],"aabb_xy":[[-0.013913920697751214,-1.3967346781342693],[0.05967534555206133,-1.3229229279411048]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.41390750514558294,0.6878967930522646,0.71338606911949],"aabb_xy":[[-0.4589075066118118,0.6428969361907839],[-0.36890750367935404,0.7328966499137453]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.09100839930657534,-2.3639083264624206,0.71338606911949],"aabb_xy":[[0.011008401325790297,-2.3715098674242725],[0.1710083972873604,-2.3563067855005686]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.29401702454584866,-1.5555911149072055,0.71338606911949],"aabb_xy":[[0.28580247943016457,-1.5642677052048466],[0.30223156966153253,-1.546914524609564]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[0.4800036254658573,1.1067720932410174,0.71338606911949],"aabb_xy":[[0.4707100072287067,1.0692720947528835],[0.48929724370300787,1.1442720917291513]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.14666186280464732,0.4766383569632402,0.71338606911949],"aabb_xy":[[-0.21166186096056638,0.450342112413328],[-0.08166186464872827,0.5029346015131524]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[0.024097680924561105,1.129835999053371,0.71338606911949],"aabb_xy":[[0.0038133782011623425,1.109553373910662],[0.04438198364795986,1.1501186241960797]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.5103091548224599,0.22678887157474348,0.71338606911949],"aabb_xy":[[0.4728091546505879,0.19408813619183626],[0.5478091549943318,0.25948960695765066]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.5436975169756664,-1.725324575456647,0.71338606911949],"aabb_xy":[[-0.5897826082303977,-1.7893245727092024],[-0.49761242572093484,-1.6613245782040922]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.48956812989606957,-1.0240860969595331,0.71338606911949],"aabb_xy":[[-0.5096265415093097,-1.0441511838686908],[-0.4695097182828292,-1.0040210100503755]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856919433925714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3976.png","name":"3976"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3976.png","name":"3976"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4440.png","name":"4440"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8805.png","name":"8805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/551.png","name":"551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6324.png","name":"6324"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":810.2564716688219,"rotation_z_degrees":295.0704487595737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006869845076029928,-0.01803107434090862,0.00300182248924517]},{"name":"camera_2","offset_m":[0.013984116581485451,0.011679562862941372,0.005198192468188673]},{"name":"camera_3","offset_m":[0.014241125794097424,0.013698183495210573,-0.011990554700315167]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013207648107600761,-0.0016304702625004816,-0.00043918051800297857],"end_effector_yaw_offset_degrees":0.545960502033956},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-6.913651283191866e-05,-0.00033538760710807793,0.0006307476792228157],"end_effector_yaw_offset_degrees":0.6309099828679088},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001503774877341944,-0.0012282894690873788,-0.0019023231224393115],"end_effector_yaw_offset_degrees":-0.7439016465090991}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018434803721775707,0.00012638381617594788],"position_m":[0.30845651962782245,0.09122638381617595,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008071512054120536,-0.0039058541255368763],"position_m":[0.313807151205412,-0.12020585412553687,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004772730413049347,-0.004522816548758015],"position_m":[0.3503272695869507,0.292177183451242,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004479516328213341,-0.0011627021414405228],"position_m":[0.23952048367178666,-0.35296270214144054,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c77573da17a4796282bbd74e19dfe75fe272b166a30d5984f7a0fcaa5975a88","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3976/tex_ceiling_textures_6324/tex_floor_textures_551/tex_table_textures_4440/tex_wall_textures_8805","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6302364446587093032,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6302364446587093032,"visual_seed":6302364446587093032,"scene_id":"lab_003","finished_at":"2026-09-03T10:54:34"} +{"episode_id":"ep_000061","started_at":"2026-09-03T10:54:37","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[-0.08567895994326913,1.4914976767011967,0.71338606911949],"aabb_xy":[[-0.10819265176672631,1.421497676100189],[-0.06316526811981192,1.561497677302204]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.5740194677672295,1.6375454964095186,0.71338606911949],"aabb_xy":[[0.5240246348392879,1.587545497514275],[0.624014300695171,1.6875454953047622]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.23043461891906414,0.5225904769750755,0.71338606911949],"aabb_xy":[[0.20852593677971304,0.5006898101549848],[0.2523433010584151,0.5444911437951663]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.5300788036519906,1.4856455147736605,0.71338606911949],"aabb_xy":[[-0.5625405045339178,1.4555126826587577],[-0.49761710277006294,1.5157783468885628]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.5183429760324452,-0.19894125105541294,0.71338606911949],"aabb_xy":[[0.45334297503194465,-0.24972761621008788],[0.5833429770329457,-0.148154885900738]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.381071953530114,-1.234498926048052,0.71338606911949],"aabb_xy":[[-0.45107195616670037,-1.2546037910439172],[-0.3110719508935277,-1.2143940610521862]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.18794228843182093,1.8113631684191174,0.71338606911949],"aabb_xy":[[0.17753072975133719,1.8060174350832188],[0.1983538471123046,1.8167089017550155]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.5636116986064241,-1.731650366702583,0.71338606911949],"aabb_xy":[[0.5164823196045883,-1.7956503677469848],[0.6107410776082597,-1.667650365658181]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.4450693565964525,-0.6666038963450109,0.71338606911949],"aabb_xy":[[0.3810693574266826,-0.7133705834639734],[0.5090693557662225,-0.6198372092260485]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.006790461495878475,-2.054997249562281,0.71338606911949],"aabb_xy":[[-0.05679046244641128,-2.086546396565802],[0.04320953945465433,-2.0234481025587594]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.1166431457149566,-0.3188827831789012,0.71338606911949],"aabb_xy":[[-0.18064314598893483,-0.36894888337618914],[-0.05264314544097837,-0.2688166829816132]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.19208137203740205,1.5187510829566775,0.71338606911949],"aabb_xy":[[-0.20077933432811734,1.5066261086492028],[-0.18338340974668674,1.5308760572641522]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.15105902982092523,-2.1529194486038,0.71338606911949],"aabb_xy":[[0.10108596428840977,-2.202919448416333],[0.20103209535344072,-2.1029194487912672]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.26216275128059585,0.6511804551548059,0.71338606911949],"aabb_xy":[[-0.2797094461967148,0.6136804535905548],[-0.24461605636447692,0.6886804567190573]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.5311969197576558,0.017770303830149103,0.71338606911949],"aabb_xy":[[0.49369691857286296,0.01335208113408856],[0.5686969209424485,0.022188526526209642]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.1498474806839738,-1.842263862979728,0.71338606911949],"aabb_xy":[[-0.1596034701931477,-1.8520263970389623],[-0.1400914911747999,-1.8325013289204934]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.7162444690664582,-2.169964971309463,0.71338606911949],"aabb_xy":[[0.7089621526897943,-2.259964974918971],[0.7235267854431217,-2.079964967699953]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.603320546813809,-1.2026905582410317,0.71338606911949],"aabb_xy":[[0.5952942761831831,-1.2114420532183843],[0.6113468174444351,-1.193939063263679]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.16235326409454287,-0.6544852598719364,0.71338606911949],"aabb_xy":[[-0.2263532612066486,-0.703517629666347],[-0.09835326698243721,-0.6054528900775258]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.5852474078835246,-1.4967750706065248,0.71338606911949],"aabb_xy":[[0.5352474075229584,-1.5467550578161275],[0.6352474082440905,-1.4467950833969216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874748963352963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7754.png","name":"7754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7754.png","name":"7754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5651.png","name":"5651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7262.png","name":"7262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7941.png","name":"7941"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8972.png","name":"8972"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":680.8560412539753,"rotation_z_degrees":207.89474929564193,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014733796982485843,-0.01451433291844293,0.0035594532669703527]},{"name":"camera_2","offset_m":[-0.006697245944172038,0.017930644894504657,0.018487928135380086]},{"name":"camera_3","offset_m":[0.0030338867705773202,0.011578826481316775,-0.001670045815198997]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005265592076263747,0.0005466211182661926,0.0007782778403120048],"end_effector_yaw_offset_degrees":0.1954151653257905},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000694255637925727,0.0008099780878076035,0.0004305746902689201],"end_effector_yaw_offset_degrees":-0.9522462986617248},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005078797888510671,-0.0008364008956559012,0.00029883412809517985],"end_effector_yaw_offset_degrees":0.12240805808893929}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010204732637586608,-0.004778814183513387],"position_m":[0.31132047326375867,0.08632118581648661,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003977931015282112,9.246145853785727e-05],"position_m":[0.3169779310152821,-0.11620753854146214,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030585902152920506,-0.003977940262919902],"position_m":[0.352041409784708,0.2927220597370801,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013729703221105252,-0.004092768056170227],"position_m":[0.24262702967788946,-0.3558927680561702,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4fb6863d289a13c8c7fd0d1386caba679b0d124d1653a22c0b45fa81bbe0e101","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7754/tex_ceiling_textures_8972/tex_floor_textures_7941/tex_table_textures_5651/tex_wall_textures_7262","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3663579485836587814,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3663579485836587814,"visual_seed":3663579485836587814,"scene_id":"lab_003","finished_at":"2026-09-03T10:57:11"} +{"episode_id":"ep_000062","started_at":"2026-09-03T10:57:14","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.3852017150200209,-0.5094284424926117,0.71338606911949],"aabb_xy":[[0.37585470743772564,-0.5237320647102557],[0.3945487226023161,-0.4951248202749676]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[0.4621980683771372,-1.7895178239000347,0.71338606911949],"aabb_xy":[[0.4123153714994411,-1.8395178231463096],[0.5120807652548335,-1.7395178246537601]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.5341175371647924,0.48325758343692016,0.71338606911949],"aabb_xy":[[-0.5422452253581057,0.47434397502621256],[-0.5259898489714793,0.49217119184762786]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.07165422166496449,-0.1441994068686414,0.71338606911949],"aabb_xy":[[-0.12164923262441654,-0.19419940590423315],[-0.02165921070551247,-0.0941994078330497]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.32929241079053395,-1.0276364189181224,0.71338606911949],"aabb_xy":[[0.2652924143632121,-1.074806042740219],[0.3932924072178559,-0.9804667950960262]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.25694567418579994,-2.4061625463066934,0.71338606911949],"aabb_xy":[[0.16694567185178089,-2.4836449008918065],[0.346945676519819,-2.328680191721581]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.6327686128059968,-0.27090328106571704,0.71338606911949],"aabb_xy":[[-0.669563245930903,-0.3078091561622993],[-0.5959739796810904,-0.23399740596913476]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.635342033448878,-1.767814501330914,0.71338606911949],"aabb_xy":[[0.6283005824981304,-1.7748412530687088],[0.6423834843996256,-1.7607877495931195]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.1681266846735694,1.6700244175357528,0.71338606911949],"aabb_xy":[[-0.17742030291071997,1.632524419047619],[-0.1588330664364188,1.7075244160238867]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.3761743601210561,1.6970480872698563,0.71338606911949],"aabb_xy":[[0.33867435932906065,1.6906802463116661],[0.41367436091305154,1.7034159282280465]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.5684263669118346,0.6251485623318178,0.71338606911949],"aabb_xy":[[0.5184263658926994,0.5886823465939899],[0.61842636793097,0.6616147780696457]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.4764985559584348,-1.4955293154292888,0.71338606911949],"aabb_xy":[[-0.5089602568403622,-1.5256621475441912],[-0.44403685507650736,-1.465396483314386]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.12290713392537389,-1.7875807736419977,0.71338606911949],"aabb_xy":[[-0.15123684387391412,-1.7920415158357152],[-0.09457742397683366,-1.7831200314482811]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.06276638926434697,0.5822157556170522,0.71338606911949],"aabb_xy":[[-0.06740150441658034,0.5783484205399034],[-0.05813127411211357,0.5860830906942007]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.48138320270176205,-0.6416637535626148,0.71338606911949],"aabb_xy":[[-0.5363754533372731,-0.6966637553059276],[-0.42639095206625116,-0.5866637518193021]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.28648368623640097,-1.8363229199728024,0.71338606911949],"aabb_xy":[[0.27333244026511166,-1.8613229197294894],[0.2996349322076904,-1.8113229202161163]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.6336365875287662,1.4755487647957692,0.71338606911949],"aabb_xy":[[0.6031523374017359,1.425548765014273],[0.6641208376557962,1.525548764577265]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.22172099210618845,-0.8166479478805322,0.71338606911949],"aabb_xy":[[-0.2695271597199571,-0.881647950587591],[-0.17391482449241982,-0.7516479451734731]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.4537794900789678,-0.8880994225857866,0.71338606911949],"aabb_xy":[[0.4162794915033469,-0.9008357182493445],[0.49127948865458854,-0.8753631269222286]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.6214294174879547,1.0297540336946156,0.71338606911949],"aabb_xy":[[0.5840981409627122,0.9951009788997633],[0.6587606940131974,1.0644070884894679]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888321254018107,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9690.png","name":"9690"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9690.png","name":"9690"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/965.png","name":"965"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5937.png","name":"5937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4380.png","name":"4380"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2483.png","name":"2483"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":749.5179877299395,"rotation_z_degrees":130.71895093666225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004254654732989728,-0.0056448748678348485,-0.0017963485949198978]},{"name":"camera_2","offset_m":[0.012319954285446164,0.0033207799771752013,0.016693115349629636]},{"name":"camera_3","offset_m":[-0.009839960643151336,-0.01373524482369175,-0.015878598051293574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010470031091735117,0.001231326455497487,0.0019665675721735046],"end_effector_yaw_offset_degrees":-0.6202660297809421},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004787330741641382,0.0014099402055856567,0.001813388089351724],"end_effector_yaw_offset_degrees":0.2512142625260658},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[1.2389323524652617e-05,0.000339086392004979,-0.001524042626084431],"end_effector_yaw_offset_degrees":0.2559991722773858}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001742342666104073,-0.0017429543946358142],"position_m":[0.3120423426661041,0.08935704560536419,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022895149410787495,-0.0006324409119351062],"position_m":[0.31071048505892124,-0.11693244091193511,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016000731569385139,-0.003890292453587274],"position_m":[0.35349992684306153,0.2928097075464127,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002073236981115257,-0.0024208326816733405],"position_m":[0.24192676301888474,-0.35422083268167337,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"702e4bbfbd92a5d8c14b3eefd993a5f49f86572d5e3558e73a58933748e2e1f0","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0107.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9690/tex_ceiling_textures_2483/tex_floor_textures_4380/tex_table_textures_965/tex_wall_textures_5937","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5418641759501445634,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5418641759501445634,"visual_seed":5418641759501445634,"scene_id":"lab_003","finished_at":"2026-09-03T10:59:41"} +{"episode_id":"ep_000063","started_at":"2026-09-03T10:59:44","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.5702393169139668,1.2572709114915956,0.71338606911949],"aabb_xy":[[0.5600863013598172,1.221201369918855],[0.580392332468116,1.2933404530643358]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.13974894188053166,1.2299363335550257,0.71338606911949],"aabb_xy":[[-0.21974894215413862,1.1569867857293088],[-0.05974894160692467,1.3028858813807422]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.6064179534474975,-1.6862769352859435,0.71338606911949],"aabb_xy":[[-0.6434520628755571,-1.7206541426196529],[-0.5693838440194376,-1.651899727952234]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.09135914669410594,-1.7612683421371096,0.71338606911949],"aabb_xy":[[-0.12785496732138468,-1.797752284563867],[-0.05486332606682719,-1.7247843997103518]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.5377606249471573,-0.17030570495818953,0.71338606911949],"aabb_xy":[[-0.6017606241169271,-0.21707239207715198],[-0.47376062577738726,-0.12353901783922704]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.2693659284861177,-0.7028220157570952,0.71338606911949],"aabb_xy":[[-0.30314148767681065,-0.7168605109702602],[-0.2355903692954247,-0.6887835205439301]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[0.09402844759143691,-1.140361755212008,0.71338606911949],"aabb_xy":[[0.030028447317458698,-1.190427855409296],[0.15802844786541514,-1.09029565501472]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.5440858708634937,-0.5848928008454903,0.71338606911949],"aabb_xy":[[-0.5940858703036893,-0.6348607253298065],[-0.4940858714232981,-0.5349248763611739]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.4091186921050627,-1.3951631782702076,0.71338606911949],"aabb_xy":[[0.36786988107514795,-1.450163177782425],[0.4503675031349774,-1.3401631787579902]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.4317717225581539,0.3508760825250574,0.71338606911949],"aabb_xy":[[-0.4493184174742728,0.31337608096080616],[-0.41422502764203495,0.3883760840893087]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.11112697486691292,-2.5348616278668286,0.71338606911949],"aabb_xy":[[-0.13362697511042831,-2.5470662625266005],[-0.08862697462339754,-2.5226569932070566]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.24797119763758152,-1.290336826236539,0.71338606911949],"aabb_xy":[[-0.30797119849839427,-1.341763256243025],[-0.18797119677676868,-1.2389103962300523]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.5821663261479761,1.4374792817547912,0.71338606911949],"aabb_xy":[[-0.6196663264962039,1.4256878861737072],[-0.5446663257997484,1.4492706773358743]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[-0.6101388830421015,-0.8602235016758555,0.71338606911949],"aabb_xy":[[-0.614052756237524,-0.8689725170824122],[-0.606225009846679,-0.8514744862692986]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.5788886105334867,1.5709847809589594,0.71338606911949],"aabb_xy":[[0.5569988629445459,1.4809847836697103],[0.6007783581224275,1.6609847782482086]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.6229562005421851,1.3064565146434859,0.71338606911949],"aabb_xy":[[-0.6317374276894215,1.2976767673549556],[-0.614174973394949,1.3152362619320161]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.5667800838849721,-0.6379831842615811,0.71338606911949],"aabb_xy":[[0.5464957811615734,-0.6582658094042898],[0.5870643866083709,-0.6177005591188721]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.20112811467318742,-0.13298100882154307,0.71338606911949],"aabb_xy":[[-0.29112811835010555,-0.19441341539864737],[-0.11112811099626921,-0.0715486022444387]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.5777197634856062,0.2876357629353019,0.71338606911949],"aabb_xy":[[0.5473216523864625,0.2572288609336324],[0.6081178745847496,0.3180426649369714]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.19208513362980417,-0.49922672430182935,0.71338606911949],"aabb_xy":[[-0.19741764828441716,-0.5045510525470649],[-0.1867526189751912,-0.49390239605659375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880590427265784,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3752.png","name":"3752"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3752.png","name":"3752"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/294.png","name":"294"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3501.png","name":"3501"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":602.9687013943337,"rotation_z_degrees":257.83762625196573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00663368694449174,-0.000943692377741067,-0.01949219825667647]},{"name":"camera_2","offset_m":[-0.008409929488270698,-0.004280683006230187,0.010178660529439356]},{"name":"camera_3","offset_m":[-0.015988594646834352,0.018291811497691834,-0.014916882006315992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001613078151382387,0.0017373881336310878,-0.001569207360351665],"end_effector_yaw_offset_degrees":0.4436990338391278},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001609353783338281,-0.0007262340428673122,0.001026413509305883],"end_effector_yaw_offset_degrees":-0.7251406196035894},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012664874134127135,0.0018868068076847667,0.0010015978348836795],"end_effector_yaw_offset_degrees":0.5514036948522574}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00048072482938765846,-0.0021284101321238213],"position_m":[0.3107807248293877,0.08897158986787618,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026704401323015582,-0.0002352920437083128],"position_m":[0.31567044013230156,-0.11653529204370831,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027288240158187915,-0.0033071707978431734],"position_m":[0.3523711759841812,0.29339282920215687,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003419782146334167,-0.0013258101166689841],"position_m":[0.24058021785366582,-0.353125810116669,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2014658eb9127b21e19b1047ca6653088b2fb9f39b0a58167b35721ed49fbe39","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3752/tex_ceiling_textures_3501/tex_floor_textures_1318/tex_table_textures_7086/tex_wall_textures_294","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6099832552763917319,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6099832552763917319,"visual_seed":6099832552763917319,"scene_id":"lab_003","finished_at":"2026-09-03T11:02:11"} +{"episode_id":"ep_000064","started_at":"2026-09-03T11:02:14","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.3011368608742598,-1.3881801194890984,0.71338606911949],"aabb_xy":[[-0.37113686247653926,-1.401612912690756],[-0.2311368592719803,-1.3747473262874408]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.4199158016167992,-2.196437311154277,0.71338606911949],"aabb_xy":[[0.3698183376357255,-2.260437311664089],[0.47001326559787276,-2.132437310644465]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.6293391548270397,1.6765256067668237,0.71338606911949],"aabb_xy":[[0.611908439748033,1.6592534921029727],[0.646769869906046,1.6937977214306743]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.16177516708001827,-1.2261308677412301,0.71338606911949],"aabb_xy":[[0.08177517006577029,-1.2462654194146414],[0.24177516409426625,-1.2059963160678189]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.29404389350882765,0.6242907201414853,0.71338606911949],"aabb_xy":[[-0.29867900866106095,0.6204233850643366],[-0.28940877835659423,0.6281580552186339]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.10882276838781957,1.457324353798929,0.71338606911949],"aabb_xy":[[0.06663835422698883,1.3933243535217181],[0.1510071825486503,1.5213243540761405]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.08118498856339573,-2.040738698271982,0.71338606911949],"aabb_xy":[[-0.11618498687409116,-2.048453713195528],[-0.04618499025270027,-2.0330236833484365]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.569713665895603,-0.6359840496186675,0.71338606911949],"aabb_xy":[[0.5610157036048878,-0.6481090239261422],[0.5784116281863184,-0.6238590753111928]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.23357921772099,1.1655460602684786,0.71338606911949],"aabb_xy":[[-0.25107921699907687,1.1482079602021327],[-0.21607921844290312,1.1828841603348246]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.4889021859424756,-0.36647492887994115,0.71338606911949],"aabb_xy":[[0.4389021849233404,-0.40294114461776914],[0.5389021869616109,-0.3300087131421132]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.4981663652459954,0.08489158770769212,0.71338606911949],"aabb_xy":[[-0.5231663645179576,0.06854622411152977],[-0.4731663659740331,0.10123695130385446]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.22552505646583954,0.5859025018353132,0.71338606911949],"aabb_xy":[[0.19204588920479865,0.5524233884642064],[0.25900422372688053,0.6193816152064203]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.09219562776250734,-1.6059414994222099,0.71338606911949],"aabb_xy":[[-0.12922973719056705,-1.6403187067559193],[-0.05516151833444762,-1.5715642920885005]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.5959634774265188,1.5176616692843443,0.71338606911949],"aabb_xy":[[-0.6759634748301122,1.437669098086161],[-0.5159634800229254,1.5976542404825267]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[0.35615216687003226,1.2665689065150745,0.71338606911949],"aabb_xy":[[0.33487415872655996,1.2015689041890016],[0.37743017501350445,1.3315689088411478]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[0.031069035976464487,-0.8832912526865391,0.71338606911949],"aabb_xy":[[-0.03393096217945457,-0.9095874972364513],[0.09606903413238355,-0.8569950081366269]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.04583332238472704,0.4391184542119766,0.71338606911949],"aabb_xy":[[-0.06171781565005219,0.4247655139131525],[-0.029948829119401887,0.4534713945108006]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.03569608832965432,-0.9898422136296359,0.71338606911949],"aabb_xy":[[-0.044303908829920975,-1.0013898145874527],[0.1156960854892296,-0.9782946126718187]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.39584289065901634,0.3452622976489095,0.71338606911949],"aabb_xy":[[0.38987635171828056,0.3393011529895454],[0.40180942959975213,0.35122344230827346]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.5005633881546095,-1.2723358202252015,0.71338606911949],"aabb_xy":[[-0.5545789844365095,-1.3363358231174585],[-0.44654779187270954,-1.2083358173329442]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.41892496993353534,-1.3257660828658664,0.71338606911949],"aabb_xy":[[0.40142496967419883,-1.3398576250546392],[0.4364249701928721,-1.311674540677094]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.34621447009020306,1.267834925849722,0.71338606911949],"aabb_xy":[[-0.42621446874708907,1.253330066925459],[-0.26621447143331706,1.2823397847739848]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.333652546158278,0.09117736823893807,0.71338606911949],"aabb_xy":[[-0.3711525463301499,0.058476632856030886],[-0.296152545986406,0.12387810362184526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899218027004969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1875.png","name":"1875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1875.png","name":"1875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/869.png","name":"869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/254.png","name":"254"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":552.4304137442716,"rotation_z_degrees":76.34322618584943,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006093823843871818,0.012375128805711528,0.00625994568317333]},{"name":"camera_2","offset_m":[-0.0016688814817662524,0.001981325999867313,-0.005771710124953247]},{"name":"camera_3","offset_m":[0.013265128329664273,-0.0019748544637893384,-0.01710684059763883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018410837180680576,-0.000688602547666163,-0.001975814632302262],"end_effector_yaw_offset_degrees":-0.05125846902071207},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[7.702220239782934e-05,0.0011539629791601697,0.0008162456000102708],"end_effector_yaw_offset_degrees":-0.10794461363794938},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001168316810408783,-0.0008177888427072539,-0.0017246584884646472],"end_effector_yaw_offset_degrees":-0.21403445397429532}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023097296325815353,-0.003013774465068937],"position_m":[0.3079902703674185,0.08808622553493106,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010604754537869455,0.00013386182855028468],"position_m":[0.31406047545378696,-0.11616613817144972,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00048212320061921925,-0.0037075283880300394],"position_m":[0.3546178767993808,0.29299247161197,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003313662858067632,-0.001887299838616865],"position_m":[0.24068633714193235,-0.35368729983861685,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1241af17002170b6842c0eae187118d90e3df0394de61372a9b7cd8e43d8af17","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0109.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1875/tex_ceiling_textures_254/tex_floor_textures_5478/tex_table_textures_869/tex_wall_textures_8134","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2586216288990475176,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2586216288990475176,"visual_seed":2586216288990475176,"scene_id":"lab_003","finished_at":"2026-09-03T11:04:40"} +{"episode_id":"ep_000065","started_at":"2026-09-03T11:07:43","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.5267367372610118,-1.4137120594803898,0.71338606911949],"aabb_xy":[[-0.576719687448491,-1.46371205912295],[-0.4767537870735324,-1.3637120598378292]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.2989683793957932,1.806622012726487,0.71338606911949],"aabb_xy":[[-0.32729808934433346,1.8021612705327696],[-0.270638669447253,1.8110827549202038]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.32977924754454735,-0.7569439443216928,0.71338606911949],"aabb_xy":[[0.31715246025735094,-0.7664900180232657],[0.34240603483174364,-0.7473978706201199]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.10843426483514462,-1.4861094445851812,0.71338606911949],"aabb_xy":[[-0.13201938829903948,-1.5511094468306132],[-0.08484914137124977,-1.4211094423397497]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.4632259036961112,0.657326326276876,0.71338606911949],"aabb_xy":[[-0.48573959551956836,0.5873263256758685],[-0.44071221187265397,0.7273263268778836]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.40487783751550493,-1.731214577969981,0.71338606911949],"aabb_xy":[[-0.42188793480555553,-1.7473490664682547],[-0.3878677402254542,-1.7150800894717069]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.20874039891593943,1.1455264763157698,0.71338606911949],"aabb_xy":[[-0.21752162606317574,1.1367467290272397],[-0.1999591717687033,1.1543062236043002]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.6842879578035617,-0.8508581914001887,0.71338606911949],"aabb_xy":[[0.6592879585315994,-0.867203554996351],[0.709287957075524,-0.8345128278040264]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.5164190445762562,1.540396108878721,0.71338606911949],"aabb_xy":[[-0.581419043133329,1.5106435754648384],[-0.45141904601918337,1.5701486422926036]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.047839634869983105,-2.0511733633140805,0.71338606911949],"aabb_xy":[[-0.032160365403623874,-2.1241229111397972],[0.12783963514359006,-1.978223815488364]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.23320773170266812,1.4973246177743076,0.71338606911949],"aabb_xy":[[-0.26820772997278797,1.4902504900793194],[-0.1982077334325482,1.5043987454692958]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.3443193039493275,0.9449056451588831,0.71338606911949],"aabb_xy":[[0.3098569565511856,0.9104117627610603],[0.3787816513474692,0.9793995275567057]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.5467859146717466,-0.44740100584300446,0.71338606911949],"aabb_xy":[[-0.5880347257016613,-0.5024010053552217],[-0.5055371036418318,-0.3924010063307869]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[-0.3283845796313858,-1.9723194300638678,0.71338606911949],"aabb_xy":[[-0.3387961383118694,-1.977665163399766],[-0.31797302095090196,-1.9669736967279692]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.34323956909570685,-1.3889813207104635,0.71338606911949],"aabb_xy":[[0.26323957193613157,-1.4005289216682804],[0.42323956625528214,-1.3774337197526463]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.0398922578681169,-2.4829910467832743,0.71338606911949],"aabb_xy":[[-0.10389225703788685,-2.5297577339022363],[0.02410774130165304,-2.4362243596643114]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.6431981619364915,-0.3941697953936063,0.71338606911949],"aabb_xy":[[0.5791981633499189,-0.441176758793115],[0.7071981605230638,-0.3471628319940976]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.24228354541377317,-2.2847393223637433,0.71338606911949],"aabb_xy":[[0.23503977936752785,-2.3647393205673457],[0.2495273114600185,-2.204739324160141]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.2842143845143489,-1.5673965815750646,0.71338606911949],"aabb_xy":[[0.2762208947190669,-1.5753947135155406],[0.29220787430963097,-1.5593984496345894]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.4656180515999393,0.7418653377113293,0.71338606911949],"aabb_xy":[[0.41564475759667885,0.691865337156782],[0.5155913456031997,0.7918653382658767]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.5833016089803866,-1.584527451151156,0.71338606911949],"aabb_xy":[[-0.5874175590924592,-1.5886430061840013],[-0.5791856588683139,-1.5804118961183102]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.33814197782123956,-0.564897189372171,0.71338606911949],"aabb_xy":[[0.32064197756190294,-0.5789887315609437],[0.3556419780805762,-0.5508056471833984]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[0.6464672950246972,-1.2262012695791022,0.71338606911949],"aabb_xy":[[0.638843026934519,-1.233834493115646],[0.6540915631148755,-1.2185680460425585]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[-0.08484462218075695,-0.9054001961610827,0.71338606911949],"aabb_xy":[[-0.13484462313128975,-0.936949343164604],[-0.034844621230224124,-0.8738510491575612]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.1297405170236675,-1.93042793196806,0.71338606911949],"aabb_xy":[[-0.14724045045765083,-1.9479279318882945],[-0.11224058358968408,-1.9129279320478254]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.1383997693379332,0.6638026493356466,0.71338606911949],"aabb_xy":[[-0.15583048441693964,0.6465305346717956],[-0.12096905425892664,0.6810747639994972]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[-0.3024529424354674,-0.14416327217337566,0.71338606911949],"aabb_xy":[[-0.3600834113227382,-0.2041632711000862],[-0.24482247354819647,-0.08416327324666505]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.5499120293928108,1.5314320054147035,0.71338606911949],"aabb_xy":[[0.4999171964648692,1.48143200651946],[0.5999068623207524,1.581432004309947]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[-0.1593154558389447,0.2398267355262207,0.71338606911949],"aabb_xy":[[-0.21431545501553417,0.18483706075126302],[-0.1043154566623552,0.29481641030117833]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[-0.4576679159029398,-1.616532264182169,0.71338606911949],"aabb_xy":[[-0.46162839967267427,-1.62420012876769],[-0.45370743213320547,-1.6088643995966487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920180728049014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4733.png","name":"4733"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4733.png","name":"4733"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9618.png","name":"9618"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5927.png","name":"5927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/138.png","name":"138"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5113.png","name":"5113"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":665.8358352636194,"rotation_z_degrees":56.75518765916368,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0021198687832369376,0.015294095029906172,0.009002478234646723]},{"name":"camera_2","offset_m":[0.0037739987443327246,0.014603315146940011,-0.0006942960558968155]},{"name":"camera_3","offset_m":[-0.01908165493394459,0.006735201576985407,0.018918629898839533]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015841689567861958,0.0005292798294413972,0.00035811521256154475],"end_effector_yaw_offset_degrees":-0.6303351675058839},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007018621737116528,0.0009206643854217118,-0.001821458455168278],"end_effector_yaw_offset_degrees":-0.18663816825817325},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005916227604655534,-0.0014084942314691803,-0.0017907073524380892],"end_effector_yaw_offset_degrees":-0.8096840760684809}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00015191142526875447,-0.002803507498141834],"position_m":[0.3104519114252688,0.08829649250185817,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018131769552414,0.004648693467040489],"position_m":[0.3111868230447586,-0.11165130653295952,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001096896437911745,0.002480758812857681],"position_m":[0.3540031035620883,0.2991807588128577,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030569502344760255,0.0008655349371648156],"position_m":[0.24705695023447602,-0.3509344650628352,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dc3e7dd88bd939603944cd6dbe36bac7b05a199d968bf1037d133fa39d73ed19","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4733/tex_ceiling_textures_5113/tex_floor_textures_138/tex_table_textures_9618/tex_wall_textures_5927","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6577426792107127987,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6577426792107127987,"visual_seed":6577426792107127987,"scene_id":"lab_003","finished_at":"2026-09-03T11:10:12"} +{"episode_id":"ep_000066","started_at":"2026-09-03T11:10:16","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.5189284118924102,-0.25841406420447344,0.71338606911949],"aabb_xy":[[0.4737570940442414,-0.3224140613490119],[0.5640997297405793,-0.19441406705993508]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.642795243242689,-0.4319006987525773,0.71338606911949],"aabb_xy":[[-0.6927952418886102,-0.48182024241203963],[-0.5927952445967678,-0.38198115509311487]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.3044030056351483,-0.4743864765641046,0.71338606911949],"aabb_xy":[[0.2669030070595274,-0.4871227722276625],[0.341903004210769,-0.4616501809005466]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.4593943978512678,-0.9129263771570859,0.71338606911949],"aabb_xy":[[0.36939440111565747,-0.9661098404743804],[0.5493943945868779,-0.8597429138397914]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.39099512225191885,-1.520851014306926,0.71338606911949],"aabb_xy":[[-0.45499512262945246,-1.5705962811577383],[-0.32699512187438523,-1.4711057474561138]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.31190934451841934,-1.4302937144844101,0.71338606911949],"aabb_xy":[[0.23190934735884405,-1.4418413154422272],[0.3919093416779946,-1.418746113526593]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.4656240834186366,-0.7469753155695398,0.71338606911949],"aabb_xy":[[-0.5556240828370076,-0.7803508124137294],[-0.37562408400026576,-0.7135998187253499]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.166479384434845,-1.2304546208300968,0.71338606911949],"aabb_xy":[[-0.21629616389967976,-1.2804546193144002],[-0.11666260497001024,-1.1804546223457935]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.17627965026449666,1.4618932728606882,0.71338606911949],"aabb_xy":[[0.16537387417693392,1.3818932764618588],[0.18718542635205934,1.541893269259517]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.4893452420550495,0.013263305876696219,0.71338606911949],"aabb_xy":[[-0.5243452420315453,0.0037986898290796045],[-0.4543452420785537,0.022727921924312833]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.07849680402228709,0.8700307957983591,0.71338606911949],"aabb_xy":[[0.04099680367405932,0.8582394002172753],[0.11599680437051484,0.8818221913794424]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.525393860160752,-1.7864014339619376,0.71338606911949],"aabb_xy":[[0.4910969491430112,-1.820698320171879],[0.5596907711784924,-1.7521045477519963]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.35078656373335115,1.0376130086101916,0.71338606911949],"aabb_xy":[[-0.4048021600152511,0.9736130057179344],[-0.2967709674514511,1.1016130115024487]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.029603306856173184,-1.00550578579127,0.71338606911949],"aabb_xy":[[-0.11960330335704493,-1.051417428209728],[0.06039668964469856,-0.9595941433728116]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.18776656357384258,-1.8973437784667802,0.71338606911949],"aabb_xy":[[-0.1971135711561378,-1.9116474006844242],[-0.17841955599154735,-1.8830401562491361]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.5264480016383245,-0.2867238130788512,0.71338606911949],"aabb_xy":[[-0.5489616934617817,-0.3567238136798587],[-0.5039343098148673,-0.21672381247784367]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.6151862522097981,-1.9167710030144078,0.71338606911949],"aabb_xy":[[-0.6270583352212992,-2.0017710027080584],[-0.603314169198297,-1.8317710033207575]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.30839238246576417,-1.9337157565592311,0.71338606911949],"aabb_xy":[[0.2883339708525239,-1.9537808434683883],[0.32845079407900446,-1.9136506696500735]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.4808175279214707,1.5052780923312148,0.71338606911949],"aabb_xy":[[-0.5218354713078415,1.4552780917002575],[-0.43979958453509976,1.5552780929621721]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.30436655135930135,-0.8666805188585582,0.71338606911949],"aabb_xy":[[0.29113560582462,-0.8799079378805574],[0.3175974968939826,-0.8534530998365586]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.5092938713613513,0.19829747757000682,0.71338606911949],"aabb_xy":[[0.47179387118947924,0.1655967421870996],[0.5467938715332231,0.23099821295291398]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.04323957432931347,-2.1850182590916054,0.71338606911949],"aabb_xy":[[-0.01176042387243136,-2.225540225718043],[0.0982395725310583,-2.144496292465168]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.36612612579701675,-1.6819416346513818,0.71338606911949],"aabb_xy":[[0.3161330136878248,-1.7319416353255777],[0.41611923790620864,-1.6319416339771864]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.6119036250901576,-1.2860716125363023,0.71338606911949],"aabb_xy":[[-0.6668968364272944,-1.3410716128750961],[-0.5569104137530209,-1.231071612197509]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.21033641578871676,-2.126096375204814,0.71338606911949],"aabb_xy":[[0.18533641623697827,-2.1362388590699486],[0.23533641534045524,-2.115953891339679]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[0.4230412928192524,1.233713226010381,0.71338606911949],"aabb_xy":[[0.38926573362855943,1.219674730797216],[0.4568168520099454,1.2477517212235458]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[0.018193730456099844,-1.9911557329967193,0.71338606911949],"aabb_xy":[[-0.01930627072869295,-1.9955739556927796],[0.055693731640892634,-1.9867375103006586]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.5118022236430435,-1.1694585524715257,0.71338606911949],"aabb_xy":[[-0.5226427018695583,-1.1866448337621744],[-0.5009617454165285,-1.1522722711808766]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.6512755492043929,-0.1595652428455563,0.71338606911949],"aabb_xy":[[0.6442340982536452,-0.16659199458335083],[0.6583170001551404,-0.15253849110776174]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.56979784577712,-1.6530627680230159,0.71338606911949],"aabb_xy":[[-0.6111023888408561,-1.717062767591133],[-0.5284933027133841,-1.5890627684548988]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_30","position":[-0.2608064228813223,-0.4940421891552238,0.71338606911949],"aabb_xy":[[-0.32580642383844943,-0.5459904010889294],[-0.19580642192419503,-0.4420939772215182]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.36572129597281733,-1.3259085620889801,0.71338606911949],"aabb_xy":[[-0.4297212983156189,-1.3708494133331124],[-0.30172129363001576,-1.2809677108448474]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_32","position":[0.1652477938051623,-1.7123253608306688,0.71338606911949],"aabb_xy":[[0.15595417556801172,-1.7498253593188025],[0.17454141204231288,-1.6748253623425347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928689901671475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5977.png","name":"5977"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5977.png","name":"5977"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7182.png","name":"7182"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4499.png","name":"4499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9777.png","name":"9777"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7805.png","name":"7805"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":522.3189880928662,"rotation_z_degrees":68.96345762506144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010157730745498195,-0.010616955138252494,-0.01525335307137186]},{"name":"camera_2","offset_m":[-0.01056759038613616,0.010219501169860097,-0.004397019311979014]},{"name":"camera_3","offset_m":[-0.019621301745816295,-0.005077148822010607,0.008703359583052562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005356372716478525,0.00035260827929869476,0.0011181494340844617],"end_effector_yaw_offset_degrees":0.22566256336600232},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014982549066101928,0.0001109312898131612,0.0009276631931925874],"end_effector_yaw_offset_degrees":-0.9619359052945069},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-6.643765422630304e-05,0.0002077651226968665,-0.0008279316597058974],"end_effector_yaw_offset_degrees":-0.34772245128065715}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003153127479606956,0.0023218271362185038],"position_m":[0.31345312747960696,0.09342182713621851,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011329495268115877,0.0038137406260631774],"position_m":[0.3141329495268116,-0.11248625937393682,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014782380672222562,-0.0009515669172400236],"position_m":[0.3565782380672223,0.29574843308276,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004550042746213162,0.0036806461138717316],"position_m":[0.24855004274621315,-0.34811935388612825,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9e27d64c93d72620d227a2cc70c32b76e2f5e44018b116105c890d2df829b369","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0112.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5977/tex_ceiling_textures_7805/tex_floor_textures_9777/tex_table_textures_7182/tex_wall_textures_4499","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":933823813348520381,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":933823813348520381,"visual_seed":933823813348520381,"scene_id":"lab_003","finished_at":"2026-09-03T11:12:46"} +{"episode_id":"ep_000067","started_at":"2026-09-03T11:12:49","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.31905043389258103,1.6809377554169953,0.71338606911949],"aabb_xy":[[0.3076886992392948,1.6695692890107068],[0.33041216854586714,1.692306221823283]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.5331725306743259,1.0387975106773482,0.71338606911949],"aabb_xy":[[-0.5475069558004894,1.026737295122809],[-0.5188381055481625,1.0508577262318868]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.25016532136423,1.5565776898319457,0.71338606911949],"aabb_xy":[[0.21266532119235804,1.5238769544490383],[0.2876653215361019,1.5892784252148526]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[0.04338034387719869,-2.1147013031154756,0.71338606911949],"aabb_xy":[[-0.011593378159134186,-2.169701302679709],[0.09835406591353157,-2.059701303551243]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.3556227622329238,-0.512046862921137,0.71338606911949],"aabb_xy":[[0.3379899266393962,-0.5296698089367599],[0.37325559782645135,-0.49442391690551396]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.3767680977653351,0.4740544099702122,0.71338606911949],"aabb_xy":[[-0.3840118638115804,0.3940544117666097],[-0.36952433171908977,0.5540544081738145]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.10468784720339763,1.3419020011357508,0.71338606911949],"aabb_xy":[[-0.11002036185801062,1.3365776728905154],[-0.09935533254878465,1.3472263293809865]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.18449336475152367,-1.3202894598476844,0.71338606911949],"aabb_xy":[[0.13449336380099083,-1.3518386068512058],[0.23449336570205645,-1.288740312844163]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.5999692852050922,-1.1741727258817602,0.71338606911949],"aabb_xy":[[0.5749692860394591,-1.1811249715871168],[0.6249692843707253,-1.1672204801764037]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.32874021701045725,-0.9574827531746393,0.71338606911949],"aabb_xy":[[-0.3637402153211527,-0.9651977680981849],[-0.2937402186997618,-0.9497677382510936]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.021301079663348044,0.44078400214771607,0.71338606911949],"aabb_xy":[[-0.03220685575091076,0.3607840057488869],[-0.01039530357578533,0.5207839985465452]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.5737120304583333,-1.234130271011394,0.71338606911949],"aabb_xy":[[-0.5915811382127888,-1.2479631789886048],[-0.5558429227038778,-1.2202973630341831]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.12611409898978632,-1.9748987728806235,0.71338606911949],"aabb_xy":[[-0.1711141004560152,-2.0198986297421047],[-0.08111409752355749,-1.9298989160191433]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.07151655966943393,0.837068007775255,0.71338606911949],"aabb_xy":[[0.006516558668933414,0.78628164262058],[0.13651656066993445,0.8878543729299299]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.13742184332807972,-0.5824469385455795,0.71338606911949],"aabb_xy":[[-0.16738940023790538,-0.6124469388434653],[-0.10745428641825405,-0.5524469382476939]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[-0.4305061842694618,-1.2387135838135173,0.71338606911949],"aabb_xy":[[-0.4680061826928621,-1.2518777977813478],[-0.3930061858460614,-1.2255493698456863]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.2459479507510427,-1.7652211479062414,0.71338606911949],"aabb_xy":[[0.22344795023900207,-1.7877130062716395],[0.2684479512630833,-1.7427292895408428]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.0627327867100057,1.5182244658308135,0.71338606911949],"aabb_xy":[[-0.08023272014398906,1.500724465910579],[-0.04523285327602232,1.535724465751048]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.033567906887787324,1.6887000365125107,0.71338606911949],"aabb_xy":[[-0.11356791015180046,1.6751400042035973],[0.04643209637622581,1.702260068821424]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[0.6096167222215196,-1.5914751639886218,0.71338606911949],"aabb_xy":[[0.5446167240656006,-1.617771408538534],[0.6746167203774387,-1.5651789194387096]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.4295674034523067,-1.2748500666016065,0.71338606911949],"aabb_xy":[[0.3868006965728865,-1.338850070023409],[0.4723341103317269,-1.210850063179804]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.002679651262509908,-1.2315671015299439,0.71338606911949],"aabb_xy":[[-0.0626796511090767,-1.2883857237229823],[0.05732034858405688,-1.174748479336905]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[0.6508651052838621,-0.04700068294548032,0.71338606911949],"aabb_xy":[[0.6436038577134547,-0.0597876932089898],[0.6581263528542697,-0.03421367268197084]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[-0.2737508893185926,-0.19402244376936428,0.71338606911949],"aabb_xy":[[-0.33375088956999377,-0.24830376880582894],[-0.21375088906719142,-0.13974111873289963]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.5501547195000935,-0.5732861951106631,0.71338606911949],"aabb_xy":[[-0.6101547203609062,-0.6247126251171495],[-0.4901547186392807,-0.5218597651041768]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.6198137154401642,-0.9553110666416083,0.71338606911949],"aabb_xy":[[-0.6798137160361803,-1.0101235391868317],[-0.559813714844148,-0.9004985940963848]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960918154092416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2717.png","name":"2717"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1865.png","name":"1865"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/88.png","name":"88"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":565.7266458284915,"rotation_z_degrees":287.9250794212455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006848444470228275,-0.01209405719234168,-0.0005021842019833772]},{"name":"camera_2","offset_m":[-0.01469449356419867,-0.0035262227342890418,0.00439866852190474]},{"name":"camera_3","offset_m":[0.006368791680421388,-0.005544383319437079,0.0032070097253523756]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019616525287477335,0.0002882712199122656,3.5289894889536585e-05],"end_effector_yaw_offset_degrees":-0.002214616222373733},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001155703458952701,0.0012024768228872623,0.001710541610524891],"end_effector_yaw_offset_degrees":-0.8762936541378634},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00010953059623318982,-0.0010367169676348822,-0.0012161164834274625],"end_effector_yaw_offset_degrees":-0.7272325284331711}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022153766147105835,0.003469659832047109],"position_m":[0.3080846233852894,0.09456965983204711,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024542172051323797,0.004131675045437796],"position_m":[0.3105457827948676,-0.1121683249545622,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038041358886318237,0.0016678767010419072],"position_m":[0.35890413588863185,0.2983678767010419,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001082084684689252,-0.0008018940979528204],"position_m":[0.24291791531531073,-0.35260189409795284,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8477b091f1c7c283402c015022e04a7f39598a335113f93cd27ef576a659214f","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0113.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6691/tex_ceiling_textures_88/tex_floor_textures_1865/tex_table_textures_5571/tex_wall_textures_2717","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3661269672037216002,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3661269672037216002,"visual_seed":3661269672037216002,"scene_id":"lab_003","finished_at":"2026-09-03T11:15:09"} +{"episode_id":"ep_000068","started_at":"2026-09-03T11:15:12","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.3886162319745885,1.3299189375922946,0.71338606911949],"aabb_xy":[[0.3086162350115493,1.2528432959485212],[0.4686162289376276,1.406994579236068]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.08066694498428362,0.4868203919530858,0.71338606911949],"aabb_xy":[[-0.08480280131698381,0.44932039250872885],[-0.07653108865158342,0.5243203913974428]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.580496536886024,-1.0440255640033158,0.71338606911949],"aabb_xy":[[0.5672655913513427,-1.057252983025315],[0.5937274824207053,-1.0307981449813162]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.16540062414027923,1.404728538899783,0.71338606911949],"aabb_xy":[[0.1304006258295838,1.3970135239762371],[0.2004006224509747,1.4124435538233284]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.7041937756314609,-1.1970096190290924,0.71338606911949],"aabb_xy":[[0.686647080715342,-1.2345096205933437],[0.7217404705475798,-1.1595096174648412]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.33075324085323426,-1.034561148090541,0.71338606911949],"aabb_xy":[[-0.36778735028129395,-1.0689383554242502],[-0.2937191314251745,-1.0001839407568314]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.19093980312700887,-0.7206941863250169,0.71338606911949],"aabb_xy":[[-0.2806268794351243,-0.8106941865794675],[-0.10125272681889338,-0.6306941860705664]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[0.4332170154021695,-1.621975474220208,0.71338606911949],"aabb_xy":[[0.41071701489012885,-1.6444673325856058],[0.45571701591421004,-1.5994836158548091]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.6223253640460015,0.5054418497041651,0.71338606911949],"aabb_xy":[[-0.6591759119829891,0.46794184888113133],[-0.5854748161090139,0.5429418505271988]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.03623818444089799,-1.2678030092750017,0.71338606911949],"aabb_xy":[[-0.027761818777739866,-1.31452612117401],[0.10023818765953585,-1.2210798973759933]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.28538453378128004,-0.5904508382570641,0.71338606911949],"aabb_xy":[[0.2765824784723073,-0.5982621644119931],[0.29418658909025275,-0.5826395121021349]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.03733570780581408,-1.3783694407831415,0.71338606911949],"aabb_xy":[[-0.05167013293197753,-1.3904296563376806],[-0.023001282679650625,-1.3663092252286029]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.39947864592937365,1.1094833034334566,0.71338606911949],"aabb_xy":[[-0.44947864536956933,1.0595153789491403],[-0.3494786464891781,1.1594512279177729]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.3927377376867529,-0.7053027194530233,0.71338606911949],"aabb_xy":[[0.384701402985468,-0.71334083875744],[0.4007740723880377,-0.6972646001486065]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.46763195875786967,-0.4900126194541703,0.71338606911949],"aabb_xy":[[0.4248652518784494,-0.5540126228759727],[0.5103986656372899,-0.42601261603236784]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.3586670415709089,-1.3782470670363074,0.71338606911949],"aabb_xy":[[-0.36607949711229737,-1.3840982774579353],[-0.3512545860295204,-1.3723958566146794]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.5968467217380189,1.7667676599116162,0.71338606911949],"aabb_xy":[[0.5328510243429222,1.7027676616109075],[0.6608424191331154,1.830767658212325]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.5066138168229435,-2.096755581054563,0.71338606911949],"aabb_xy":[[0.4613352019417941,-2.160755580402747],[0.5518924317040926,-2.03275558170638]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.11813139111005477,1.2738367885761934,0.71338606911949],"aabb_xy":[[0.11001773643667767,1.2657309721221641],[0.12624504578343188,1.2819426050302223]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.47033348434472916,-1.5743924584586577,0.71338606911949],"aabb_xy":[[-0.5343334863944611,-1.6144869415479657],[-0.4063334822949972,-1.5342979753693498]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.12308504544884857,0.6203541363305214,0.71338606911949],"aabb_xy":[[0.11818575314228506,0.5926772170279525],[0.12798433775541207,0.64803105563309]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[-0.4351813817543589,0.6647772219888859,0.71338606911949],"aabb_xy":[[-0.5051813833566383,0.6513444287872284],[-0.3651813801520794,0.6782100151905436]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.16253933675870424,0.2875855895062651,0.71338606911949],"aabb_xy":[[-0.20003933518210457,0.27442137553843443],[-0.12503933833530387,0.3007498034740957]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.03584672268426681,-1.133076025286249,0.71338606911949],"aabb_xy":[[0.03141609332942664,-1.1385243970209318],[0.04027735203910699,-1.1276276535515668]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.054726476729049844,1.7488715458625772,0.71338606911949],"aabb_xy":[[0.017226476436875034,1.7448300704619735],[0.09222647702122466,1.7529130212631805]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[0.15305622243814676,-1.0947887938977465,0.71338606911949],"aabb_xy":[[0.10307880557289316,-1.1447887953869949],[0.20303363930340032,-1.0447887924084978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863859554884826,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5820.png","name":"5820"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7983.png","name":"7983"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3197.png","name":"3197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2331.png","name":"2331"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":519.5284629459323,"rotation_z_degrees":22.05026489573192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00968306919411191,0.006097613556253965,-0.013664509865347663]},{"name":"camera_2","offset_m":[0.01951005178129313,-0.003814491510775647,-0.016309111247749294]},{"name":"camera_3","offset_m":[0.019272112165420654,-0.013995724173647988,0.01799404350540292]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005774951732061297,-0.0014714783474480378,0.000727092572858014],"end_effector_yaw_offset_degrees":0.635340300735922},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014999829385002033,0.0019805554023052977,-0.0006237086321148077],"end_effector_yaw_offset_degrees":0.47897727320032923},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014693607525825417,-0.001099965410680252,0.0014129915610255547],"end_effector_yaw_offset_degrees":0.47420628914405794}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002516769935612042,0.0038405975766930564],"position_m":[0.30778323006438796,0.09494059757669306,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004255384437532729,0.0009441746772314921],"position_m":[0.3172553844375327,-0.1153558253227685,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004678236231492441,-0.0030973746346868846],"position_m":[0.3504217637685076,0.2936026253653131,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00217997762002468,-0.0011567409730615318],"position_m":[0.24182002237997532,-0.3529567409730615,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8e37bdaf69a57816b075220d614cac681ece2fc5698da219aa9cb1d950378aaa","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0114.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3561/tex_ceiling_textures_2331/tex_floor_textures_3197/tex_table_textures_5820/tex_wall_textures_7983","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2450096088555882828,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2450096088555882828,"visual_seed":2450096088555882828,"scene_id":"lab_003","finished_at":"2026-09-03T11:17:40"} +{"episode_id":"ep_000069","started_at":"2026-09-03T11:21:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.5904765721123872,0.6338802583084684,0.71338606911949],"aabb_xy":[[-0.607976572371724,0.6197887161196959],[-0.5729765718530507,0.6479718004972411]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.5216277621937457,-1.0847021124348684,0.71338606911949],"aabb_xy":[[0.5084765162224564,-1.1097021121915551],[0.5347790081650351,-1.059702112678182]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.2933726939299246,-1.6520457244632605,0.71338606911949],"aabb_xy":[[-0.357372694633394,-1.6980641069361817],[-0.22937269322645532,-1.6060273419903397]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.3376845238034605,1.0054034867755135,0.71338606911949],"aabb_xy":[[0.315184524279753,0.9829075393248926],[0.3601845233271678,1.027899434226134]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.07000092449272899,0.16217754489620306,0.71338606911949],"aabb_xy":[[-0.07533850015873356,0.13717754396706328],[-0.06466334882672442,0.18717754582534285]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.07352374668175643,1.6767265193545229,0.71338606911949],"aabb_xy":[[0.05594544449280957,1.6591520297804179],[0.09110204887070326,1.694301008928628]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[0.36910388972044883,-2.338614278340415,0.71338606911949],"aabb_xy":[[0.33451280686640356,-2.403614278625446],[0.403694972574494,-2.273614278055384]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.07236669987556743,-1.040086035669165,0.71338606911949],"aabb_xy":[[-0.09736669980808532,-1.0469687038900883],[-0.04736669994304954,-1.0332033674482417]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.2548582017212014,-2.064626447770067,0.71338606911949],"aabb_xy":[[-0.32485819813116307,-2.0850643834217477],[-0.1848582053112395,-2.0441885121183843]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.3400378017173,-0.6937931445682475,0.71338606911949],"aabb_xy":[[0.290042790757848,-0.7437931436038393],[0.3900328126767521,-0.6437931455326559]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[-0.3236285680021353,-2.3264875305512893,0.71338606911949],"aabb_xy":[[-0.3876285699144777,-2.3823986798092998],[-0.259628566089793,-2.270576381293279]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.7112414219594292,-1.0394524469166002,0.71338606911949],"aabb_xy":[[0.7036171538692509,-1.047085670453144],[0.7188656900496074,-1.0318192233800565]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.1040191013068471,-1.1543640900213827,0.71338606911949],"aabb_xy":[[0.014019098972828048,-1.2318464446064952],[0.19401910364086616,-1.0768817354362699]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.5351927828508374,0.23541785269635973,0.71338606911949],"aabb_xy":[[0.500192783658019,0.22445080669869705],[0.5701927820436555,0.2463848986940223]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[-0.053290255601458836,1.5046156222861842,0.71338606911949],"aabb_xy":[[-0.07783647122420956,1.474366725737147],[-0.028744039978708117,1.5348645188352212]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.01301617119781251,0.4814197708719421,0.71338606911949],"aabb_xy":[[-0.021010159775515902,0.4734196907768517],[-0.005022182620109115,0.4894198509670324]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.6268645456833197,-0.4578072846458645,0.71338606911949],"aabb_xy":[[-0.6520853825431594,-0.4830310354987512],[-0.6016437088234801,-0.4325835337929777]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.6893205930783302,-1.9053896142824134,0.71338606911949],"aabb_xy":[[0.6548582456801881,-1.9398834966802359],[0.7237829404764717,-1.8708957318845905]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.5117508679629377,-2.0729249189617995,0.71338606911949],"aabb_xy":[[0.4317508665328105,-2.1524420739744086],[0.5917508693930649,-1.9934077639491896]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.4019511847260644,1.0491258513534967,0.71338606911949],"aabb_xy":[[-0.43786468915105403,1.0132123431367424],[-0.36603768030107464,1.0850393595702514]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.31890060236288775,0.8435553249197012,0.71338606911949],"aabb_xy":[[-0.37389381370002456,0.7885553245809077],[-0.26390739102575106,0.8985553252584949]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.41343252391363206,-1.4985167804346928,0.71338606911949],"aabb_xy":[[0.32374544760551666,-1.5885167806891431],[0.5031196002217475,-1.408516780180242]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.40263640517214255,0.16759730599338774,0.71338606911949],"aabb_xy":[[-0.46663640846185067,0.12426238698947013],[-0.33863640188243443,0.21093222499730535]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.0877461554623108,-1.294793458525765,0.71338606911949],"aabb_xy":[[-0.14774615530887758,-1.3516120807188037],[-0.02774615561574402,-1.2379748363327263]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926863300777516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5602.png","name":"5602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5602.png","name":"5602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1886.png","name":"1886"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4556.png","name":"4556"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7336.png","name":"7336"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9403.png","name":"9403"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":726.8996648431369,"rotation_z_degrees":83.69099956701646,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007442959135595225,-0.004562953959409808,-0.019489551904837376]},{"name":"camera_2","offset_m":[-0.00649792314929162,0.00438894570860697,-0.005500103878208576]},{"name":"camera_3","offset_m":[-0.0015532847765409655,0.005563051160188733,0.015370032329820867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004535749967596826,0.0006226940612655378,-0.0010629346071266465],"end_effector_yaw_offset_degrees":0.45880636043838696},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009222801201207065,-0.0008574404910815568,0.0015658948095276224],"end_effector_yaw_offset_degrees":0.987980815255741},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014999813990797146,-1.8576727157364886e-06,-0.000256515371102266],"end_effector_yaw_offset_degrees":0.8332654288208803}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027238520114499084,-0.0028334304076612794],"position_m":[0.31302385201144994,0.08826656959233872,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035154729268622844,-0.004596669771556313],"position_m":[0.3165154729268623,-0.12089666977155632,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009583210940461006,0.0037355224277137193],"position_m":[0.35414167890595394,0.30043552242771376,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013970975839800257,0.0033824398254895137],"position_m":[0.24539709758398,-0.3484175601745105,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"68d8dd3b71a94cc41f0447bc56dad1f17da1ce750ff847140a3b0d2fd67e94d8","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0118.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5602/tex_ceiling_textures_9403/tex_floor_textures_7336/tex_table_textures_1886/tex_wall_textures_4556","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4685985579161215367,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4685985579161215367,"visual_seed":4685985579161215367,"scene_id":"lab_003","finished_at":"2026-09-03T11:24:09"} +{"episode_id":"ep_000070","started_at":"2026-09-03T11:24:12","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.31815239914987337,0.4151519071012819,0.71338606911949],"aabb_xy":[[-0.3244644986862118,0.40938496784806316],[-0.31184029961353493,0.4209188463545008]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.20834852356521522,0.22058741842260732,0.71338606911949],"aabb_xy":[[-0.27334852467115855,0.19562204535447902],[-0.14334852245927196,0.2455527914907356]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.6025062554131293,-0.38442344486225144,0.71338606911949],"aabb_xy":[[0.5385062535007871,-0.44033459412026194],[0.6665062573254718,-0.32851229560424106]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.27404202116768406,-2.076589818253516,0.71338606911949],"aabb_xy":[[-0.2985882367904348,-2.1068387148025525],[-0.24949580554493336,-2.0463409217044783]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.6585260176584897,-1.205642413859161,0.71338606911949],"aabb_xy":[[-0.6804157652474305,-1.29564241114841],[-0.6366362700695489,-1.1156424165699117]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.5150148075078222,0.42838785144998903,0.71338606911949],"aabb_xy":[[0.44501480590554277,0.41495505824833145],[0.5850148091101017,0.4418206446516466]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.6105697685237903,0.8798896850016105,0.71338606911949],"aabb_xy":[[-0.6605540042319675,0.8298896861881148],[-0.5605855328156131,0.929889683815106]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.5031997444148475,1.0149928430992712,0.71338606911949],"aabb_xy":[[0.48886531928868415,1.0029326275447323],[0.5175341695410111,1.02705305865381]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.4727159611991987,-1.7918723593587775,0.71338606911949],"aabb_xy":[[-0.552715962272319,-1.801650405696162],[-0.39271596012607835,-1.782094313021393]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.34460631663389085,1.6185250994479028,0.71338606911949],"aabb_xy":[[0.2646063196708517,1.5414494578041293],[0.42460631359693,1.6956007410916762]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.671738961089491,-0.8757677825810566,0.71338606911949],"aabb_xy":[[0.6542389608444417,-0.8932675704206233],[0.6892389613345404,-0.8582679947414896]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.19763768132046244,-0.29431907920044686,0.71338606911949],"aabb_xy":[[-0.20771938839903592,-0.37431907709256146],[-0.18755597424188897,-0.21431908130833216]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.511571428172461,-2.32980956462312,0.71338606911949],"aabb_xy":[[0.5076575549770385,-2.3385585800296766],[0.5154853013678834,-2.321060549216563]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.42877132859908784,0.7447044160844314,0.71338606911949],"aabb_xy":[[-0.46627132926366643,0.7290173580842091],[-0.39127132793450903,0.7603914740846535]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.5355405918787546,-1.5072393880285466,0.71338606911949],"aabb_xy":[[0.49869004394176697,-1.5447393888515804],[0.5723911398157422,-1.469739387205513]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.3284839965892378,-0.8972877635162655,0.71338606911949],"aabb_xy":[[-0.39248399588340604,-0.9612739038851197],[-0.2644839972950696,-0.8333016231474113]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.36546370998878697,0.9270371442479632,0.71338606911949],"aabb_xy":[[0.3455726701084467,0.9143813329632666],[0.38535474986912727,0.9396929555326603]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.6277601487882659,-0.7808038262777881,0.71338606911949],"aabb_xy":[[-0.649668830927617,-0.8027044930978787],[-0.6058514666489149,-0.7589031594576973]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.2360580439247013,0.8553486053119821,0.71338606911949],"aabb_xy":[[-0.26127888078454087,0.8301248544590952],[-0.2108372070648616,0.8805723561648687]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.16576254134373258,-0.8162984690173878,0.71338606911949],"aabb_xy":[[0.14808691075513422,-0.8339786852967904],[0.1834381719323309,-0.7986182527379849]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.13753339302967393,-1.7836296559730247,0.71338606911949],"aabb_xy":[[-0.2175333944598011,-1.863146810985634],[-0.05753339159954671,-1.704112500960415]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.369104479081626,-1.0433309076084807,0.71338606911949],"aabb_xy":[[0.3192876996167912,-1.0933309060927838],[0.41892125854646073,-0.9933309091241771]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.20453788971367504,-1.4148720276017919,0.71338606911949],"aabb_xy":[[0.1766928529330679,-1.4456565263401036],[0.23238292649428216,-1.3840875288634802]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.34306735271878797,-0.07167045242155057,0.71338606911949],"aabb_xy":[[-0.3619517364872982,-0.09055637720190335],[-0.3241829689502778,-0.05278452764119779]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.47942611077455716,-1.496494511469606,0.71338606911949],"aabb_xy":[[-0.4920528980617535,-1.5060405851711787],[-0.4667993234873608,-1.4869484377680329]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.3279610669917252,1.1751633087993185,0.71338606911949],"aabb_xy":[[0.26296106883580617,1.1488670642494063],[0.3929610651476443,1.2014595533492307]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[0.5668390952401163,1.1711550440495455,0.71338606911949],"aabb_xy":[[0.5118390956183706,1.1161713512620728],[0.6218390948618623,1.2261387368370182]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[0.5823218053885153,1.7847406223319902,0.71338606911949],"aabb_xy":[[0.5448218052829222,1.7779184604790088],[0.6198218054941081,1.791562784184971]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[-0.08111840807731929,0.8971402607369576,0.71338606911949],"aabb_xy":[[-0.1311184067232405,0.8472207170774954],[-0.031118409431398084,0.9470598043964201]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[-0.07786808170607273,-0.6689146938505908,0.71338606911949],"aabb_xy":[[-0.11286807997619264,-0.6759888215455789],[-0.04286808343595283,-0.6618405661556026]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_30","position":[-0.2636275597996783,-1.1833783185748037,0.71338606911949],"aabb_xy":[[-0.27879043277661536,-1.1985437758699224],[-0.2484646868227412,-1.168212861279685]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_31","position":[-0.46062331774373,1.3375988771322738,0.71338606911949],"aabb_xy":[[-0.4643265790728689,1.3338968588235558],[-0.4569200564145911,1.3413008954409913]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[-0.6247205120145117,0.6384984775102147,0.71338606911949],"aabb_xy":[[-0.6581606872105312,0.6050548516792844],[-0.591280336818492,0.6719421033411446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931879425352243,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1142.png","name":"1142"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3350.png","name":"3350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9878.png","name":"9878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8199.png","name":"8199"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":732.0019643801602,"rotation_z_degrees":237.90071069170216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004570678375605347,0.01938829297324544,-0.01715773400399245]},{"name":"camera_2","offset_m":[0.00557405306829304,0.01151812927175205,-0.011761642095386939]},{"name":"camera_3","offset_m":[-0.013942471641087244,-0.011191647403619047,0.014162822282698436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001885779953400184,-0.0016571571847953566,0.000705492679683241],"end_effector_yaw_offset_degrees":-0.11123805811679066},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006952157404483644,0.0007713184777804727,0.0010112287404051108],"end_effector_yaw_offset_degrees":0.8386386285954202},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007682361667844444,-0.0015007866699502425,0.0003580809466512667],"end_effector_yaw_offset_degrees":0.9101443311922299}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004133377289890893,-0.001270089407281321],"position_m":[0.3107133377289891,0.08982991059271868,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004376251495502336,-0.003562921435312856],"position_m":[0.31737625149550236,-0.11986292143531285,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036860124776637642,-0.0049164146214315104],"position_m":[0.3587860124776638,0.2917835853785685,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003397145314142521,0.004691609098339882],"position_m":[0.2473971453141425,-0.3471083909016601,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dc9881fccace9c747454187567830471b9f2cfd3ef05ec96f50dff19959bad8e","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0119.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5587/tex_ceiling_textures_8199/tex_floor_textures_9878/tex_table_textures_1142/tex_wall_textures_3350","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5022342434285351780,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5022342434285351780,"visual_seed":5022342434285351780,"scene_id":"lab_003","finished_at":"2026-09-03T11:26:45"} +{"episode_id":"ep_000071","started_at":"2026-09-03T11:26:48","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.1568243582638743,1.1886623112372776,0.71338606911949],"aabb_xy":[[0.11165304041570534,1.1246623140927394],[0.2019956761120433,1.2526623083818162]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.07786416622770287,-2.3078771061808623,0.71338606911949],"aabb_xy":[[0.047379916100672714,-2.357877105962358],[0.10834841635473302,-2.2578771063993663]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[-0.4550981551400674,0.8522027805451726,0.71338606911949],"aabb_xy":[[-0.4597332702923007,0.8483354454680239],[-0.4504630399878339,0.8560701156223212]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.34029675906075746,1.4855276749679178,0.71338606911949],"aabb_xy":[[-0.39431235534265746,1.4215276720756607],[-0.28628116277885746,1.549527677860175]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[0.5170487056123698,0.8406934680496665,0.71338606911949],"aabb_xy":[[0.42704870327835076,0.7632111134645538],[0.6070487079463889,0.9181758226347791]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.08297824779686758,1.6253685212869207,0.71338606911949],"aabb_xy":[[0.04547824797983402,1.620730309975779],[0.12047824761390113,1.6300067325980627]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.6411737068293192,1.6851608772301545,0.71338606911949],"aabb_xy":[[-0.6482151577800668,1.6781341254923603],[-0.6341322558785716,1.6921876289679492]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.16881892930557607,-1.0687112239444014,0.71338606911949],"aabb_xy":[[0.144982711664971,-1.1587112247528881],[0.19265514694618116,-0.9787112231359152]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[0.4224394654210648,1.607051972948549,0.71338606911949],"aabb_xy":[[0.4123577583424912,1.5270519750564342],[0.4325211724996382,1.6870519708406635]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.592963884954157,-0.5697312015345224,0.71338606911949],"aabb_xy":[[0.5857201189079116,-0.6497311997381247],[0.6002076510004023,-0.4897312033309199]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.14792300561553817,-1.3161879642439573,0.71338606911949],"aabb_xy":[[-0.21192300631900757,-1.3622063467168781],[-0.08392300491206885,-1.2701695817710361]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[0.2769415177238468,0.8801255282904772,0.71338606911949],"aabb_xy":[[0.2269415182836511,0.8301576038061608],[0.32694151716404235,0.9300934527747934]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.43570966269395967,-1.6071278245029292,0.71338606911949],"aabb_xy":[[-0.4503530682479926,-1.6217865441597135],[-0.4210662571399266,-1.592469104846145]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.16150575052106886,1.6234513962438206,0.71338606911949],"aabb_xy":[[-0.2166309561506596,1.5634513948025333],[-0.10638054489147807,1.6834513976851075]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.6047729617713352,-2.4976886797537285,0.71338606911949],"aabb_xy":[[-0.6179242077426246,-2.5226886795104155],[-0.5916217158000459,-2.4726886799970424]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.5214778521591439,-0.760913241642655,0.71338606911949],"aabb_xy":[[0.5045671197228021,-0.7743854472352695],[0.5383885845954857,-0.7474410360500404]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.05501152345160232,0.3315149594006619,0.71338606911949],"aabb_xy":[[-0.06763831073879867,0.32196888569908894],[-0.04238473616440596,0.34106103310223473]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.10682074993907387,1.0717770529718247,0.71338606911949],"aabb_xy":[[0.09882726014379185,1.0637789210313493],[0.11481423973435591,1.0797751849123005]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.17642744213885875,0.897919555880275,0.71338606911949],"aabb_xy":[[-0.18522949744783146,0.8901082297253459],[-0.16762538682988604,0.905730882035204]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[0.16492150316708132,-2.460712296167546,0.71338606911949],"aabb_xy":[[0.1299215048969614,-2.467786423862534],[0.1999215014372012,-2.453638168472558]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.028285078202933245,-0.25833661893573057,0.71338606911949],"aabb_xy":[[-0.03554632577334066,-0.27112362919924005],[-0.02102383063252583,-0.2455496086722211]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.00396391372566729,-2.462560514993908,0.71338606911949],"aabb_xy":[[-0.013381388295530039,-2.471976692131627],[0.00545356084419546,-2.453144337856189]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946335403562248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5548.png","name":"5548"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5548.png","name":"5548"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9034.png","name":"9034"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5178.png","name":"5178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/492.png","name":"492"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.907009985723,"rotation_z_degrees":116.3912175930831,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001913241596237382,-0.018210031301581553,0.018367928458296764]},{"name":"camera_2","offset_m":[0.009422686514622618,0.013763097267070836,0.006693570013280536]},{"name":"camera_3","offset_m":[-0.0015399751875757074,-0.008518275443031503,0.010715318976003751]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007691700736402428,-0.000800353983592204,0.0016955667875675233],"end_effector_yaw_offset_degrees":0.5436048399418594},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007282717911523723,-0.0017021009762987617,0.0017252399189792134],"end_effector_yaw_offset_degrees":0.3332039457307674},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[9.36602757798128e-05,6.519354820688208e-05,-0.0003239186384803286],"end_effector_yaw_offset_degrees":0.5906463326630473}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019980406075302114,0.00022617811209135665],"position_m":[0.31229804060753025,0.09132617811209136,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00098557404457718,0.0030752098907699905],"position_m":[0.31398557404457716,-0.11322479010923,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035452770617857314,-0.0011989720382191227],"position_m":[0.3586452770617858,0.2955010279617809,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030153437071360556,0.0022236517736276933],"position_m":[0.24701534370713604,-0.3495763482263723,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dbd706c01bec2952d3193478677181bbeb1e1ec078a0c75dd08881733e889baa","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0120.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5548/tex_ceiling_textures_492/tex_floor_textures_5178/tex_table_textures_4480/tex_wall_textures_9034","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8594294180586891213,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8594294180586891213,"visual_seed":8594294180586891213,"scene_id":"lab_003","finished_at":"2026-09-03T11:29:18"} +{"episode_id":"ep_000072","started_at":"2026-09-03T11:32:06","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.4091164077185151,0.5353761380996849,0.71338606911949],"aabb_xy":[[-0.42621848567688325,0.5182693325684151],[-0.39201432976014694,0.5524829436309546]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.25655047953573273,-0.5543265955304215,0.71338606911949],"aabb_xy":[[-0.28439551631633986,-0.5851110942687332],[-0.2287054427551256,-0.5235420967921098]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[-0.6058673080768725,-0.08549148237364168,0.71338606911949],"aabb_xy":[[-0.6558673093607124,-0.13547033676426373],[-0.5558673067930324,-0.03551262798301955]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.4775728739818905,0.39598931599282894,0.71338606911949],"aabb_xy":[[0.47413219774183346,0.3921278830184645],[0.4810135502219478,0.39985074896719347]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.48224780945740653,1.66285444853006,0.71338606911949],"aabb_xy":[[0.47593570992106804,1.6570875092768411],[0.4885599089937449,1.668621387783279]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.19268235633420472,-2.353276431685355,0.71338606911949],"aabb_xy":[[0.1780389507801717,-2.3679351513421394],[0.20732576188823768,-2.338617712028571]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.6647639048326404,-2.3317024187056163,0.71338606911949],"aabb_xy":[[-0.6838762121906192,-2.3508371975828584],[-0.6456515974746615,-2.3125676398283743]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.15835096581759733,0.2088387812494994,0.71338606911949],"aabb_xy":[[-0.16330698600247853,0.1863387810473778],[-0.15339494563271613,0.23133878145162107]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.6405741204612188,0.2153469885490411,0.71338606911949],"aabb_xy":[[0.6020284276360177,0.17680121749285244],[0.6791198132864198,0.2538927596052298]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.30730018169346507,0.6552220065861674,0.71338606911949],"aabb_xy":[[0.2573001830475439,0.6053024629267049],[0.35730018033938626,0.7051415502456296]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.5010845980827758,-2.257331903331332,0.71338606911949],"aabb_xy":[[0.43708460168720276,-2.321295191750066],[0.5650845944783489,-2.193368614912599]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[-0.5274292937855706,-2.501908780411975,0.71338606911949],"aabb_xy":[[-0.5974292971771326,-2.5372245541154053],[-0.45742929039400865,-2.4665930067085435]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.05833821384272486,0.1260496375810276,0.71338606911949],"aabb_xy":[[-0.1133382134644707,0.07106594479355491],[-0.003338214220979026,0.18103333036850036]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.1429645564728913,1.4054947725228573,0.71338606911949],"aabb_xy":[[0.1321240782463764,1.3883084912322083],[0.1538050346994062,1.4226810538135057]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.3681862919993435,-1.2764225224123296,0.71338606911949],"aabb_xy":[[0.30418628994961155,-1.3165170055016377],[0.43218629404907555,-1.2363280393230218]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.4103182788229678,0.2887565824081535,0.71338606911949],"aabb_xy":[[-0.42122405491053044,0.20875658600932429],[-0.399412502735405,0.3687565788069826]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.24305762927142577,0.5397158820921599,0.71338606911949],"aabb_xy":[[-0.2970732255533257,0.47571587919990266],[-0.18904203298952574,0.603715884984417]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.6400398018910838,0.7348796911957267,0.71338606911949],"aabb_xy":[[-0.6900172187563373,0.6848796897064781],[-0.5900623850258301,0.7848796926849751]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.4342965141612436,-1.7300725735810534,0.71338606911949],"aabb_xy":[[0.42549445885227094,-1.7378838997359822],[0.44309856947021636,-1.722261247426124]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.18072937782791387,1.7138710183110164,0.71338606911949],"aabb_xy":[[-0.2607293781015208,1.6409214704852995],[-0.10072937755430687,1.786820566136733]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.02001074429182359,0.991979854584768,0.71338606911949],"aabb_xy":[[-0.10001074125486276,0.9149042129409943],[0.059989252671215576,1.0690554962285412]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.5305914637267919,1.4581546838595023,0.71338606911949],"aabb_xy":[[0.4955914645339734,1.4471876378618393],[0.5655914629196099,1.4691217298571644]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.5519283482545931,0.5097840369235374,0.71338606911949],"aabb_xy":[[0.5341348413196767,0.4919842913277397],[0.5697218551895096,0.527583782519335]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[0.45998745500419735,-0.634493739081718,0.71338606911949],"aabb_xy":[[0.43807877286484626,-0.6563944059018086],[0.48189613714354834,-0.6125930722616272]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[-0.05700463168329595,0.5236949123415551,0.71338606911949],"aabb_xy":[[-0.09433590820853857,0.48904185754670276],[-0.01967335515805333,0.5583479671364073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906584180801493,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4701.png","name":"4701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4701.png","name":"4701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1786.png","name":"1786"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/635.png","name":"635"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1217.png","name":"1217"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5526.png","name":"5526"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":713.6973557288153,"rotation_z_degrees":44.29644964405621,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01939102026285849,0.01638930755545059,0.019345492988079274]},{"name":"camera_2","offset_m":[-0.015016723282367908,0.0036500129689208093,0.008564852604451004]},{"name":"camera_3","offset_m":[-0.008354252141305541,0.00919080461776104,0.0038801350527658852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013210110014836018,0.00017865104904091428,-0.00016724525358858145],"end_effector_yaw_offset_degrees":-0.9760480064393529},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00010747218275239238,0.0019589672214243067,-0.000880880594004438],"end_effector_yaw_offset_degrees":-0.4140080865886615},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00015293477891484752,0.00029566586059925253,0.00014111322485527373],"end_effector_yaw_offset_degrees":-0.13546781636056693}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001989006161009983,-0.003812345820249483],"position_m":[0.31228900616101,0.08728765417975051,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002847286556064625,0.0020120872922857833],"position_m":[0.31584728655606464,-0.11428791270771421,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005510404816608328,-0.004176817014147699],"position_m":[0.35565104048166085,0.29252318298585234,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009375496290712501,0.0011928169607539722],"position_m":[0.24306245037092875,-0.35060718303924604,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9b77a4bcd32c00810ec3691cf0045f3f33d6ef52a5287f5a075d94217f49d9d7","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0123.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4701/tex_ceiling_textures_5526/tex_floor_textures_1217/tex_table_textures_1786/tex_wall_textures_635","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7102831258682466860,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7102831258682466860,"visual_seed":7102831258682466860,"scene_id":"lab_003","finished_at":"2026-09-03T11:34:33"} +{"episode_id":"ep_000073","started_at":"2026-09-03T11:34:36","dimensions":{"distractor":{"count":25,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.5651424321419172,-1.572310553342798,0.71338606911949],"aabb_xy":[[-0.6548295084500326,-1.6623105535972482],[-0.4754553558338017,-1.4823105530883471]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.4128956597288314,-1.77458937210093,0.71338606911949],"aabb_xy":[[-0.4261266052635126,-1.7878167911229292],[-0.39966471419415,-1.7613619530789304]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.5555928271582862,-0.9872868922241804,0.71338606911949],"aabb_xy":[[0.5446870510707235,-1.0672868886230096],[0.5664986032458489,-0.9072868958253513]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.08241434413737903,-2.354099223858108,0.71338606911949],"aabb_xy":[[-0.10491434395128141,-2.3585738402285887],[-0.05991434432347664,-2.3496246074876277]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.46540654207429133,-0.018590060996769964,0.71338606911949],"aabb_xy":[[-0.49972281924890927,-0.06859006096994769],[-0.4310902648996734,0.03140993897640776]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[0.22195527505972834,-2.171454491321349,0.71338606911949],"aabb_xy":[[0.21661769939372377,-2.196454492250489],[0.2272928507257329,-2.1464544903922094]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.15143116715217697,0.061385055073563066,0.71338606911949],"aabb_xy":[[-0.17665200401201664,0.03616130422067631],[-0.1262103302923373,0.0866088059264498]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.6002253520197809,0.29516080024003255,0.71338606911949],"aabb_xy":[[-0.6802253491793561,0.28361319928221546],[-0.5202253548602055,0.30670840119784953]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.23061338947375498,0.6014724108276104,0.71338606911949],"aabb_xy":[[0.21455146201523728,0.5164724090150185],[0.24667531693227257,0.6864724126402021]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.32256709753121127,-1.8847974081749224,0.71338606911949],"aabb_xy":[[-0.33947782996755305,-1.8982696137675366],[-0.3056563650948695,-1.8713252025823077]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.052493071987312456,-1.0942621659880423,0.71338606911949],"aabb_xy":[[0.03732090270567912,-1.1094310229162456],[0.0676652412689458,-1.079093309059839]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.16791681803956948,-0.9128867604335982,0.71338606911949],"aabb_xy":[[-0.2319168183135477,-0.9629528606308861],[-0.10391681776559125,-0.8628206602363102]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.2568335630973991,1.376369788002643,0.71338606911949],"aabb_xy":[[-0.3029186543521305,1.3123697907500878],[-0.21074847184266757,1.440369785255198]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.36331755297167473,-0.0016812133263881535,0.71338606911949],"aabb_xy":[[-0.3679526681239081,-0.005548548403536801],[-0.35868243781944126,0.0021861217507604938]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.30951553480701555,0.8072178938577186,0.71338606911949],"aabb_xy":[[0.27218425828177295,0.7725648390628663],[0.34684681133225814,0.8418709486525708]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.1808914243385742,0.4211453636557474,0.71338606911949],"aabb_xy":[[-0.23589142396032003,0.3661616708682747],[-0.12589142471682835,0.4761290564432202]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.28577251266605375,-0.601964475008177,0.71338606911949],"aabb_xy":[[0.25014335676609395,-0.6375971417650299],[0.32140166856601343,-0.566331808251324]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.21903556990452405,0.5935076277558466,0.71338606911949],"aabb_xy":[[-0.26903557118836396,0.5435287733652244],[-0.16903556862068406,0.6434864821464686]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.4659586630980532,1.2562295121530425,0.71338606911949],"aabb_xy":[[0.4043679038740605,1.1922295140439956],[0.5275494223220462,1.3202295102620893]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.491624254819921,-2.31854344290463,0.71338606911949],"aabb_xy":[[0.47817772818587767,-2.332013294557721],[0.5050707814539643,-2.3050735912515385]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.22365573825461138,-1.8354584818349973,0.71338606911949],"aabb_xy":[[0.16365573661168953,-1.8874586311269417],[0.28365573989753323,-1.7834583325430533]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.5782815486762128,-2.3170741086628013,0.71338606911949],"aabb_xy":[[-0.5819848100053516,-2.3207761269715186],[-0.5745782873470738,-2.313372090354083]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.19220324164842195,-2.4003357029885213,0.71338606911949],"aabb_xy":[[-0.2039714284430795,-2.4853357028937433],[-0.18043505485376443,-2.3153357030833]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[-0.49735201380894223,-1.1530748618982074,0.71338606911949],"aabb_xy":[[-0.514852014068279,-1.1671664040869802],[-0.4798520135496057,-1.138983319709435]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[0.4956436259545596,1.5177544452958407,0.71338606911949],"aabb_xy":[[0.4406436277528147,1.4772324786694029],[0.5506436241563043,1.558276411922278]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963802912468704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9857.png","name":"9857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9857.png","name":"9857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7364.png","name":"7364"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5823.png","name":"5823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3385.png","name":"3385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8818.png","name":"8818"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":706.0636177594095,"rotation_z_degrees":183.75993358778913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01248378184086275,0.0023798616148260204,-0.006110223574674728]},{"name":"camera_2","offset_m":[-0.014893279581718124,-0.0044434956245987065,0.019497714347949172]},{"name":"camera_3","offset_m":[0.012100737186606942,0.015306515119310912,-0.013767062516175788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011173713638987014,-0.001188953040757642,-0.0013324941863563913],"end_effector_yaw_offset_degrees":-0.27862323819556534},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003043209900390443,-0.0014109931974391264,0.0017692439626847078],"end_effector_yaw_offset_degrees":-0.9320053582050143},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001378357295377706,-0.0016521609008545157,-0.0011308689348148327],"end_effector_yaw_offset_degrees":-0.495618445319957}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015629141262922643,0.0014495495448138855],"position_m":[0.30873708587370774,0.09254954954481388,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002316047799645975,0.004110353766659274],"position_m":[0.31531604779964595,-0.11218964623334073,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004303591727159749,0.0012876092264417598],"position_m":[0.3594035917271598,0.2979876092264418,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015944240563280651,-0.0031960863657972726],"position_m":[0.24559442405632806,-0.35499608636579727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1d0863b144f7db8295ae0f1905a61f0cc507e8e3a1b3cedd19a3d3aec7748fb6","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0124.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9857/tex_ceiling_textures_8818/tex_floor_textures_3385/tex_table_textures_7364/tex_wall_textures_5823","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4974932377432245344,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4974932377432245344,"visual_seed":4974932377432245344,"scene_id":"lab_003","finished_at":"2026-09-03T11:37:09"} +{"episode_id":"ep_000074","started_at":"2026-09-03T11:37:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.13801554116804138,-1.064048356267143,0.71338606911949],"aabb_xy":[[0.100515542744641,-1.0772125702349737],[0.1755155395914417,-1.0508841422993123]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.18442162753107494,-0.36567630779096216,0.71338606911949],"aabb_xy":[[-0.20192162666544208,-0.37555593482854993],[-0.16692162839670774,-0.3557966807533743]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.4387545806652633,-0.8674338880145431,0.71338606911949],"aabb_xy":[[0.4244201555390999,-0.8794941035690819],[0.4530890057914268,-0.8553736724600042]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[0.14727511945068783,1.3661057221092001,0.71338606911949],"aabb_xy":[[0.06727511917708083,1.2931561742834834],[0.2272751197242948,1.4390552699349168]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.3276623105862464,1.6314041805908421,0.71338606911949],"aabb_xy":[[0.24766230732840339,1.5514076727988582],[0.4076623138440893,1.711400688382826]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.5295206486576922,0.3983922719412831,0.71338606911949],"aabb_xy":[[-0.5794994571680081,0.3483922719355643],[-0.47954184014737633,0.44839227194700193]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.11218474359754371,1.1426698592379245,0.71338606911949],"aabb_xy":[[0.0621897326380917,1.0926698602023328],[0.16217975455699576,1.1926698582735162]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.09578341584737138,-0.3049433504608947,0.71338606911949],"aabb_xy":[[-0.10182042884803613,-0.3109700515298429],[-0.08974640284670667,-0.2989166493919465]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.6624495036669811,-0.22094403762492165,0.71338606911949],"aabb_xy":[[0.6274495044741627,-0.23191108362258422],[0.6974495028597992,-0.20997699162725897]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.6167542885937229,-1.6743067565663667,0.71338606911949],"aabb_xy":[[0.5717542871274941,-1.7193066134278479],[0.6617542900599518,-1.6293068997048865]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[-0.5881183134222205,0.2949206270456477,0.71338606911949],"aabb_xy":[[-0.6000510477840486,0.28253847423778833],[-0.5761855790603925,0.30730277985350707]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.47197070881688363,0.3580196128005353,0.71338606911949],"aabb_xy":[[0.4494715730906566,0.3355196120222723],[0.49446984454311055,0.38051961357879827]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.43255912223991433,0.9589393321007487,0.71338606911949],"aabb_xy":[[0.34755912382249116,0.8740650366384637],[0.5175591206573376,1.0438136275630336]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.36761327329142346,0.5809672385714881,0.71338606911949],"aabb_xy":[[-0.38021597242849997,0.5683718423466226],[-0.35501057415434706,0.5935626347963536]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.44874820066995785,-1.083387716251277,0.71338606911949],"aabb_xy":[[-0.4837481989806533,-1.0911027311748227],[-0.4137482023592624,-1.0756727013277314]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.5525091621107852,0.32821694983408367,0.71338606911949],"aabb_xy":[[0.535407084152417,0.3111101443028139],[0.5696112400691533,0.3453237553653534]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.33839327520615436,0.8332590361856118,0.71338606911949],"aabb_xy":[[-0.4033932730878022,0.7821353724790711],[-0.2733932773245066,0.8843826998921528]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.5212901455430181,-2.261542184800339,0.71338606911949],"aabb_xy":[[0.45729014825736936,-2.3030489037531825],[0.5852901428286666,-2.2200354658474946]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.35026620756096505,-2.3206194207684168,0.71338606911949],"aabb_xy":[[-0.40526168538162444,-2.3756194222023232],[-0.29527072974030566,-2.2656194193345094]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.6036086162576138,-0.983946829608594,0.71338606911949],"aabb_xy":[[0.5623040731938777,-1.0479468291767111],[0.6449131593213496,-0.919946830040477]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.3723297713094773,1.6568212477843036,0.71338606911949],"aabb_xy":[[-0.3769648864617106,1.6529539127071549],[-0.3676946561572439,1.6606885828614524]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.20761171394863998,-1.6640303419492344,0.71338606911949],"aabb_xy":[[0.1615266226939085,-1.7280303392017895],[0.25369680520337146,-1.6000303446966793]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.22131133006377862,1.0743386514187327,0.71338606911949],"aabb_xy":[[-0.2763113282655234,1.033816684792295],[-0.16631133186203376,1.1148606180451701]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966349645400812,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/170.png","name":"170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/170.png","name":"170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8875.png","name":"8875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2748.png","name":"2748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7327.png","name":"7327"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8850.png","name":"8850"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":521.722545830058,"rotation_z_degrees":239.99382145731502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028604577471982896,0.013334953455438777,0.019259645784682315]},{"name":"camera_2","offset_m":[0.012208367222551957,-0.014746785117751595,0.0007478759835321501]},{"name":"camera_3","offset_m":[0.006843700888538664,0.01805881723638465,0.007529431611173962]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016351530513256806,-0.0003565146864428863,-0.0005906460263665548],"end_effector_yaw_offset_degrees":0.063750501562434},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000810072019494663,-0.0014643908027614488,0.0013315188123499341],"end_effector_yaw_offset_degrees":0.44716042685299673},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001599564264367379,-0.001191302329652407,-0.0018578023576801641],"end_effector_yaw_offset_degrees":-0.507834836422904}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016625665589172058,0.004293207322751783],"position_m":[0.31196256655891724,0.09539320732275178,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003636057246918536,-0.0001719625333339329],"position_m":[0.3093639427530815,-0.11647196253333393,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033233506473105473,0.0039399053626535405],"position_m":[0.35842335064731057,0.30063990536265356,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003465183757404532,-0.00335536321778946],"position_m":[0.24053481624259546,-0.35515536321778945,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c619948a322231e54656229b880e0fd59b69cb9455a3fa01864f7d82ae8974c0","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0125.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_170/tex_ceiling_textures_8850/tex_floor_textures_7327/tex_table_textures_8875/tex_wall_textures_2748","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5167263657423354861,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5167263657423354861,"visual_seed":5167263657423354861,"scene_id":"lab_003","finished_at":"2026-09-03T11:39:50"} +{"episode_id":"ep_000075","started_at":"2026-09-03T11:39:54","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[0.22876873106206952,1.4409496782177214,0.71338606911949],"aabb_xy":[[0.14876872780422654,1.3609531704257374],[0.3087687343199125,1.5209461860097053]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.1196779460034858,0.47186866853221776,0.71338606911949],"aabb_xy":[[-0.19967794459080523,0.39255306659405687],[-0.03967794741616638,0.5511842704703787]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[0.576914571732728,0.41344119503585786,0.71338606911949],"aabb_xy":[[0.5661415978113602,0.37844119681681887],[0.5876875456540958,0.44844119325489684]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.08191231791408482,-0.4793790307253607,0.71338606911949],"aabb_xy":[[-0.13191231749041957,-0.5293596096774666],[-0.03191231833775013,-0.4293984517732548]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.03251762401001068,-2.469533571201185,0.71338606911949],"aabb_xy":[[-0.055017624253526076,-2.481738205860957],[-0.010017623766495287,-2.4573289365414133]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.16202974561295347,-1.9048900742262265,0.71338606911949],"aabb_xy":[[0.12523511248804717,-1.941795949322809],[0.1988243787378597,-1.8679841991296444]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[0.32535458765536673,1.2756819172758278,0.71338606911949],"aabb_xy":[[0.2353545890608968,1.2594313309624068],[0.4153545862498367,1.2919325035892488]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.26340240931264036,-1.1005328007154989,0.71338606911949],"aabb_xy":[[0.23840241004067805,-1.1168781643116612],[0.2884024085846026,-1.0841874371193365]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.19933241208164754,-2.568739105100497,0.71338606911949],"aabb_xy":[[0.18416024280001422,-2.5839079620287007],[0.2145045813632809,-2.5535702481722944]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.23690594002725335,-1.9618651509391591,0.71338606911949],"aabb_xy":[[-0.3169059403008603,-2.034814698764876],[-0.15690593975364633,-1.8889156031134424]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.6193448268045245,-0.6154748750526422,0.71338606911949],"aabb_xy":[[-0.652785002000544,-0.6489185008835722],[-0.5859046516085048,-0.582031249221712]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.18219182743522,-1.7155304366822883,0.71338606911949],"aabb_xy":[[0.11219182479863365,-1.7356353016781534],[0.25219183007180634,-1.6954255716864224]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.060497589230929294,0.8067938147111806,0.71338606911949],"aabb_xy":[[-0.06921155828086378,0.784293814051992],[-0.051783620180994805,0.8292938153703685]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.17065498096752385,-1.0895209213431154,0.71338606911949],"aabb_xy":[[-0.1747709310795965,-1.0936364763759607],[-0.16653903085545116,-1.0854053663102696]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.5290695467497541,1.5721102238086684,0.71338606911949],"aabb_xy":[[0.479070271581318,1.5221102225327214],[0.5790688219181903,1.6221102250846158]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.49404483586216386,1.501394812503467,0.71338606911949],"aabb_xy":[[-0.5110549331522145,1.485260324005193],[-0.47703473857211326,1.5175293010017408]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.08794321673207828,-0.7194293003735432,0.71338606911949],"aabb_xy":[[0.04669440570216352,-0.7744292998857606],[0.12919202776199296,-0.6644293008613257]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.02089008005045334,1.5383553560206455,0.71338606911949],"aabb_xy":[[-0.05910374352810488,1.4583553534278042],[0.10088390362901156,1.6183553586134873]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.6426648910529777,0.9705492008509244,0.71338606911949],"aabb_xy":[[0.6207562089136266,0.9486485340308338],[0.6645735731923287,0.9924498676710153]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.5631179736041296,-1.95644047938281,0.71338606911949],"aabb_xy":[[-0.6131179730443251,-2.006408403867126],[-0.5131179741639339,-1.9064725548984933]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.17163225367222157,0.924738132683887,0.71338606911949],"aabb_xy":[[-0.2072614095721813,0.889105465927034],[-0.13600309777226183,0.9603707994407399]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[0.25937994314866863,-0.5778168555937433,0.71338606911949],"aabb_xy":[[0.21420862530049967,-0.6418168527382818],[0.3045512609968376,-0.513816858449205]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.10881756915670526,-2.2156737566964266,0.71338606911949],"aabb_xy":[[-0.13131756897060765,-2.220148373066907],[-0.08631756934280288,-2.211199140325946]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.0598509802035998,-0.16875037180609898,0.71338606911949],"aabb_xy":[[-0.09033523033062996,-0.21875037158759492],[-0.02936673007656964,-0.11875037202460303]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.07534272411188592,-1.4881257398566552,0.71338606911949],"aabb_xy":[[0.028213345110050234,-1.5521257409010567],[0.12247210311372157,-1.4241257388122528]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.43741329245568217,-0.903743469674092,0.71338606911949],"aabb_xy":[[0.41494852248427705,-0.9262434705529524],[0.4598780624270873,-0.8812434687952314]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878480298009099,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4809.png","name":"4809"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4809.png","name":"4809"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9885.png","name":"9885"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4760.png","name":"4760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1677.png","name":"1677"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":700.049125058208,"rotation_z_degrees":283.3003150679442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009631064334071234,0.016239906039366276,0.01501485419943208]},{"name":"camera_2","offset_m":[-0.0013259991081637466,-0.014173562294014168,-0.010554931808126921]},{"name":"camera_3","offset_m":[0.01975681237704124,-0.004104975947089046,-0.008692368927217168]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011503271412398614,0.0015938789827261127,0.0014830760591100695],"end_effector_yaw_offset_degrees":0.7861060860558939},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019331030309010918,-9.536983701998163e-05,-0.0012210534882214578],"end_effector_yaw_offset_degrees":0.30699468102351735},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00018329506063441805,0.0014100633877538685,-0.00041891974522021867],"end_effector_yaw_offset_degrees":0.9028902341380614}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031202318467789024,-0.002561437143850516],"position_m":[0.3071797681532211,0.08853856285614949,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031045603952678724,-0.00454044071108151],"position_m":[0.31610456039526785,-0.1208404407110815,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002612406184844407,-0.0040498773448463836],"position_m":[0.3524875938151556,0.2926501226551536,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004214494029344494,0.004323200553680067],"position_m":[0.24821449402934448,-0.34747679944631993,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2676eb8a7b35e1cc71e0eada8f1c1ef92f4705135828edeb4aa355d3ab7bdc72","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0126.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4809/tex_ceiling_textures_5883/tex_floor_textures_1677/tex_table_textures_9885/tex_wall_textures_4760","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7008230623926548165,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7008230623926548165,"visual_seed":7008230623926548165,"scene_id":"lab_003","finished_at":"2026-09-03T11:42:34"} +{"episode_id":"ep_000076","started_at":"2026-09-03T11:42:37","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.5843526785000768,-1.6240784374386148,0.71338606911949],"aabb_xy":[[0.5243526786535099,-1.6808970596316535],[0.6443526783466434,-1.5672598152455761]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[-0.38901403076184354,-1.0261570071649158,0.71338606911949],"aabb_xy":[[-0.41090377835078434,-1.1161570044541649],[-0.36712428317290274,-0.9361570098756667]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.5051474580289596,-0.9555723258964786,0.71338606911949],"aabb_xy":[[-0.5407766139289193,-0.9912049926533315],[-0.4695183021289998,-0.9199396591396256]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[-0.6002806676089351,0.5032760682132489,0.71338606911949],"aabb_xy":[[-0.6642806708275729,0.45655295631424053],[-0.5362806643902972,0.5499991801122572]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.548680542759874,0.09163308119786429,0.71338606911949],"aabb_xy":[[0.48468054417330153,0.04462611779835557],[0.6126805413464465,0.138640044597373]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.554578562590214,-1.1882997272942468,0.71338606911949],"aabb_xy":[[0.4708563370901314,-1.2782997308289425],[0.6383007880902963,-1.0982997237595507]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.557814658128972,-1.808579315969645,0.71338606911949],"aabb_xy":[[-0.6076314375938068,-1.8585793144539484],[-0.5079978786641373,-1.7585793174853417]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.003625245420168066,1.7435336205456653,0.71338606911949],"aabb_xy":[[-0.004411089281116776,1.7354955012412483],[0.011661580121452908,1.7515717398500819]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.1272033813838116,0.6173679366251945,0.71338606911949],"aabb_xy":[[-0.1631168858088013,0.5814544284084399],[-0.09128987695882192,0.6532814448419492]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.23317478480411752,0.533115559550164,0.71338606911949],"aabb_xy":[[-0.2440152630306324,0.5159292782595152],[-0.2223343065776026,0.5503018408408128]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.03544249368167296,0.5429803269631952,0.71338606911949],"aabb_xy":[[-0.04175459321801139,0.5372133877099765],[-0.029130394145334526,0.5487472662164141]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.008012240483047495,-1.62161103206024,0.71338606911949],"aabb_xy":[[-0.045512241998679204,-1.632837805076385],[0.029487761032584214,-1.6103842590440949]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[0.5671424668502381,-0.5599668870573034,0.71338606911949],"aabb_xy":[[0.4871424682629187,-0.6392824889954641],[0.6471424654375575,-0.4806512851191424]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[0.28192726210162844,-1.2998886606442077,0.71338606911949],"aabb_xy":[[0.22692726247988265,-1.3548723534316804],[0.33692726172337434,-1.244904967856735]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.23388489153292302,-0.6286160819851754,0.71338606911949],"aabb_xy":[[0.15388489355213797,-0.6362176229470272],[0.3138848895137081,-0.6210145410233233]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.41854205890707197,1.3830909495655819,0.71338606911949],"aabb_xy":[[-0.4801328181310648,1.319090951456535],[-0.35695129968307915,1.4470909476746288]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.5830002317456796,-2.1233271151381277,0.71338606911949],"aabb_xy":[[-0.5890948596337979,-2.1318965096897964],[-0.5769056038575613,-2.114757720586459]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.4833079703935316,-2.363520023281042,0.71338606911949],"aabb_xy":[[-0.4893449833941963,-2.3695467243499904],[-0.47727095739286685,-2.357493322212094]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.05345543035022737,1.336349517675833,0.71338606911949],"aabb_xy":[[0.0034766218399114937,1.2863495176701143],[0.10343423886054326,1.386349517681552]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.10269345074542235,-2.4072677758327785,0.71338606911949],"aabb_xy":[[0.07885723310481732,-2.497267776641265],[0.12652966838602747,-2.317267775024292]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[-0.1111729432551668,1.2726940681614667,0.71338606911949],"aabb_xy":[[-0.1203328221990434,1.2661628501179296],[-0.1020130643112902,1.2792252862050038]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.6041293132123661,-0.9330521666987655,0.71338606911949],"aabb_xy":[[-0.6080897969821004,-0.940720031284286],[-0.6001688294426317,-0.9253843021132448]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.1386188530089305,-1.3499932560460441,0.71338606911949],"aabb_xy":[[-0.20261885492127288,-1.4059044053040544],[-0.0746188510965882,-1.2940821067880335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874161464944227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6278.png","name":"6278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6278.png","name":"6278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7737.png","name":"7737"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5768.png","name":"5768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3650.png","name":"3650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5246.png","name":"5246"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":554.9141965722256,"rotation_z_degrees":342.82281258705353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018353801889184628,0.01776292951951221,0.002942195039465599]},{"name":"camera_2","offset_m":[-0.01481554994289781,0.016556773891934242,0.009186685399014217]},{"name":"camera_3","offset_m":[0.014887039333970797,-0.0009772136424293122,0.018850014043617008]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001205952474342547,-0.0009445499096731092,-0.001208515569754189],"end_effector_yaw_offset_degrees":0.23405016237508347},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006065804283779785,0.001735232608982775,0.0006773245729673489],"end_effector_yaw_offset_degrees":0.877314233522573},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001592556368289406,0.0008819873353561312,-0.0004846548122320975],"end_effector_yaw_offset_degrees":-0.7406225910939239}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007623553242445047,0.004874036841208486],"position_m":[0.31106235532424453,0.09597403684120849,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035173384405849913,-0.0027804320832084638],"position_m":[0.316517338440585,-0.11908043208320847,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033892956514381236,-0.0034138850555789513],"position_m":[0.3517107043485619,0.2932861149444211,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004831525783300797,0.0041813124062551705],"position_m":[0.2391684742166992,-0.3476186875937448,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ed098341511acc5c44244816a5cf1c5efbf867b7760703149d32dc8c166cc8f1","episode_index":127,"episode_name":"episode_0127"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0127.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6278/tex_ceiling_textures_5246/tex_floor_textures_3650/tex_table_textures_7737/tex_wall_textures_5768","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1380143070647378889,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1380143070647378889,"visual_seed":1380143070647378889,"scene_id":"lab_003","finished_at":"2026-09-03T11:45:25"} +{"episode_id":"ep_000077","started_at":"2026-09-03T11:45:28","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.3885600852645421,1.6507484423519299,0.71338606911949],"aabb_xy":[[0.3633392484047024,1.6255246914990429],[0.4137809221243817,1.6759721932048164]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.2994620237638545,-2.0968383095528615,0.71338606911949],"aabb_xy":[[-0.3634620208759602,-2.1458706793472717],[-0.2354620266517488,-2.0478059397584505]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[-0.6000299471305737,0.8232697045057438,0.71338606911949],"aabb_xy":[[-0.6478361147443423,0.7582697017986847],[-0.552223779516805,0.8882697072128026]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.46333455375389115,-0.5669506781585869,0.71338606911949],"aabb_xy":[[-0.48691967721778606,-0.6319506804040187],[-0.43974943028999636,-0.5019506759131551]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.32214324426888674,-2.173675702349534,0.71338606911949],"aabb_xy":[[0.31718722408400557,-2.1961757025516557],[0.3270992644537679,-2.151175702147413]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.06364710071885249,0.22013290025532717,0.71338606911949],"aabb_xy":[[-0.09864709984880814,0.21438767917966303],[-0.028647101588896814,0.22587812133099125]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.2422579246825146,-0.3421213207907243,0.71338606911949],"aabb_xy":[[-0.2531637007700773,-0.4221213171895535],[-0.23135214859495187,-0.26212132439189517]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.09066149842252624,-0.34235730970413725,0.71338606911949],"aabb_xy":[[-0.10530490397655923,-0.35701602936092147],[-0.07601809286849326,-0.3276985900473529]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.415906359813981,-1.1237040460505903,0.71338606911949],"aabb_xy":[[-0.46590635845990225,-1.1736235897100527],[-0.36590636116805986,-1.0737845023911279]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.23302249477901116,-1.7516265060594214,0.71338606911949],"aabb_xy":[[-0.2715681876042122,-1.7901722771156101],[-0.19447680195381012,-1.7130807350032327]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.15475222929797572,-0.12279314692704446,0.71338606911949],"aabb_xy":[[-0.16286588397135282,-0.13089896338107354],[-0.14663857462459862,-0.11468733047301538]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.12864818242382248,-1.8908949111452376,0.71338606911949],"aabb_xy":[[0.09114818207559472,-1.9026863067263209],[0.16614818277205023,-1.8791035155641538]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[0.44030155730244314,-0.4895594112223667,0.71338606911949],"aabb_xy":[[0.36030155702883615,-0.5625089590480833],[0.5203015575760501,-0.4166098633966499]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.4873237613933472,0.45351844311539447,0.71338606911949],"aabb_xy":[[-0.5523237640311407,0.4020388444159475],[-0.42232375875555367,0.5049980418148414]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[-0.5697809619221719,-2.041978514607749,0.71338606911949],"aabb_xy":[[-0.6337809610919418,-2.0887452017267116],[-0.5057809627524019,-1.995211827488787]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.402321642325008,1.5303442132387866,0.71338606911949],"aabb_xy":[[-0.42482164233515624,1.5162479935991835],[-0.37982164231485965,1.54444043287839]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.2481869499575874,1.7127929776827808,0.71338606911949],"aabb_xy":[[-0.30581741884485825,1.65279297875607],[-0.1905564810703165,1.7727929766094912]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.05455422043987146,0.9338243603710583,0.71338606911949],"aabb_xy":[[-0.035132855868244,0.8438243601166077],[0.1442412967479869,1.0238243606255089]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.46318137522945824,0.2826026782199893,0.71338606911949],"aabb_xy":[[0.41818878851100777,0.23760267894554055],[0.5081739619479086,0.32760267749443805]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.6808520254617676,1.5928647699595664,0.71338606911949],"aabb_xy":[[0.6774113492217104,1.5890033369852021],[0.6842927017018248,1.596726202933931]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[-0.6114189900923502,-1.1306649289563546,0.71338606911949],"aabb_xy":[[-0.6174560030930151,-1.136691630025303],[-0.6053819770916856,-1.1246382278874063]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.6733607519993647,0.602696582386852,0.71338606911949],"aabb_xy":[[0.6388984046012227,0.5682026999890292],[0.7078230993975063,0.6371904647846746]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.33410579049615374,0.16262173123524715,0.71338606911949],"aabb_xy":[[-0.3716057889195541,0.1494575172674165],[-0.2966057920727534,0.17578594520307775]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[0.3932392863840628,-2.0752488904507196,0.71338606911949],"aabb_xy":[[0.36995744418593146,-2.1602488917479477],[0.41652112858219414,-1.9902488891534917]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.6925243940601313,0.03993584611259671,0.71338606911949],"aabb_xy":[[0.6837431669128952,0.031156098824066565],[0.7013056212073677,0.04871559340112687]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.6238212253765913,-0.10730852360710319,0.71338606911949],"aabb_xy":[[0.6056154017153437,-0.11833392418909482],[0.642027049037839,-0.09628312302511154]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.04250732865707607,-2.056426993499238,0.71338606911949],"aabb_xy":[[-0.09250233961652811,-2.1064269925348302],[0.007487682302375955,-2.006426994463647]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[-0.4953658806908308,-1.7250348685620742,0.71338606911949],"aabb_xy":[[-0.5097003058169942,-1.7370950841166133],[-0.4810314555646673,-1.7129746530075356]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[0.14739966673633143,1.6934164860500691,0.71338606911949],"aabb_xy":[[0.12489966649281603,1.6812118513902974],[0.16989966697984682,1.7056211207098413]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[-0.30263073961604414,0.7653581305157013,0.71338606911949],"aabb_xy":[[-0.3331149897430743,0.7153581307342054],[-0.272146489489014,0.8153581302971973]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[-0.2947391464299259,-2.4440844367885592,0.71338606911949],"aabb_xy":[[-0.3497313970654368,-2.499084438531872],[-0.23974689579441494,-2.3890844350452465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865436294607714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6574.png","name":"6574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1753.png","name":"1753"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1633.png","name":"1633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5187.png","name":"5187"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":572.2250616914047,"rotation_z_degrees":84.50905060729347,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016374074751521157,-0.004158366082065868,-0.01656324035363626]},{"name":"camera_2","offset_m":[-0.0015009961781622914,0.014271184906416035,0.007316568560099296]},{"name":"camera_3","offset_m":[0.00943583940862712,-0.0072117093061054224,0.005068873829003815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001610760863934565,0.001631264774482354,-0.0003799087388252499],"end_effector_yaw_offset_degrees":0.8925219994021574},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013471284622694679,0.0010842006444652524,0.0008704357041526187],"end_effector_yaw_offset_degrees":0.49036435893803865},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-2.8058848373003868e-05,0.0007513106824549617,-0.0015854212458029694],"end_effector_yaw_offset_degrees":-0.6357135524873105}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002979526608403227,0.0034210841596809998],"position_m":[0.3073204733915968,0.094521084159681,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015964072764189717,-0.002918481916548241],"position_m":[0.31140359272358104,-0.11921848191654824,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0044897840431854675,-0.003127007907140212],"position_m":[0.3506102159568146,0.2935729920928598,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010202525227073142,0.0026511496792389526],"position_m":[0.24502025252270732,-0.34914885032076104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ab9611a704186291e5499402be97bf887183d43685b422a15c61bf47e5f9fb36","episode_index":128,"episode_name":"episode_0128"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0128.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1456/tex_ceiling_textures_5187/tex_floor_textures_1633/tex_table_textures_6574/tex_wall_textures_1753","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1552922445320364188,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1552922445320364188,"visual_seed":1552922445320364188,"scene_id":"lab_003","finished_at":"2026-09-03T11:48:02"} +{"episode_id":"ep_000078","started_at":"2026-09-03T11:49:28","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.37585259445201435,-1.587522110644251,0.71338606911949],"aabb_xy":[[0.3587505164936462,-1.604628916175521],[0.3929546724103825,-1.5704153051129814]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.5258585176315524,0.21689381024721177,0.71338606911949],"aabb_xy":[[0.5107562161705341,0.20179228861614987],[0.5409608190925703,0.2319953318782735]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.2663988306333105,-2.5559097043249537,0.71338606911949],"aabb_xy":[[0.24185261501055974,-2.5861586008739903],[0.29094504625606116,-2.525660807775916]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.21989856449229195,1.5590096789829642,0.71338606911949],"aabb_xy":[[0.2104810899224292,1.5495935018452454],[0.2293160390621547,1.5684258561206834]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.20474999183094544,-1.406184976934466,0.71338606911949],"aabb_xy":[[0.1407499945452968,-1.4476916958873098],[0.2687499891165941,-1.364678257981622]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.44232869474970915,-0.2505975288376443,0.71338606911949],"aabb_xy":[[0.40482869493267554,-0.25523574014878614],[0.47982869456674265,-0.24595931752650244]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.4171897311719672,-1.4859906969901888,0.71338606911949],"aabb_xy":[[0.3919688943121275,-1.5112144478430751],[0.44241056803180684,-1.4607669461373016]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.5491558116163215,0.20975875613435901,0.71338606911949],"aabb_xy":[[-0.619155813425067,0.18840498737017164],[-0.4791558098075761,0.2311125248985464]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.13278247103298224,1.7597414721825504,0.71338606911949],"aabb_xy":[[-0.14070575127173057,1.737241471944547],[-0.12485919079423391,1.7822414724205538]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.16057923713927824,-0.6366554166810023,0.71338606911949],"aabb_xy":[[-0.17099079581976193,-0.6420011500169007],[-0.1501676784587945,-0.6313096833451037]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.609260386932172,-2.0123496799917193,0.71338606911949],"aabb_xy":[[0.6039228112661674,-2.0373496809208596],[0.6145979625981766,-1.98734967906258]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.43705936838601467,0.7720809267960016,0.71338606911949],"aabb_xy":[[0.4151696207970738,0.6820809295067526],[0.4589491159749554,0.8620809240852508]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.08949459790441061,-2.105178253194028,0.71338606911949],"aabb_xy":[[-0.12064151674799373,-2.1751782518808347],[-0.058347679060827495,-2.0351782545072203]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.4635749788107655,1.1831911812569929,0.71338606911949],"aabb_xy":[[-0.5275749807231078,1.1272800319989826],[-0.3995749768984232,1.2391023305150035]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.1863456646763726,1.4255120465364768,0.71338606911949],"aabb_xy":[[-0.2763456611772443,1.3796004041180183],[-0.09634566817550082,1.4714236889549348]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.17667700138228826,-1.0605945194933681,0.71338606911949],"aabb_xy":[[0.12668388927309637,-1.1105945201675638],[0.22667011349148017,-1.0105945188191725]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.2102374785976051,1.4533636214760315,0.71338606911949],"aabb_xy":[[0.19112517123962625,1.4342288425987892],[0.22934978595558397,1.4724984003532733]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.35313143211899134,-2.1739470058271184,0.71338606911949],"aabb_xy":[[0.34304972504041786,-2.2539470037192326],[0.3632131391975648,-2.0939470079350033]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.5234893559714731,-2.1334602634466644,0.71338606911949],"aabb_xy":[[0.4859893556232452,-2.1452516590277475],[0.5609893563197007,-2.1216688678655804]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.1914075000023917,-0.45964218281177605,0.71338606911949],"aabb_xy":[[-0.24640749917898117,-0.5146318575867337],[-0.1364075008258022,-0.4046525080368184]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.12470508207870834,-2.2811311785009174,0.71338606911949],"aabb_xy":[[0.07473178807544786,-2.3311311790554643],[0.17467837608196876,-2.2311311779463696]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.5249726516421696,0.32802643693464484,0.71338606911949],"aabb_xy":[[0.48764137511692696,0.2933733821397925],[0.5623039281674121,0.36267949172949715]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.3530601295223318,-1.559588837852784,0.71338606911949],"aabb_xy":[[-0.4130601303831446,-1.61101526785927],[-0.293060128661519,-1.5081624078462972]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.3795179981532924,-1.1125588898790986,0.71338606911949],"aabb_xy":[[-0.46951800048731146,-1.190041244464211],[-0.28951799581927334,-1.0350765352939857]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[0.6547592899940602,-0.659965269447901,0.71338606911949],"aabb_xy":[[0.6494267753394471,-0.6652895976931367],[0.6600918046486732,-0.6546409412026656]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.12369415280565155,0.47565556805058495,0.71338606911949],"aabb_xy":[[-0.1407042500957022,0.4595210795523111],[-0.1066840555156009,0.49179005654885893]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[-0.4731754306361591,-0.4709821077261527,0.71338606911949],"aabb_xy":[[-0.5230581275138553,-0.5209821069724274],[-0.42329273375846294,-0.420982108479878]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[-0.0804808954071049,-1.417827154550415,0.71338606911949],"aabb_xy":[[-0.09204987615404148,-1.442827154667347],[-0.06891191466016833,-1.3928271544334836]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[-0.3893702067988904,-2.4513897050882005,0.71338606911949],"aabb_xy":[[-0.4533702060930586,-2.5153758454570543],[-0.3253702075047222,-2.387403564719346]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[0.4112077102750038,1.5644468960241862,0.71338606911949],"aabb_xy":[[0.347207710014533,1.519438096671258],[0.4752077105354746,1.609455695377114]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[0.5810124456943451,-2.4488491497881744,0.71338606911949],"aabb_xy":[[0.5310124447438122,-2.4803982967916958],[0.6310124466448778,-2.417300002784653]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.10325569611365215,1.6426415077551568,0.71338606911949],"aabb_xy":[[-0.16725569752164282,1.5908525562312321],[-0.03925569470566149,1.6944304592790815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959698281228583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3840.png","name":"3840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3171.png","name":"3171"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/880.png","name":"880"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":585.3881771730888,"rotation_z_degrees":168.99265015784943,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010353473496837844,0.019281557906425755,0.014665413383769973]},{"name":"camera_2","offset_m":[0.01916222234365116,0.01983844984398939,0.012673195804729368]},{"name":"camera_3","offset_m":[-0.013939496301202045,0.015865159180728634,0.0015694203349047517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007196636512735949,-0.0017264340286712886,0.0007842434410644823],"end_effector_yaw_offset_degrees":0.19176048294254633},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014586769079382523,0.0002012430314222587,0.0019701534748846686],"end_effector_yaw_offset_degrees":-0.6674314200904377},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00041136685898878443,-0.0016947322212675893,-0.0013217634442034437],"end_effector_yaw_offset_degrees":-0.8023348833101958}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004657152158860326,0.004106561100048772],"position_m":[0.31495715215886033,0.09520656110004877,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004515098977048764,0.003821729521208854],"position_m":[0.31751509897704877,-0.11247827047879115,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027006374045325148,0.0037003126840637985],"position_m":[0.35780063740453255,0.3004003126840638,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00403129555131861,-0.004546150721243362],"position_m":[0.24803129555131861,-0.35634615072124337,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"136c9dfab59ab8e9f03d4fe953d67c2b97261e91a248c2392f7dddedf4684f2e","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0130.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_205/tex_ceiling_textures_880/tex_floor_textures_3171/tex_table_textures_9453/tex_wall_textures_3840","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5823191267272785944,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5823191267272785944,"visual_seed":5823191267272785944,"scene_id":"lab_003","finished_at":"2026-09-03T11:52:00"} +{"episode_id":"ep_000079","started_at":"2026-09-03T11:54:49","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.050170495289182826,-1.578377663349616,0.71338606911949],"aabb_xy":[[-0.09235490945001357,-1.6423776636268275],[-0.007986081128352092,-1.514377663072405]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.40697990984137555,1.2935323913319268,0.71338606911949],"aabb_xy":[[0.34697990999480877,1.236713769138888],[0.46697990968794234,1.3503510135249654]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.31973582190793787,-2.327015405954443,0.71338606911949],"aabb_xy":[[-0.3837358204945103,-2.3740223693539515],[-0.2557358233213654,-2.280008442554934]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.49564530581927435,-1.0129382143978114,0.71338606911949],"aabb_xy":[[-0.5856453044137444,-1.0291888007112324],[-0.4056453072248045,-0.9966876280843904]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.26006222557795644,-2.4697726049833824,0.71338606911949],"aabb_xy":[[0.2265830583169155,-2.5032517183544893],[0.2935413928389974,-2.4362934916122754]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.5630950335084473,-1.0255531971115883,0.71338606911949],"aabb_xy":[[0.4990950362227987,-1.0670599160644323],[0.627095030794096,-0.9840464781587444]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.2507998638437414,-0.4429771473584614,0.71338606911949],"aabb_xy":[[-0.2582123193851299,-0.44882835778008934],[-0.24338740830235295,-0.43712593693683344]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.5318968292760267,0.21648353346153915,0.71338606911949],"aabb_xy":[[-0.5958968284457966,0.1697168463425767],[-0.46789683010625677,0.2632502205805016]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.2953316165943525,0.7842164994904324,0.71338606911949],"aabb_xy":[[0.21533161443158993,0.7042613158642886],[0.3753316187571149,0.8641716831165759]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.008480582922171909,-2.4530694434744436,0.71338606911949],"aabb_xy":[[-0.08848058618001486,-2.5330659512664275],[0.07151942033567105,-2.3730729356824596]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.6723635950074076,1.2754194607749794,0.71338606911949],"aabb_xy":[[0.6548169000912887,1.2379194592107279],[0.6899102899235265,1.3129194623392304]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.15612814450746326,-2.152881085734181,0.71338606911949],"aabb_xy":[[-0.17601918438780353,-2.1655368970188777],[-0.13623710462712305,-2.140225274449484]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.21093798928791674,1.2217996210202418,0.71338606911949],"aabb_xy":[[-0.2659379874896615,1.181277654393804],[-0.15593799108617187,1.2623215876466791]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.5911478127561351,-2.1493988519052465,0.71338606911949],"aabb_xy":[[0.5682320998710852,-2.1723031490416704],[0.614063525641185,-2.1264945547688234]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.2137574087833155,-2.003171536948331,0.71338606911949],"aabb_xy":[[0.17929493077022773,-2.0098352141312534],[0.24821988679640328,-1.996507859765408]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.5080487514254657,1.558647615474419,0.71338606911949],"aabb_xy":[[0.4855487516115633,1.5541729991039386],[0.5305487512393681,1.5631222318449]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.2872971644082251,0.9360054745507256,0.71338606911949],"aabb_xy":[[-0.29371097805141005,0.929595654303057],[-0.2808833507650402,0.9424152947983937]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.5240460269956234,1.412007344746351,0.71338606911949],"aabb_xy":[[-0.5880460286736208,1.3634899532670366],[-0.46004602531762606,1.460524736225665]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[-0.48736464449594175,-0.6166286472316538,0.71338606911949],"aabb_xy":[[-0.49528792473469,-0.6391286474696571],[-0.47944136425719336,-0.5941286469936504]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.48038441607935845,0.24707626168022312,0.71338606911949],"aabb_xy":[[0.4303844166391628,0.19710833719590679],[0.5303844155195541,0.2970441861645394]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.47830638771754974,-1.742392648085049,0.71338606911949],"aabb_xy":[[-0.5158063875345832,-1.7470308593961905],[-0.4408063879005161,-1.7377544367739068]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[-0.35672849876884355,-0.7443672917725757,0.71338606911949],"aabb_xy":[[-0.37584080612682236,-0.7635020706498177],[-0.33761619141086463,-0.7252325128953336]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.5272202371251591,0.8811804544147543,0.71338606911949],"aabb_xy":[[0.44222023870773586,0.7963061589524695],[0.6122202355425823,0.9660547498770394]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.1266468006438669,0.7603324329359911,0.71338606911949],"aabb_xy":[[-0.13274142853198523,0.7517630383843226],[-0.12055217275574859,0.76890182748766]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.2981999154644823,1.0232750977337348,0.71338606911949],"aabb_xy":[[0.24822110695416644,0.973275097728016],[0.3481787239747982,1.0732750977394536]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.13102841847601598,-2.0122048908426318,0.71338606911949],"aabb_xy":[[-0.19102841872741716,-2.0664862158790958],[-0.07102841822461481,-1.9579235658061667]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.32393503721048433,0.571014407883204,0.71338606911949],"aabb_xy":[[-0.3464350372206327,0.5569181882436007],[-0.3014350372003361,0.5851106275228073]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.4167023705963999,-1.19220511191218,0.71338606911949],"aabb_xy":[[0.37985182265941236,-1.2297051127352137],[0.4535529185333876,-1.1547051110891462]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[0.23616792232679673,-0.8156309729559943,0.71338606911949],"aabb_xy":[[0.199672101699518,-0.8521149153827517],[0.27266374295407547,-0.7791470305292366]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_29","position":[0.039125746775452885,1.339847016044056,0.71338606911949],"aabb_xy":[[-0.040874251205332154,1.3322454750822041],[0.11912574475623794,1.347448557005908]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_30","position":[0.48408912129707016,-0.6583396979502292,0.71338606911949],"aabb_xy":[[0.4200891205936009,-0.7043580804231502],[0.5480891220005395,-0.6123213154773082]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_31","position":[0.33714580021141116,-0.5149779872123448,0.71338606911949],"aabb_xy":[[0.2871457991922759,-0.5514442029501728],[0.3871458012305465,-0.47851177147451696]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_32","position":[-0.3720182091213391,-1.5998465518373974,0.71338606911949],"aabb_xy":[[-0.41701079583978956,-1.6448465511118462],[-0.32702562240288874,-1.5548465525629487]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_33","position":[0.21966887787716982,0.631447192722761,0.71338606911949],"aabb_xy":[[0.184668877900674,0.6219825766751444],[0.25466887785366565,0.6409118087703777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948705143453565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7221.png","name":"7221"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7221.png","name":"7221"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4833.png","name":"4833"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5553.png","name":"5553"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4288.png","name":"4288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8975.png","name":"8975"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":566.1677657073247,"rotation_z_degrees":196.71720602128175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014472705437884904,-0.011633244544955481,-0.0012786943723946953]},{"name":"camera_2","offset_m":[-0.010793107522841731,0.008157180638884615,0.0007508861770497595]},{"name":"camera_3","offset_m":[0.017973500031346557,-0.0016384441090902986,0.01381074238963725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018141885494624838,0.001782651847457605,0.0007690184278326931],"end_effector_yaw_offset_degrees":0.22898463338508934},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010673454275186528,-0.0014531714114718937,0.0007233986464559518],"end_effector_yaw_offset_degrees":0.7748288258241314},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003895176277404007,0.0014233853458201053,-0.0007530867937578978],"end_effector_yaw_offset_degrees":-0.6314925652556402}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004392291113982525,-7.52281211859919e-07],"position_m":[0.3059077088860175,0.09109924771878813,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0042007051228538615,0.004932221018997676],"position_m":[0.30879929487714614,-0.11136777898100232,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003910454512452114,-0.0014190044660537795],"position_m":[0.3590104545124521,0.29528099553394627,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004084959996578228,0.0026509405089836027],"position_m":[0.23991504000342176,-0.3491490594910164,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f0ccc747ced06be7a748d19e2ad1b907dc26896e088fe3d1f5ee760245c5c119","episode_index":133,"episode_name":"episode_0133"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0133.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7221/tex_ceiling_textures_8975/tex_floor_textures_4288/tex_table_textures_4833/tex_wall_textures_5553","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6814491210922231143,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6814491210922231143,"visual_seed":6814491210922231143,"scene_id":"lab_003","finished_at":"2026-09-03T11:57:18"} +{"episode_id":"ep_000080","started_at":"2026-09-03T12:00:11","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.633347315491511,-1.3030256506686304,0.71338606911949],"aabb_xy":[[0.5833523045320591,-1.3530256497042223],[0.6833423264509632,-1.253025651633039]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.6104344672116947,-1.3111683144390016,0.71338606911949],"aabb_xy":[[-0.6177167835883581,-1.4011683180485104],[-0.6031521508350308,-1.2211683108294924]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.295813536611988,-1.060602877887229,0.71338606911949],"aabb_xy":[[-0.3508135357885775,-1.1155925526621864],[-0.24081353743539852,-1.005613203112271]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.05139394931750596,-1.4544615687122449,0.71338606911949],"aabb_xy":[[0.028112107119374608,-1.539461570009473],[0.07467579151563727,-1.3694615674150168]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.6604417155307875,-0.2828757242080262,0.71338606911949],"aabb_xy":[[-0.6691556845807217,-0.3053757248672143],[-0.6517277464808527,-0.26037572354883787]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.4090595963069376,-0.853388935607647,0.71338606911949],"aabb_xy":[[-0.4561889753087732,-0.9173889366520488],[-0.3619302173051019,-0.7893889345632449]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[-0.35677578715708674,0.34032971629277364,0.71338606911949],"aabb_xy":[[-0.40687325113816036,0.27632971578296184],[-0.3066783231760131,0.40432971680258545]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.31787899406552245,0.9396850538690229,0.71338606911949],"aabb_xy":[[0.2678858819563306,0.8896850531948274],[0.3678721061747144,0.9896850545432186]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.15726539593102562,0.7315257332141321,0.71338606911949],"aabb_xy":[[-0.17242826890796273,0.7163602759190134],[-0.14210252295408857,0.7466911905092509]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[0.594438991773464,0.7144443614642073,0.71338606911949],"aabb_xy":[[0.5769389926390968,0.7045647344266194],[0.6119389909078311,0.724323988501795]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.16047523847048162,1.3603484577392964,0.71338606911949],"aabb_xy":[[0.15633938213778142,1.3228484582949396],[0.1646110948031818,1.3978484571836536]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.5452788159940019,-0.35005660033192054,0.71338606911949],"aabb_xy":[[0.49919372473927043,-0.4140565975844756],[0.5913639072487333,-0.28605660307936537]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.3829558710402559,1.102269727007934,0.71338606911949],"aabb_xy":[[-0.42426041410399185,1.0382697274398167],[-0.34165132797651987,1.1662697265760509]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.14580900763784777,0.2840959656822446,0.71338606911949],"aabb_xy":[[-0.1879934217986785,0.22009596540503346],[-0.10362459347701702,0.34809596595945586]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.6383503232938226,1.061082222853408,0.71338606911949],"aabb_xy":[[0.6296523610031074,1.0489572485459333],[0.647048285584538,1.0732071971608828]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.1779983183011805,-0.4280399772877663,0.71338606911949],"aabb_xy":[[-0.2419983146967536,-0.4920032657064999],[-0.11399832190560744,-0.36407668886903277]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.568709414716468,-1.8312941098052953,0.71338606911949],"aabb_xy":[[-0.5949982390369085,-1.8575655434599463],[-0.5424205903960272,-1.8050226761506438]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.4096356089652174,-1.4044830489097613,0.71338606911949],"aabb_xy":[[-0.44666971839327707,-1.4388602562434707],[-0.3726014995371576,-1.3701058415760519]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.12699070664086187,-2.553504563129086,0.71338606911949],"aabb_xy":[[-0.1969907084496073,-2.574858331893273],[-0.056990704832116434,-2.5321507943648984]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.23136375734861425,-0.8251581508308943,0.71338606911949],"aabb_xy":[[-0.2656800345232322,-0.8751581508040719],[-0.1970474801739963,-0.7751581508577164]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.4767436033246255,1.1123173823256987,0.71338606911949],"aabb_xy":[[0.42676065313714606,1.0623173826831378],[0.5267265535121046,1.1623173819682586]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.49684613998589455,1.559829295876901,0.71338606911949],"aabb_xy":[[-0.5193452757121215,1.537329295098638],[-0.4743470042596675,1.5823292966551639]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.03140117923988628,-0.9369426203568336,0.71338606911949],"aabb_xy":[[0.0221075610027357,-0.9744426188449674],[0.04069479747703686,-0.8994426218686996]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.3405664270489419,0.5353900664333064,0.71338606911949],"aabb_xy":[[0.2977997201695217,0.471390063011504],[0.3833331339283621,0.5993900698551089]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.5858043330803944,-0.4869562685062272,0.71338606911949],"aabb_xy":[[-0.649804333340865,-0.5319650678591552],[-0.5218043328199233,-0.44194746915329924]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.5270139602412744,1.8223676411718386,0.71338606911949],"aabb_xy":[[-0.5334277738844593,1.8159578209241698],[-0.5206001465980894,1.8287774614195065]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.31099058349430514,0.9652615270340119,0.71338606911949],"aabb_xy":[[-0.32800068078435574,0.949127038535738],[-0.29398048620425443,0.9813960155322858]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.08727696823368858,-1.0773087123172438,0.71338606911949],"aabb_xy":[[0.054815267351761114,-1.1074415444321462],[0.11973866911561602,-1.047175880202341]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.333576358381785,1.638748341154319,0.71338606911949],"aabb_xy":[[-0.413576358655392,1.5657987933286024],[-0.253576358108178,1.7116978889800358]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[0.14495309284336932,0.9994394385540537,0.71338606911949],"aabb_xy":[[0.08095309367359939,0.9526727514350913],[0.20895309201313927,1.0462061256730162]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[-0.39807806027136927,1.389932041799888,0.71338606911949],"aabb_xy":[[-0.4630780629091627,1.338452443100441],[-0.33307805763357573,1.441411640499335]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.3754661349444945,0.5545466145545235,0.71338606911949],"aabb_xy":[[-0.43946613728729605,0.509605763310391],[-0.3114661326016929,0.599487465798656]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[-0.26013950021306603,-1.9411695648332736,0.71338606911949],"aabb_xy":[[-0.3301395028496524,-1.961274429829139],[-0.1901394975764797,-1.921064699837408]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969183346141846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2172.png","name":"2172"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3485.png","name":"3485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5345.png","name":"5345"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2480.png","name":"2480"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":780.4626700781912,"rotation_z_degrees":209.5144282170455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006103138176273783,0.013582654369477417,0.015681262047915655]},{"name":"camera_2","offset_m":[-0.004973168679488075,-0.007319327453354228,0.012864678536659787]},{"name":"camera_3","offset_m":[-0.004353050061234244,-0.01756232801947443,-0.006859566123788055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007563431046450867,0.0005624216269140545,-0.00018545924525278056],"end_effector_yaw_offset_degrees":0.5189443973385075},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015758378054211764,-0.0008527619736676297,4.014754111911082e-05],"end_effector_yaw_offset_degrees":-0.5268671530346454},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008161395109846509,0.00016151583259981644,-0.001990745302395626],"end_effector_yaw_offset_degrees":-0.8452775245016215}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00017969830814044095,-0.001985007072803092],"position_m":[0.3104796983081405,0.0891149929271969,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029597553973606384,-0.004841345163794656],"position_m":[0.31004024460263935,-0.12114134516379466,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004571092518239375,0.0019795387317642424],"position_m":[0.3596710925182394,0.2986795387317643,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004349862573709638,-0.0019291443981099875],"position_m":[0.23965013742629035,-0.35372914439811,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b1e0e7098775ae2e152ca0fd77291d365fb73392c6c3944be1d3e17408c616d6","episode_index":135,"episode_name":"episode_0135"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0135.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1289/tex_ceiling_textures_2480/tex_floor_textures_5345/tex_table_textures_2172/tex_wall_textures_3485","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":763966199264007329,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":763966199264007329,"visual_seed":763966199264007329,"scene_id":"lab_003","finished_at":"2026-09-03T12:02:50"} +{"episode_id":"ep_000081","started_at":"2026-09-03T12:05:47","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.208568963330111,-0.868251414923171,0.71338606911949],"aabb_xy":[[0.17106896475449015,-0.8809877105867289],[0.24606896190573177,-0.855515119259613]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.28432585876511846,-0.3583145769475333,0.71338606911949],"aabb_xy":[[-0.34591661798911133,-0.4223145750565802],[-0.2227350995411257,-0.29431457883848644]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.07685701978962911,1.619619197475806,0.71338606911949],"aabb_xy":[[-0.10207785664946877,1.5943954466229193],[-0.051636182929789436,1.6448429483286928]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.46951341046709694,-0.46777582331925327,0.71338606911949],"aabb_xy":[[-0.5189938316810558,-0.5317758212321051],[-0.4200329892531382,-0.4037758254064015]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.07978393388171545,-0.28314128264784433,0.71338606911949],"aabb_xy":[[-0.08473995406659666,-0.30564128284996595],[-0.07482791369683427,-0.2606412824457227]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.6066230088896905,-2.57910014632474,0.71338606911949],"aabb_xy":[[0.5691230087840974,-2.5859223081777207],[0.6441230089952833,-2.572277984471759]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.6359566961934555,0.8961304951641016,0.71338606911949],"aabb_xy":[[0.5860739993157594,0.846130495917827],[0.6858393930711518,0.9461304944103764]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.3792635447867473,0.8028605874345933,0.71338606911949],"aabb_xy":[[-0.3872575333644507,0.7948605073395029],[-0.3712695562090439,0.8108606675296836]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.02963042514094405,1.2466901766485852,0.71338606911949],"aabb_xy":[[-0.025369573060800777,1.2061682100221476],[0.08463042334268889,1.2872121432750228]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.6183636443471707,-0.7381541229345945,0.71338606911949],"aabb_xy":[[0.6008636441021212,-0.7556539107741612],[0.63586364459222,-0.7206543350950275]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.2176112430776021,-1.506767514854943,0.71338606911949],"aabb_xy":[[-0.2551112433697769,-1.5108089902555466],[-0.18011124278542728,-1.5027260394543396]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.5175371633587692,-1.967077076148526,0.71338606911949],"aabb_xy":[[-0.5775371636101703,-2.0213584011849903],[-0.4575371631073679,-1.9127957511120612]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.39242707462547566,-1.2611408484628668,0.71338606911949],"aabb_xy":[[0.34462090701170695,-1.3261408511699257],[0.4402332422392442,-1.1961408457558078]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.05736784204275214,1.814523991845229,0.71338606911949],"aabb_xy":[[-0.07486784117711928,1.8046443648076411],[-0.03986784290838495,1.8244036188828168]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.46432971706449644,1.4204598444545629,0.71338606911949],"aabb_xy":[[0.42973863421045116,1.3554598441695318],[0.4989207999185416,1.485459844739594]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.5016744564538032,0.22466780382269746,0.71338606911949],"aabb_xy":[[-0.5113060926742328,0.21503049104298852],[-0.49204282023337353,0.23430511660240635]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.5001120334263791,-0.5268432831679126,0.71338606911949],"aabb_xy":[[0.46511203511568366,-0.5345582980914583],[0.5351120317370746,-0.519128268244367]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.5569465481823367,1.5695017942409435,0.71338606911949],"aabb_xy":[[-0.6069465476225323,1.5195338697566272],[-0.5069465487421411,1.6194697187252598]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.21389266561093956,1.4786445990399462,0.71338606911949],"aabb_xy":[[-0.27889266656806677,1.4266963871062406],[-0.14889266465381237,1.5305928109736517]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.1382262675052861,-2.110841476587495,0.71338606911949],"aabb_xy":[[-0.1463399221786632,-2.118947293041524],[-0.130112612831909,-2.102735660133466]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[-0.13326650868483092,0.5417703160170562,0.71338606911949],"aabb_xy":[[-0.2232665054204411,0.48858685269976154],[-0.04326651194922068,0.5949537793343506]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.19273151342084427,-2.3676146777968166,0.71338606911949],"aabb_xy":[[0.11273151640659632,-2.3877492294702276],[0.27273151043509225,-2.3474801261234046]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.4620401974458255,1.0131550070316377,0.71338606911949],"aabb_xy":[[0.4501074630839974,1.0007728542237786],[0.47397293180765354,1.0255371598394973]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.4542869446489046,-1.6178326562675318,0.71338606911949],"aabb_xy":[[0.44550571750166845,-1.6266124035560625],[0.4630681717961409,-1.609052908979002]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.5297230212697943,-0.142112436239052,0.71338606911949],"aabb_xy":[[0.49923877114276405,-0.19211243602054795],[0.5602072713968244,-0.09211243645755607]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.6312738269218228,0.06729736438440259,0.71338606911949],"aabb_xy":[[0.6180428813871414,0.05406994536240316],[0.644504772456504,0.080524783406402]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.6599775830728949,-2.501102715182653,0.71338606911949],"aabb_xy":[[-0.6774775823509818,-2.518440815248999],[-0.642477583794808,-2.483764615116307]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[-0.5507464051702284,1.782686851654312,0.71338606911949],"aabb_xy":[[-0.5872422257975071,1.7462029092275544],[-0.5142505845429496,1.8191707940810695]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[-0.07035227295423108,0.036056073012859624,0.71338606911949],"aabb_xy":[[-0.07666437249056951,0.03028913375964079],[-0.06404017341789264,0.04182301226607846]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[0.13257474736557928,0.7854893901894999,0.71338606911949],"aabb_xy":[[0.04257474764240509,0.76241603765432],[0.22257474708875344,0.8085627427246797]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[0.30771778374359227,-1.396556864412148,0.71338606911949],"aabb_xy":[[0.285217783733444,-1.410653084051751],[0.33021778375374056,-1.3824606447725445]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_31","position":[-0.610010003382751,-0.03202542039102285,0.71338606911949],"aabb_xy":[[-0.6209157794703136,-0.112025416789852],[-0.5991042272951882,0.0479745760078063]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_32","position":[0.5443153212882275,-1.0962540038386919,0.71338606911949],"aabb_xy":[[0.48031532489265427,-1.1602172922574254],[0.6083153176838004,-1.0322907154199583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949251996132936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/164.png","name":"164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5446.png","name":"5446"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2273.png","name":"2273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3720.png","name":"3720"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":513.8902994423065,"rotation_z_degrees":205.16340994789797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012870019377339628,0.0174329415764102,0.013590945061037234]},{"name":"camera_2","offset_m":[-0.015322526996343035,0.01850603063551234,0.0025043300614501704]},{"name":"camera_3","offset_m":[-0.004054020584922321,0.00290442688151156,0.012769767960216668]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013678735168632344,-0.0005245912566267132,-0.00032304936878241493],"end_effector_yaw_offset_degrees":0.6824836729143251},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000808806250063352,0.001817760091935064,0.0014196161683170186],"end_effector_yaw_offset_degrees":0.3954809719261767},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008182658865147495,0.000541074314494273,-9.849279048195696e-05],"end_effector_yaw_offset_degrees":0.5245524773129469}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002038709174790555,0.0009478320048948849],"position_m":[0.31050387091747905,0.09204783200489489,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018117491007053456,-0.004867772536823022],"position_m":[0.31481174910070536,-0.12116777253682302,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037841832694989848,-0.0010216213575289868],"position_m":[0.358884183269499,0.29567837864247104,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004021208390361465,0.0013614934958485515],"position_m":[0.24802120839036146,-0.3504385065041514,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"014dd0aea677df6b7a64d6fe9449f36961b6a8061df1c277ef04eae3cb366573","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0137.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8006/tex_ceiling_textures_3720/tex_floor_textures_2273/tex_table_textures_164/tex_wall_textures_5446","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1838261695156567698,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1838261695156567698,"visual_seed":1838261695156567698,"scene_id":"lab_003","finished_at":"2026-09-03T12:08:20"} +{"episode_id":"ep_000082","started_at":"2026-09-03T12:09:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.5951423735522297,0.3231668544653137,0.71338606911949],"aabb_xy":[[0.5311423771249079,0.27599723064321724],[0.6591423699795517,0.3703364782874101]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.6842715045949976,-2.3666294781053607,0.71338606911949],"aabb_xy":[[0.6760569594793135,-2.375306068403001],[0.6924860497106815,-2.3579528878077185]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.5185736942166834,0.5829092667240876,0.71338606911949],"aabb_xy":[[-0.5885736976082453,0.5475934930206567],[-0.4485736908251214,0.6182250404275185]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.13258167960715905,-0.5675344806425344,0.71338606911949],"aabb_xy":[[-0.19657737700225564,-0.6315344789432431],[-0.06858598221206247,-0.5035344823418257]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.464420449649005,1.5632119165677874,0.71338606911949],"aabb_xy":[[0.4144204500726703,1.5132313376156816],[0.5144204492253397,1.6131924955198935]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.4226841204449153,-1.0709174371120551,0.71338606911949],"aabb_xy":[[-0.4439621285883875,-1.1359174394381282],[-0.401406112301443,-1.005917434785982]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.30553981969755695,-1.4621142043753195,0.71338606911949],"aabb_xy":[[0.2555398187470241,-1.4936633513788407],[0.3555398206480897,-1.4305650573717978]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.30002018923144014,0.7646402255462967,0.71338606911949],"aabb_xy":[[0.28714828573049994,0.6846402251324606],[0.3128920927323802,0.8446402259601329]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.10764847113406406,1.2652019306846558,0.71338606911949],"aabb_xy":[[0.03764846932531864,1.2438481619204684],[0.1776484729428095,1.2865556994488432]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.37589517516892945,1.1839084558249753,0.71338606911949],"aabb_xy":[[0.3582623395754019,1.166285509809352],[0.393528010762457,1.201531401840598]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.057647962014891196,0.9046795957234988,0.71338606911949],"aabb_xy":[[-0.0063520400348408,0.8645851126341909],[0.12164796406462319,0.9447740788128068]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.2764500690710217,-2.510356987368504,0.71338606911949],"aabb_xy":[[-0.30477977901956194,-2.514817729562221],[-0.24812035912248148,-2.505896245174787]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.4705209999233235,1.159526334651193,0.71338606911949],"aabb_xy":[[0.44552099999080563,1.1526436664302697],[0.4955209998558414,1.1664090028721164]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.24451827998658576,0.20103946442984144,0.71338606911949],"aabb_xy":[[-0.3295182786786604,0.1690536010349626],[-0.15951828129451112,0.2330253278247203]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.20517112128596604,-2.285972234140768,0.71338606911949],"aabb_xy":[[0.14117112489039296,-2.3499355225595013],[0.2691711176815391,-2.2220089457220342]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.1846576526070376,0.6572256146348301,0.71338606911949],"aabb_xy":[[-0.1925809328457859,0.6347256143968267],[-0.17673437236828923,0.6797256148728335]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.5625934675430994,-0.437597553902072,0.71338606911949],"aabb_xy":[[-0.5975934667359174,-0.4485645998997346],[-0.5275934683502809,-0.4266305079044093]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.32718810979614665,-0.4921527541451609,0.71338606911949],"aabb_xy":[[-0.33182322494837996,-0.49602008922230945],[-0.32255299464391324,-0.48828541906801215]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.20469441387048287,-1.7234769504406264,0.71338606911949],"aabb_xy":[[-0.23969441376650177,-1.7318511859525665],[-0.16969441397446403,-1.7151027149286864]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.5193021696934065,-1.5876990103615212,0.71338606911949],"aabb_xy":[[-0.5671083373071751,-1.65269901306858],[-0.4714960020796378,-1.522699007654462]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.6242014898096802,0.17112184099707628,0.71338606911949],"aabb_xy":[[0.5742226812993642,0.12112184099135748],[0.6741802983199959,0.22112184100279508]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.20118192777679783,-1.0257923021291921,0.71338606911949],"aabb_xy":[[-0.2611819286376106,-1.077218732135678],[-0.141181926915985,-0.9743658721227054]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[-0.3734860732002464,-1.723197889830748,0.71338606911949],"aabb_xy":[[-0.4434860753316759,-1.7459598554564435],[-0.3034860710688168,-1.7004359242050522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890850651221279,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9974.png","name":"9974"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9974.png","name":"9974"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7945.png","name":"7945"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8748.png","name":"8748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1687.png","name":"1687"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":670.178885368312,"rotation_z_degrees":310.6950934141232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017472412601912454,0.005191044573102613,0.0027927996915975035]},{"name":"camera_2","offset_m":[0.012867113460906878,0.009915413998675734,-0.0008841380431731244]},{"name":"camera_3","offset_m":[-0.013680751772699357,-0.005953035870058292,0.00463671908370893]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020787990655258583,0.0006702879554833386,-0.001313778318741729],"end_effector_yaw_offset_degrees":0.7839399990883755},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001724299945625491,-0.0006375414447811587,0.0001810322120088391],"end_effector_yaw_offset_degrees":-0.6387438218974413},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002563741759569918,-0.00016579440547038657,-0.0016127060329277866],"end_effector_yaw_offset_degrees":-0.7613833784717388}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00425178350539863,-0.00046191806844888324],"position_m":[0.31455178350539864,0.09063808193155112,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016098648629146685,-0.004548400811751744],"position_m":[0.31460986486291465,-0.12084840081175174,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004040378209510237,0.0018350227851451116],"position_m":[0.3510596217904898,0.29853502278514515,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030265206253208094,-0.002218170149267362],"position_m":[0.2470265206253208,-0.35401817014926734,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"33cb04f2efd7c90f04dde59aea4370b1622acd186c48e4ce3a260574a65a2b0d","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0139.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9974/tex_ceiling_textures_1687/tex_floor_textures_2757/tex_table_textures_7945/tex_wall_textures_8748","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6264256722344551486,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6264256722344551486,"visual_seed":6264256722344551486,"scene_id":"lab_003","finished_at":"2026-09-03T12:12:19"} +{"episode_id":"ep_000083","started_at":"2026-09-03T12:13:49","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.45387906570359277,-0.01503546235654074,0.71338606911949],"aabb_xy":[[-0.5138790662114455,-0.07188219604246203],[-0.3938790651957398,0.041811271329380555]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.5756866851700526,0.7543606298192205,0.71338606911949],"aabb_xy":[[-0.6396866868480499,0.7058432383399063],[-0.5116866834920551,0.8028780212985347]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.36883092910227355,0.5558284131991913,0.71338606911949],"aabb_xy":[[0.36487044533253926,0.5481605486136707],[0.37279141287200795,0.5634962777847119]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.48600205985844425,-1.4401755472563251,0.71338606911949],"aabb_xy":[[0.4220020578087122,-1.480270030345633],[0.5500020619081762,-1.4000810641670172]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.15030396508106492,1.515289626473455,0.71338606911949],"aabb_xy":[[0.12813143810441405,1.493113959317332],[0.17247649205771573,1.5374652936295778]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.44245498856337107,-0.8467547738157963,0.71338606911949],"aabb_xy":[[0.3874549889416252,-0.9017384666032691],[0.4974549881851169,-0.7917710810283236]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.5304099944843486,-1.3825484923267184,0.71338606911949],"aabb_xy":[[-0.5954099954848491,-1.433334857481393],[-0.46540999348384804,-1.3317621271720432]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[0.4863108407805157,-1.6042101563227544,0.71338606911949],"aabb_xy":[[0.4063170172019575,-1.684210158915596],[0.5663046643590739,-1.5242101537299129]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.5764265000674405,1.0562399536266058,0.71338606911949],"aabb_xy":[[0.5124265036718675,0.9922766652078723],[0.6404264964630136,1.1202032420453394]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.2597141531195245,-2.3350647973106495,0.71338606911949],"aabb_xy":[[0.2468422496185844,-2.4150647977244852],[0.27258605662046465,-2.255064796896813]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.5386196627559461,0.35511984612149794,0.71338606911949],"aabb_xy":[[0.514783445115341,0.26511984531301147],[0.5624558803965511,0.44511984692998446]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.46306609903338225,0.9561786115355928,0.71338606911949],"aabb_xy":[[-0.5130449075436981,0.9061786115298739],[-0.41308729052306636,1.0061786115413116]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.16329332610014557,-2.4013525989772786,0.71338606911949],"aabb_xy":[[-0.21829332527673503,-2.456342273752236],[-0.10829332692355606,-2.3463629242023205]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[-0.001786366577345544,-1.327800742829563,0.71338606911949],"aabb_xy":[[-0.010484328868060834,-1.3399257171370376],[0.0069115957133697465,-1.3156757685220881]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.3755713013796948,-2.331622408024611,0.71338606911949],"aabb_xy":[[-0.4305667792003541,-2.3866224094585173],[-0.3205758235590353,-2.2766224065907035]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.6134113116429707,0.5667655900176847,0.71338606911949],"aabb_xy":[[0.5942990042849917,0.5476308111404428],[0.6325236190009494,0.5859003688949268]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.6224232454953176,-0.6615267027174048,0.71338606911949],"aabb_xy":[[-0.6399231789293008,-0.6790267026376392],[-0.6049233120613341,-0.6440267027971701]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.4077149201169259,-2.346327935961235,0.71338606911949],"aabb_xy":[[0.39967156019097066,-2.431327937056601],[0.415758280042881,-2.2613279348658684]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.2982961980467306,-0.4737642180882986,0.71338606911949],"aabb_xy":[[-0.3181872379270708,-0.48642002937299555],[-0.27840515816639033,-0.4611084068036019]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.15953802378717552,0.906043517625005,0.71338606911949],"aabb_xy":[[0.0955380235267047,0.861034718272077],[0.2235380240476463,0.951052316977933]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.48026335629313044,-0.6746801773344309,0.71338606911949],"aabb_xy":[[0.4102633529015685,-0.7099959510378617],[0.5502633596846924,-0.639364403631]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.2279638570791323,0.20393725379465222,0.71338606911949],"aabb_xy":[[-0.31796385680230643,0.18086390125947235],[-0.13796385735595806,0.22701060632983203]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.10364803369636777,1.4243632978828917,0.71338606911949],"aabb_xy":[[0.08114889797014081,1.4018632971046288],[0.12614716942259474,1.4468632986611547]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.10793447990048988,1.2190558919637136,0.71338606911949],"aabb_xy":[[0.0779669229906642,1.1890558916658276],[0.13790203681031554,1.249055892261599]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[0.28377706540166436,1.661910211546274,0.71338606911949],"aabb_xy":[[0.2803363891616072,1.65804877857191],[0.28721774164172154,1.665771644520639]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[-0.35164127707245524,1.4821532747757762,0.71338606911949],"aabb_xy":[[-0.36357401143428325,1.4697711219679168],[-0.3397085427106271,1.4945354275836356]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.1541768147568814,-1.1124220913274119,0.71338606911949],"aabb_xy":[[-0.17175511694582823,-1.129996580901517],[-0.13659851256793454,-1.0948476017533069]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.13553461869748695,-1.633189740176622,0.71338606911949],"aabb_xy":[[-0.1507067879791203,-1.6483585971048254],[-0.12036244941585361,-1.6180208832484186]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[-0.4533984024832596,-0.6448437279605701,0.71338606911949],"aabb_xy":[[-0.4908984025888525,-0.6516658898135512],[-0.41589840237766657,-0.638021566107589]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_29","position":[0.44349001890688067,1.1637271524324464,0.71338606911949],"aabb_xy":[[0.4357868282328036,1.156017781733708],[0.4511932095809577,1.1714365231311843]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_30","position":[0.14976531852947095,-2.516875094817612,0.71338606911949],"aabb_xy":[[0.09978108282129372,-2.5668750936311078],[0.19974955423764817,-2.4668750960041166]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918429705810031,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2432.png","name":"2432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2432.png","name":"2432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9303.png","name":"9303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4657.png","name":"4657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/816.png","name":"816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2783.png","name":"2783"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.6643892004698,"rotation_z_degrees":300.45087509291164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01742881620458886,0.01751027350510907,0.01574486575969097]},{"name":"camera_2","offset_m":[-0.0045652138840145805,0.001843109829906972,0.012150635997487284]},{"name":"camera_3","offset_m":[0.004500848675705625,0.003830993265486894,-0.007840029694845962]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006576938672696445,0.0014253775327909496,-0.0008869010283882753],"end_effector_yaw_offset_degrees":0.7750655806896167},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003275938897449376,0.0013165107679575499,-2.460296314375039e-05],"end_effector_yaw_offset_degrees":-0.3506971808804009},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007366995660772228,0.0004178103012245963,0.0005738079575244633],"end_effector_yaw_offset_degrees":0.734432421840594}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004402027432566976,0.004145125320963248],"position_m":[0.30589797256743306,0.09524512532096324,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016397915559409493,-0.0011573007444520677],"position_m":[0.31136020844405904,-0.11745730074445207,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008025907077665682,0.0014600699245002737],"position_m":[0.35429740929223347,0.2981600699245003,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035006846823853327,0.0001618529927904658],"position_m":[0.24364993153176145,-0.3516381470072095,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99bcd62af7678cfadf5d247de928cd4c2891ebe4758ed9027304de5d0437487a","episode_index":141,"episode_name":"episode_0141"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0141.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2432/tex_ceiling_textures_2783/tex_floor_textures_816/tex_table_textures_9303/tex_wall_textures_4657","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7306089992768637376,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7306089992768637376,"visual_seed":7306089992768637376,"scene_id":"lab_003","finished_at":"2026-09-03T12:16:19"} +{"episode_id":"ep_000084","started_at":"2026-09-03T12:25:13","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.21166803534492734,-1.0191722602558932,0.71338606911949],"aabb_xy":[[-0.21891180139117267,-1.0991722584594956],[-0.20442426929868202,-0.9391722620522909]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.36805458041959355,-2.5427710043684426,0.71338606911949],"aabb_xy":[[-0.3850646777096442,-2.5589054928667165],[-0.3510444831295429,-2.5266365158701687]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.5907762553580262,-0.2761896229980012,0.71338606911949],"aabb_xy":[[0.568276255347878,-0.29028584263760443],[0.6132762553681745,-0.26209340335839787]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.22443793654134891,-0.38033100496781813,0.71338606911949],"aabb_xy":[[-0.3144379330422207,-0.4262426473862764],[-0.13443794004047716,-0.3344193625493599]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.6172199621157906,-2.062759901643942,0.71338606911949],"aabb_xy":[[-0.6225575377817951,-2.0877599025730817],[-0.611882386449786,-2.037759900714802]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[0.2926321995764728,-1.0895294027379674,0.71338606911949],"aabb_xy":[[0.27135419143300055,-1.1545294050640404],[0.31391020771994504,-1.0245294004118943]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.43894324332823376,1.2008358340255847,0.71338606911949],"aabb_xy":[[-0.4817099502076539,1.1368358306037825],[-0.3961765364488135,1.2648358374473874]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.22691662436424814,-0.6756728091159252,0.71338606911949],"aabb_xy":[[-0.2819166225659929,-0.7161947757423628],[-0.17191662616250325,-0.6351508424894876]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.4301542621556356,0.10045728170014945,0.71338606911949],"aabb_xy":[[-0.49515426071270846,0.07070474828626681],[-0.3651542635985628,0.13020981511403207]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.649210195043016,-0.6821750507055513,0.71338606911949],"aabb_xy":[[0.6121760856149562,-0.7165522580392606],[0.6862443044710757,-0.6477978433718418]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.6803194108825608,-0.5464778788062681,0.71338606911949],"aabb_xy":[[0.6627727159664417,-0.5839778803705193],[0.6978661057986796,-0.5089778772420168]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.2684164750732088,0.9180739571037,0.71338606911949],"aabb_xy":[[-0.3184164754337748,0.8680939698940969],[-0.21841647471264272,0.9680539443133028]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.4282273492294395,0.7856327979747482,0.71338606911949],"aabb_xy":[[0.38604293506860876,0.721632797697537],[0.47041176339027024,0.8496327982519594]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.6157170120553057,0.6870446948581801,0.71338606911949],"aabb_xy":[[-0.6532170121608986,0.680222533005199],[-0.5782170119497126,0.6938668567111612]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.5784391148368022,-1.3588426914656533,0.71338606911949],"aabb_xy":[[-0.6684391145599763,-1.381916044000833],[-0.488439115113628,-1.3357693389304732]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.4323068471961853,0.4556676408956579,0.71338606911949],"aabb_xy":[[0.3723068466001691,0.40085516835043444],[0.49230684779220146,0.5104801134408814]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.09538840787843472,-2.0923626102783897,0.71338606911949],"aabb_xy":[[0.01166618237835225,-2.1823626138130856],[0.17911063337851718,-2.0023626067436937]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.020856667825554287,-0.9954429959341697,0.71338606911949],"aabb_xy":[[-0.05914333324756604,-1.0052210422715544],[0.10085666889867462,-0.9856649495967854]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.27469501083977044,1.7554517090038524,0.71338606911949],"aabb_xy":[[-0.32982021646936116,1.6954517075625652],[-0.21956980521017963,1.8154517104451395]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.5790137442905126,-0.14890854439021428,0.71338606911949],"aabb_xy":[[0.5478668254469294,-0.21890854307702143],[0.6101606631340957,-0.07890854570340708]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.1409778086841934,-1.3454035497027428,0.71338606911949],"aabb_xy":[[-0.1909508742167089,-1.395403549515276],[-0.09100474315167793,-1.2954035498902101]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.5085586410975995,1.2284107625751202,0.71338606911949],"aabb_xy":[[0.4916479086612578,1.2149385569825053],[0.5254693735339413,1.2418829681677346]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.39751942689085507,1.326861191267505,0.71338606911949],"aabb_xy":[[0.3175194297312797,1.315313590309688],[0.4775194240504303,1.338408792225322]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.6375764209790438,0.9476595042766518,0.71338606911949],"aabb_xy":[[0.5575764240160046,0.8705838626328782],[0.7175764179420829,1.0247351459204252]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.2755774619885809,1.4856591258108103,0.71338606911949],"aabb_xy":[[0.19557745873073795,1.4056626180188263],[0.35557746524642386,1.5656556336027942]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.04954968886311806,1.317917453938192,0.71338606911949],"aabb_xy":[[0.023260864542677385,1.2916460202835405],[0.07583851318355869,1.344188887592843]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.5230084483459025,1.1467404436105273,0.71338606911949],"aabb_xy":[[0.5053328177573041,1.1290602273311243],[0.5406840789345008,1.1644206598899298]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.3501492988493802,-0.49561205403954656,0.71338606911949],"aabb_xy":[[0.34310898891584324,-0.5756120534392181],[0.3571896087829172,-0.4156120546398753]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[-0.4024707905609231,0.5906332424170153,0.71338606911949],"aabb_xy":[[-0.41176440879807363,0.5531332439288814],[-0.3931771723237725,0.6281332409051492]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[0.2367186826674309,1.0950022825364272,0.71338606911949],"aabb_xy":[[0.20171868269093507,1.0855376664888106],[0.27171868264392673,1.1044668985840438]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930858637413813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7439.png","name":"7439"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7439.png","name":"7439"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8897.png","name":"8897"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1682.png","name":"1682"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/393.png","name":"393"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/55.png","name":"55"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":753.955069173004,"rotation_z_degrees":231.3267249378837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016428124073200896,0.019131346297496254,-0.012500153875644529]},{"name":"camera_2","offset_m":[0.010510898814428554,-0.012527784162960309,0.00864454865116969]},{"name":"camera_3","offset_m":[-0.015085066298130233,0.004055593619497203,-0.000500482585252815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[4.7231731130950496e-05,-0.0008614634710447536,-0.00152741560572465],"end_effector_yaw_offset_degrees":0.7289041107390073},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009709739339668292,0.0019934267356069213,-0.0013630168082759497],"end_effector_yaw_offset_degrees":0.8848319497461645},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019141728833775495,0.0010560392888028097,-0.0011509799788307906],"end_effector_yaw_offset_degrees":-0.20950205695571844}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004232475842338788,3.6774958545107705e-06],"position_m":[0.30606752415766125,0.09110367749585452,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003104945348994563,-0.0007050402424854238],"position_m":[0.3161049453489946,-0.11700504024248543,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002013109376545935,-0.001577738708464881],"position_m":[0.35711310937654595,0.2951222612915351,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007802624912440249,-0.0011194187558821646],"position_m":[0.24321973750875597,-0.3529194187558822,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0a8753e31ac99fc3bfcb17df3a67d64e1c4949cb866582e5d91d2610ac067588","episode_index":146,"episode_name":"episode_0146"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0146.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7439/tex_ceiling_textures_55/tex_floor_textures_393/tex_table_textures_8897/tex_wall_textures_1682","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":692352387506389880,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":692352387506389880,"visual_seed":692352387506389880,"scene_id":"lab_003","finished_at":"2026-09-03T12:27:58"} +{"episode_id":"ep_000085","started_at":"2026-09-03T12:28:01","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.26716206445059953,-2.4521302459892467,0.71338606911949],"aabb_xy":[[0.24216206451808164,-2.45901291421017],[0.2921620643831174,-2.445247577768323]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.2642421122852092,1.7240426244935079,0.71338606911949],"aabb_xy":[[-0.3282421087125312,1.6768730006714117],[-0.20024211585788737,1.7712122483156045]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.11855508822726046,0.2600529083683778,0.71338606911949],"aabb_xy":[[-0.12413675986138922,0.24755290855060233],[-0.1129734165931317,0.2725529081861533]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.07363929118909296,1.184748590411692,0.71338606911949],"aabb_xy":[[0.06019276455504961,1.1712787387586006],[0.08708581782313628,1.1982184420647832]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.45554849040313616,1.007187813658334,0.71338606911949],"aabb_xy":[[-0.5195484877054826,0.9628213866904773],[-0.39154849310078976,1.0515542406261909]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.20028855295436732,0.8844658021463156,0.71338606911949],"aabb_xy":[[0.19565343780213393,0.880598467069167],[0.2049236681066007,0.8883331372234643]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.18955995144994242,1.0487338488794467,0.71338606911949],"aabb_xy":[[-0.19680371749618775,0.9687338506758445],[-0.1823161854036971,1.1287338470830492]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.46121452021701137,-0.1668361874857207,0.71338606911949],"aabb_xy":[[-0.5262145211741386,-0.21878439941942626],[-0.3962145192598842,-0.11488797555201512]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.29067356633391433,-0.5772562156022945,0.71338606911949],"aabb_xy":[[-0.31317270206014136,-0.5997562163805574],[-0.2681744306076874,-0.5547562148240315]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.4033638267453597,0.48891895680734354,0.71338606911949],"aabb_xy":[[-0.4933638253398297,0.4726683704939226],[-0.3133638281508898,0.5051695431207646]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.13737127159256268,-0.8752491485308411,0.71338606911949],"aabb_xy":[[0.11445555870751281,-0.8981534456672647],[0.1602869844776126,-0.8523448513944177]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.273358195995844,-2.164586879335274,0.71338606911949],"aabb_xy":[[0.25146844840690313,-2.254586876624523],[0.29524794358478473,-2.0745868820460247]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.3294766612619514,0.8126787564569575,0.71338606911949],"aabb_xy":[[-0.34262790723324077,0.7876787567002711],[-0.31632541529066205,0.8376787562136442]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.19203209971979496,1.0475366787768903,0.71338606911949],"aabb_xy":[[0.18718850495856498,1.0426850262979062],[0.19687569448102493,1.0523883312558744]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.024996092128448666,1.5602987739778889,0.71338606911949],"aabb_xy":[[-0.03500390846756751,1.5054863014326654],[0.08499609272446484,1.6151112465231123]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.44848424561907935,-1.7764790388534832,0.71338606911949],"aabb_xy":[[-0.4841134015190391,-1.8121117056103362],[-0.4128550897191196,-1.7408463720966303]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.5840024126074312,1.4283027025825565,0.71338606911949],"aabb_xy":[[0.571130509106491,1.3483027021687204],[0.5968743161083713,1.5083027029963927]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.6433124248450712,0.5871605265798272,0.71338606911949],"aabb_xy":[[0.6325394509237035,0.5521605283607882],[0.654085398766439,0.6221605247988662]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.5510733940157229,-0.05962327949763102,0.71338606911949],"aabb_xy":[[0.48707339260773225,-0.11141223102155572],[0.6150733954237135,-0.00783432797370631]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[0.709536944618844,-0.14578493310128504,0.71338606911949],"aabb_xy":[[0.6944346431578255,-0.16088645473234683],[0.7246392460798617,-0.1306834114702232]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.6208860408688054,0.395868115156341,0.71338606911949],"aabb_xy":[[-0.6708791529779974,0.34586811448214544],[-0.5708929287596136,0.44586811583053676]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.41097865447244697,1.3650589955945711,0.71338606911949],"aabb_xy":[[0.35598544313531016,1.3100589952557773],[0.4659718658095837,1.4200589959333645]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[0.10305547161950024,0.7682740081145631,0.71338606911949],"aabb_xy":[[0.05306063869155864,0.7182740092193195],[0.15305030454744184,0.8182740070098066]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.4111694709860787,-0.5199714383600211,0.71338606911949],"aabb_xy":[[0.4058369563314657,-0.5252957666052567],[0.4165019856406917,-0.5146471101147856]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.5170139615872784,1.1620975813804986,0.71338606911949],"aabb_xy":[[0.4320139631698552,1.0772232859182136],[0.6020139600047016,1.2469718768427835]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[-0.04022254253568236,-2.412418311418797,0.71338606911949],"aabb_xy":[[-0.07755381906092498,-2.44707136621365],[-0.002891266010439736,-2.3777652566239453]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[-0.39349821236570326,1.221145803353609,0.71338606911949],"aabb_xy":[[-0.410408944802045,1.207673597760994],[-0.3765874799293614,1.2346180089462233]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[0.15794088106693882,-2.162470575486307,0.71338606911949],"aabb_xy":[[0.11013471345317019,-2.2274705781933655],[0.20574704868070748,-2.0974705727792475]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[-0.15777069836165347,-2.347278736320368,0.71338606911949],"aabb_xy":[[-0.18027069817555585,-2.3517533526908485],[-0.1352706985477511,-2.3428041199498875]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.5210325125439084,-2.2225497547140134,0.71338606911949],"aabb_xy":[[0.5049705850853907,-2.3075497565266048],[0.537094440002426,-2.137549752901421]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[-0.46318484279652083,-0.6441213688187077,0.71338606911949],"aabb_xy":[[-0.5130016222613556,-0.694121367303011],[-0.413368063331686,-0.5941213703344043]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_31","position":[-0.459628959909225,0.3381176682010141,0.71338606911949],"aabb_xy":[[-0.4821289599193732,0.3240214485614108],[-0.43712895989907663,0.35221388784061736]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_32","position":[-0.33243346042534627,-0.4161294055837952,0.71338606911949],"aabb_xy":[[-0.3363939441950806,-0.4237972701693158],[-0.3284729766556119,-0.4084615409982746]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_33","position":[0.44203370560780053,-1.9816888512065018,0.71338606911949],"aabb_xy":[[0.4341104253690523,-2.004188851444505],[0.449956985846549,-1.9591888509684985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918823472528098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2604.png","name":"2604"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2604.png","name":"2604"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7148.png","name":"7148"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3970.png","name":"3970"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3646.png","name":"3646"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":820.4212882228628,"rotation_z_degrees":136.41664615075706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009376989755387411,0.008836152296994432,-0.014183092241205855]},{"name":"camera_2","offset_m":[0.017811681620335158,-0.01987106186574934,-0.010934502744477173]},{"name":"camera_3","offset_m":[0.005480295646787696,0.00818195632230401,-0.013981396036863304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007846248307390438,-0.0011660628754004319,0.0016646237691368294],"end_effector_yaw_offset_degrees":0.7263467567153141},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008650455426719834,-0.0016594322679507694,0.0016839527058538596],"end_effector_yaw_offset_degrees":-0.19668614291880093},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000333868775694385,-0.00025947492401247265,-0.0012220597385250423],"end_effector_yaw_offset_degrees":-0.7474245166457203}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004131088633899764,-0.001366268039862316],"position_m":[0.30988689113661005,0.08973373196013769,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007096188607754357,-0.0038658529359355777],"position_m":[0.3122903811392246,-0.12016585293593558,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022364357784099486,0.0045343762588071395],"position_m":[0.3528635642215901,0.30123437625880717,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024887838538299534,0.0035200914704418143],"position_m":[0.24648878385382994,-0.3482799085295582,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"77ed7321487de942c4eda74fd00dd270aa59937909c1de8fa5781ae4d871cae3","episode_index":147,"episode_name":"episode_0147"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0147.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2604/tex_ceiling_textures_3646/tex_floor_textures_3970/tex_table_textures_7148/tex_wall_textures_3682","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":939490480436780009,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":939490480436780009,"visual_seed":939490480436780009,"scene_id":"lab_003","finished_at":"2026-09-03T12:30:38"} +{"episode_id":"ep_000086","started_at":"2026-09-03T12:30:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.04550031655646436,0.07813926905991053,0.71338606911949],"aabb_xy":[[-0.05361397122984147,0.07003345260588145],[-0.037386661883087265,0.08624508551393961]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[-0.04291083149006125,0.9705989292374855,0.71338606911949],"aabb_xy":[[-0.05958796748315675,0.9538990052635553],[-0.02623369549696574,0.9872988532114159]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.15700714443371255,-1.8111733578305584,0.71338606911949],"aabb_xy":[[0.06700714501534163,-1.8445488546747482],[0.24700714385208342,-1.7777978609863687]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.21122012981339366,1.5276432847222323,0.71338606911949],"aabb_xy":[[-0.25639144766156263,1.463643287577694],[-0.1660488119652247,1.591643281866771]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.3729069231700295,0.9933720316933052,0.71338606911949],"aabb_xy":[[0.2929069262069903,0.9162963900495318],[0.45290692013306866,1.0704476733370787]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.5177711517685768,1.2249411594646933,0.71338606911949],"aabb_xy":[[0.45377115009057933,1.1764237679853788],[0.581771153446574,1.2734585509440073]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.14265064429268826,0.8105121341022548,0.71338606911949],"aabb_xy":[[0.13536832791602454,0.7205121304927457],[0.14993296066935186,0.9005121377117636]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.46322988070817583,-0.7314836397858244,0.71338606911949],"aabb_xy":[[0.4257298808911423,-0.7361218510969662],[0.5007298805252094,-0.7268454284746825]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.3919632895586801,1.6273254791660272,0.71338606911949],"aabb_xy":[[-0.40204499663725346,1.5473254812739123],[-0.3818815824801065,1.7073254770581416]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.154615484199777,-0.2799522003042587,0.71338606911949],"aabb_xy":[[-0.21461548506058978,-0.331378630310745],[-0.09461548333896418,-0.22852577029777224]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.4036301379329812,-1.2134785035105142,0.71338606911949],"aabb_xy":[[0.37530042798444097,-1.2179392457042313],[0.4319598478815214,-1.2090177613167972]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.20832881726327956,1.3002833352939067,0.71338606911949],"aabb_xy":[[-0.2723288176408132,1.2505380684430942],[-0.14432881688574595,1.3500286021447188]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.07186874210409311,-0.8594543270706998,0.71338606911949],"aabb_xy":[[-0.00813126005866939,-0.9394095106968432],[0.1518687442668556,-0.779499143444556]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.3071221867923639,0.7828098544574305,0.71338606911949],"aabb_xy":[[0.2767240756932203,0.7524029524557607],[0.33752029789150745,0.8132167564590997]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.3282215846393042,-1.498480863779491,0.71338606911949],"aabb_xy":[[0.26422158437883325,-1.5434896631324189],[0.3922215848997749,-1.4534720644265628]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.6238040362411518,0.8077329254447085,0.71338606911949],"aabb_xy":[[-0.6575795954318447,0.7936944302315434],[-0.5900284770504588,0.8217714206578735]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.6494165095569236,1.781076358303579,0.71338606911949],"aabb_xy":[[-0.667092140145522,1.763396142024176],[-0.6317408789683253,1.7987565745829814]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.405634770261709,-0.3748645967449744,0.71338606911949],"aabb_xy":[[-0.4280995402331141,-0.3973645976238349],[-0.38317000029030385,-0.3523645958661139]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.5940181491015432,-0.8619435161070128,0.71338606911949],"aabb_xy":[[-0.6172999912996745,-0.9469435174042409],[-0.5707363069034118,-0.7769435148097847]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.3687045295846143,-2.143116451173709,0.71338606911949],"aabb_xy":[[0.3509110226496978,-2.1609161967695067],[0.3864980365195307,-2.1253167055779114]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.5660394142693734,1.361380980396107,0.71338606911949],"aabb_xy":[[0.49603941213794367,1.338619014770411],[0.6360394164008027,1.3841429460218022]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.3780039482749449,-1.9873117665964766,0.71338606911949],"aabb_xy":[[0.36513204477400474,-2.0673117670103127],[0.390875851775885,-1.9073117661826406]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.32333104254453243,-1.7187120368896567,0.71338606911949],"aabb_xy":[[-0.3583310408146523,-1.7257861645846448],[-0.2883310442744125,-1.7116379091946685]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.18604042103411134,0.7356899806691128,0.71338606911949],"aabb_xy":[[-0.2060988326473516,0.7156248937599553],[-0.16598200942087102,0.7557550675782704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901115020927592,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9653.png","name":"9653"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9653.png","name":"9653"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3756.png","name":"3756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5668.png","name":"5668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4524.png","name":"4524"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.5130143902568,"rotation_z_degrees":133.064658545137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013378004509288183,-0.018771001124380748,-0.013130319052295124]},{"name":"camera_2","offset_m":[-0.0002550824273777723,0.010683747359160941,-0.0066363467868437685]},{"name":"camera_3","offset_m":[0.012283736145795244,0.011865320464093842,-0.0036199711700349406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017171878861848714,-0.0009796718737892323,0.0008302713766058217],"end_effector_yaw_offset_degrees":-0.10531537804426971},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010236392417686275,-0.0002908281514595811,0.0011772839251691434],"end_effector_yaw_offset_degrees":0.7196298789993254},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014567068535578588,0.00041739695169693653,0.0004963457709559571],"end_effector_yaw_offset_degrees":0.605412246284353}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00032778094469921876,-0.002038827420598266],"position_m":[0.3099722190553008,0.08906117257940173,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004928915813449643,-0.004789989301997597],"position_m":[0.3080710841865504,-0.1210899893019976,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00285208808807327,0.0017315802491075496],"position_m":[0.3522479119119268,0.29843158024910754,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009999362797937037,-0.004520449921808357],"position_m":[0.2449999362797937,-0.35632044992180834,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1f04b182b1090c66e483c8cc4019c1b023b2ae2b4de2509c086d4525299c9470","episode_index":148,"episode_name":"episode_0148"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0148.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9653/tex_ceiling_textures_4524/tex_floor_textures_5668/tex_table_textures_560/tex_wall_textures_3756","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2329769862631916192,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2329769862631916192,"visual_seed":2329769862631916192,"scene_id":"lab_003","finished_at":"2026-09-03T12:33:25"} +{"episode_id":"ep_000087","started_at":"2026-09-03T12:33:29","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[0.5135357119169972,-1.293234114904115,0.71338606911949],"aabb_xy":[[0.47603571209996365,-1.297872326215257],[0.5510357117340308,-1.2885959035929733]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.2408067927377049,-1.0636405980994046,0.71338606911949],"aabb_xy":[[0.20330679207312616,-1.0793276560996266],[0.27830679340228354,-1.0479535400991822]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.25248477579667894,-0.419255001832306,0.71338606911949],"aabb_xy":[[-0.2578223514626835,-0.4442550027614458],[-0.24714720013067437,-0.39425500090316623]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.2243734135832826,-2.379753910135083,0.71338606911949],"aabb_xy":[[-0.24187334701726598,-2.397253910055317],[-0.20687348014929924,-2.362253910214848]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.02924062915447434,-2.1409384388039716,0.71338606911949],"aabb_xy":[[-0.1189277054625898,-2.230938439058422],[0.060446447153641114,-2.050938438549521]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.3125685748609866,-1.9370699352016851,0.71338606911949],"aabb_xy":[[-0.3166845249730592,-1.9411854902345305],[-0.3084526247489139,-1.9329543801688394]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.020818863212093586,1.2265387130683467,0.71338606911949],"aabb_xy":[[-0.026310515789742087,1.1625387120239445],[0.06794824221392926,1.2905387141127485]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.5896103964729533,1.6848964471688403,0.71338606911949],"aabb_xy":[[0.5725083185145851,1.6677896416375704],[0.6067124744313214,1.7020032527001099]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.6991149502111758,0.6012302125844173,0.71338606911949],"aabb_xy":[[0.6926133137031711,0.5914623905581076],[0.7056165867191804,0.6109980346107271]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.5239646800123605,1.369855503416959,0.71338606911949],"aabb_xy":[[-0.5365914672995569,1.360309429715386],[-0.5113378927251642,1.3794015771185317]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.016833343542608348,0.8100106803541798,0.71338606911949],"aabb_xy":[[-0.053867452970668056,0.7756334730204704],[0.02020076588545137,0.8443878876878892]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.12925683141972077,1.4353417416280894,0.71338606911949],"aabb_xy":[[-0.14616756385606253,1.4218695360354747],[-0.11234609898337898,1.448813947220704]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.35002768534675227,0.9861143274758439,0.71338606911949],"aabb_xy":[[-0.41002768620756497,0.9346878974693574],[-0.29002768448593935,1.03754075748233]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[-0.6264360659464396,-1.0917698441737391,0.71338606911949],"aabb_xy":[[-0.6351340282371549,-1.1038948184812136],[-0.6177381036557243,-1.0796448698662642]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.2951597580355656,0.3581635058463286,0.71338606911949],"aabb_xy":[[-0.35515975854341847,0.30131677216040725],[-0.23515975752771265,0.41501023953224986]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.28450680212403795,0.5415667884440762,0.71338606911949],"aabb_xy":[[-0.3545067985339996,0.5211288527923943],[-0.21450680571407602,0.5620047240957577]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.007400782915332749,-1.7115455748402355,0.71338606911949],"aabb_xy":[[-0.029900783158848143,-1.7237502095000075],[0.015099217328182646,-1.6993409401804636]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.47937083876230036,-0.1978544503577444,0.71338606911949],"aabb_xy":[[-0.5443708397194276,-0.24980266229144998],[-0.41437083780517314,-0.14590623842403883]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.01797078112191086,-1.8296558623259338,0.71338606911949],"aabb_xy":[[-0.02479592575750933,-1.893655865747736],[0.06073748800133105,-1.7656558589041311]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.6641968287883595,1.2309474222650683,0.71338606911949],"aabb_xy":[[0.6277010081610808,1.1944634798383105],[0.7006926494156382,1.2674313646918256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878724471221284,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3907.png","name":"3907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7836.png","name":"7836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2475.png","name":"2475"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":614.6471113931989,"rotation_z_degrees":327.58344283697465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019351168985437955,0.0026008691535778436,0.008118762715024909]},{"name":"camera_2","offset_m":[-0.01621620516053841,0.012124300671138812,-0.009593258420948799]},{"name":"camera_3","offset_m":[-0.00770846662088016,-0.002669917177428073,0.007077328203595884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014244200303434032,0.0006545911751009272,0.0005315835787283655],"end_effector_yaw_offset_degrees":-0.055894357775842396},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011618404615114882,0.0014248377226662701,-0.0013234935243165084],"end_effector_yaw_offset_degrees":-0.6775279734801765},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009129986965976402,-0.0008290223182098727,0.00021679738755834817],"end_effector_yaw_offset_degrees":-0.30755918551089567}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030429438805498043,-0.00018389285064265848],"position_m":[0.3072570561194502,0.09091610714935734,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020303455766139244,0.00037844165592020636],"position_m":[0.3150303455766139,-0.1159215583440798,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003253070863799049,-0.0026338732695070644],"position_m":[0.35184692913620097,0.2940661267304929,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032484233533244047,0.0017889015553274592],"position_m":[0.2407515766466756,-0.35001109844467254,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"57e1e3a6d115b31d1ac7e4aa2fa2e71aa1ebe41910d8e39d196ca72133fab255","episode_index":149,"episode_name":"episode_0149"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0149.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7260/tex_ceiling_textures_2475/tex_floor_textures_1164/tex_table_textures_3907/tex_wall_textures_7836","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8804437939173993689,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8804437939173993689,"visual_seed":8804437939173993689,"scene_id":"lab_003","finished_at":"2026-09-03T12:36:08"} +{"episode_id":"ep_000088","started_at":"2026-09-03T12:36:11","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.5776562812167687,1.2444732413080692,0.71338606911949],"aabb_xy":[[0.5426562829466488,1.2373991136130809],[0.6126562794868886,1.2515473690030572]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.3598635126355138,-0.7660737865828087,0.71338606911949],"aabb_xy":[[-0.4098566247447057,-0.8160737872570044],[-0.30987040052632187,-0.716073785908613]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.3623030333508874,-2.1634877411826845,0.71338606911949],"aabb_xy":[[0.35430954355560546,-2.17148587312316],[0.3702965231461695,-2.155489609242209]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.39290027398025057,-2.4990508843416652,0.71338606911949],"aabb_xy":[[-0.43040027477224596,-2.505418725299855],[-0.35540027318825507,-2.4926830433834746]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.26968896026338907,0.726698095049588,0.71338606911949],"aabb_xy":[[0.24468896109775595,0.7197458493442315],[0.2946889594290222,0.7336503407549446]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.19289166831164828,1.1231030567409768,0.71338606911949],"aabb_xy":[[0.17300062843130803,1.1104472454562802],[0.21278270819198855,1.1357588680256738]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.33325307212474115,-1.5474655769631556,0.71338606911949],"aabb_xy":[[-0.3584739089845807,-1.5726893278160419],[-0.30803223526490137,-1.5222418261102684]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.5859768956414516,-1.1193716292319063,0.71338606911949],"aabb_xy":[[-0.6143066055899918,-1.1238323714256233],[-0.5576471856929114,-1.1149108870381892]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.22211464916651324,-1.9329868737749405,0.71338606911949],"aabb_xy":[[0.1521146527565514,-1.9534248094266218],[0.29211464557647493,-1.9125489381232583]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.11515422587832191,1.4034125316299737,0.71338606911949],"aabb_xy":[[-0.14863339313936286,1.3699334182588667],[-0.08167505861728097,1.4368916450010807]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.39736603525718506,-0.6176421135586323,0.71338606911949],"aabb_xy":[[0.38651442900830946,-0.6285014042862832],[0.40821764150606066,-0.6067828228309812]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.6688168441821734,-0.9143099384886784,0.71338606911949],"aabb_xy":[[0.6438168442496555,-0.9211926067096016],[0.6938168441146912,-0.9074272702677549]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[0.10866117336901882,-1.4810706342660496,0.71338606911949],"aabb_xy":[[0.024938947868936343,-1.5710706378007455],[0.19238339886910127,-1.3910706307313536]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.06742228676173245,-0.1682111831251425,0.71338606911949],"aabb_xy":[[-0.07705392298216207,-0.1778484959048514],[-0.057790650541302835,-0.15857387034543358]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.2533263899985456,-1.4623096802579234,0.71338606911949],"aabb_xy":[[-0.27090469218749247,-1.4798841698320284],[-0.23574808780959877,-1.4447351906838188]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.23858128405250167,-1.1750067658101377,0.71338606911949],"aabb_xy":[[-0.25051401841432974,-1.1873889186179971],[-0.2266485496906736,-1.1626246130022784]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.12310893941296541,1.6937066782984869,0.71338606911949],"aabb_xy":[[0.11867831005812525,1.6882583065638044],[0.1275395687678056,1.6991550500331694]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.30133872095901554,0.7201321558247327,0.71338606911949],"aabb_xy":[[-0.32918375773962266,0.6893476570864211],[-0.2734936841784084,0.7509166545630445]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.6898324386366532,-0.29757316678816403,0.71338606911949],"aabb_xy":[[0.6772056513494568,-0.3071192404897369],[0.7024592259238495,-0.2880270930865911]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.46495826959142184,1.4719029972009179,0.71338606911949],"aabb_xy":[[-0.5024582707762144,1.467484774504857],[-0.4274582684066289,1.476321219896978]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.5550581502489277,-1.7042756090467353,0.71338606911949],"aabb_xy":[[-0.5629814304876761,-1.7267756092847384],[-0.5471348700101795,-1.6817756088087317]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.6253742967429894,0.46214234105768215,0.71338606911949],"aabb_xy":[[0.5919341215469697,0.42869871522675196],[0.6588144719390089,0.4955859668886121]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.11970105058355074,-0.04643510021372421,0.71338606911949],"aabb_xy":[[-0.14220105082706613,-0.05863973487349616],[-0.09720105034003533,-0.03423046555395226]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.4630800752076234,-2.1643071800849505,0.71338606911949],"aabb_xy":[[-0.5230800758036396,-2.219119652630174],[-0.4030800746116072,-2.109494707539727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6952438983420666,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9372.png","name":"9372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9372.png","name":"9372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/915.png","name":"915"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5841.png","name":"5841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1823.png","name":"1823"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":816.6560247883823,"rotation_z_degrees":256.9503300204407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01405436237610969,-0.0050913977424474986,0.007305869156434653]},{"name":"camera_2","offset_m":[0.007489758768965012,0.007911259276577643,0.010152372254521785]},{"name":"camera_3","offset_m":[0.0031806795881509226,0.009506968631350109,0.007294534698232057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00016202725177106398,-0.00041989148584065865,-0.0015347878761944648],"end_effector_yaw_offset_degrees":-0.004248613887615216},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001215041849241916,-0.0009497851221498008,0.0018541891012919753],"end_effector_yaw_offset_degrees":-0.16435851526308665},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009565071558845228,-0.0016483842310232727,-0.00101590357005015],"end_effector_yaw_offset_degrees":-0.11964446042561994}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024294860052584276,0.0009010148509104032],"position_m":[0.3078705139947416,0.0920010148509104,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031040284858718783,-0.0006701470516188154],"position_m":[0.3161040284858719,-0.11697014705161882,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004043066034544508,-0.0008232230427998206],"position_m":[0.35914306603454454,0.2958767769572002,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003027365199335841,-0.003920133911170607],"position_m":[0.24097263480066416,-0.35572013391117063,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8135ee07fdf5de0ed230373c4919e5b8949cf40ac962253d31088a7d693bdd7e","episode_index":150,"episode_name":"episode_0150"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0150.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9372/tex_ceiling_textures_1823/tex_floor_textures_5841/tex_table_textures_915/tex_wall_textures_5736","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4382796049140478104,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4382796049140478104,"visual_seed":4382796049140478104,"scene_id":"lab_003","finished_at":"2026-09-03T12:38:42"} +{"episode_id":"ep_000089","started_at":"2026-09-03T12:38:46","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.5712071400149485,-0.6780568421612816,0.71338606911949],"aabb_xy":[[0.5594389532202911,-0.7630568420665033],[0.5829753268096062,-0.59305684225606]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.08144053498218529,0.9748149610821684,0.71338606911949],"aabb_xy":[[0.06828928901089594,0.9498149613254819],[0.09459178095347467,0.999814960838855]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.04960405331851281,-1.7220799618971152,0.71338606911949],"aabb_xy":[[0.026018929854617956,-1.787079964142547],[0.07318917678240766,-1.6570799596516834]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.46113595695457255,-1.3624550876948833,0.71338606911949],"aabb_xy":[[-0.5251359562487408,-1.4264412280637375],[-0.3971359576604044,-1.2984689473260291]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.20676092319005046,-1.8863005026181228,0.71338606911949],"aabb_xy":[[0.1890852926014521,-1.903980718897525],[0.22443655377864877,-1.8686202863387196]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.12511859916196177,-0.7174427235315792,0.71338606911949],"aabb_xy":[[0.11861696265395719,-0.727210545557889],[0.13162023566996642,-0.7076749015052695]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.16214091217300464,0.6937381881878939,0.71338606911949],"aabb_xy":[[0.15729731741177466,0.6888865357089099],[0.1669845069342346,0.6985898406668781]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.3333967988725583,-1.5326129322151558,0.71338606911949],"aabb_xy":[[-0.35345521048579853,-1.5526780191243135],[-0.31333838725931795,-1.5125478453059982]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.09389598670236654,-0.7761495406348564,0.71338606911949],"aabb_xy":[[-0.15789598904516808,-0.8210903918789889],[-0.029895984359564972,-0.7312086893907239]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.3805092169189193,0.084177641172682,0.71338606911949],"aabb_xy":[[-0.4030092169290676,0.07008142153307872],[-0.358009216908771,0.09827386081228529]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.2459512993709485,-0.6318966050985071,0.71338606911949],"aabb_xy":[[-0.2593978260049918,-0.6453664567515982],[-0.23250477273690512,-0.6184267534454158]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.006426221875814542,0.2500541962226879,0.71338606911949],"aabb_xy":[[-0.012463234876479271,0.24402749515373973],[-0.00038920887514981497,0.25608089729163613]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[-0.6119411793667432,0.6473854280333708,0.71338606911949],"aabb_xy":[[-0.6251721249014244,0.6341580090113714],[-0.5987102338320618,0.6606128470553703]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.5834760691566396,-2.0009840113397166,0.71338606911949],"aabb_xy":[[0.5733230536024901,-2.037053552912456],[0.5936290847107889,-1.9649144697669754]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.6802310158528322,0.196708969931489,0.71338606911949],"aabb_xy":[[-0.6851870360377135,0.1742089697293674],[-0.6752749956679511,0.21920897013361065]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.08543248975534934,-2.484226172804206,0.71338606911949],"aabb_xy":[[0.0575874529747422,-2.515010671542518],[0.11327752653595645,-2.4534416740658944]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.009970339583726173,-0.9299522532183968,0.71338606911949],"aabb_xy":[[-0.040029660776839886,-0.9799322404279995],[0.05997033994429223,-0.8799722660087936]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.15311793779775007,1.7339845618265168,0.71338606911949],"aabb_xy":[[-0.16181590008846536,1.7218595875190423],[-0.14441997550703478,1.7461095361339918]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.24255448318303807,-1.6107074636798386,0.71338606911949],"aabb_xy":[[0.21927264098490673,-1.6957074649770667],[0.2658363253811694,-1.5257074623826106]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.43110000273149707,-0.7149512201396861,0.71338606911949],"aabb_xy":[[0.38110000315516235,-0.7649317990917921],[0.4811000023078318,-0.6649706411875802]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.5188800737241775,-1.9080054474886734,0.71338606911949],"aabb_xy":[[-0.5413800732478848,-1.9305013949392942],[-0.4963800742004701,-1.8855095000380526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889313271103312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7242.png","name":"7242"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9912.png","name":"9912"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5251.png","name":"5251"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":619.685964237727,"rotation_z_degrees":29.430390534722637,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0030515979029920766,0.0053256496967461035,0.01630399902566655]},{"name":"camera_2","offset_m":[0.01847163815165814,0.015464558088763878,-0.0038735041764335378]},{"name":"camera_3","offset_m":[0.0009906080997267586,0.013880656666246011,0.008909361785345057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009114790185416606,-0.0017502421778833371,0.0003471730506476628],"end_effector_yaw_offset_degrees":-0.3016527833113294},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009673883026662371,0.0009966746633795895,0.001187119818153494],"end_effector_yaw_offset_degrees":-0.06442100783101723},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019734172857381613,-0.0011310702624381156,0.0005353087876112713],"end_effector_yaw_offset_degrees":-0.722829813926994}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0048921038256253095,0.00042093748590824563],"position_m":[0.3054078961743747,0.09152093748590824,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004647904955223899,-0.0004815131302626516],"position_m":[0.3083520950447761,-0.11678151313026265,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003378157210909354,9.674919418471966e-05],"position_m":[0.3517218427890907,0.29679674919418475,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004101849069099291,0.00302581050848946],"position_m":[0.2481018490690993,-0.34877418949151057,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bd77036c3521cfdcdf0129f8ce899850f89ef0f3a29416bfb0aded782bcd902f","episode_index":151,"episode_name":"episode_0151"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0151.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2636/tex_ceiling_textures_5807/tex_floor_textures_5251/tex_table_textures_7242/tex_wall_textures_9912","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1525565822299540531,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1525565822299540531,"visual_seed":1525565822299540531,"scene_id":"lab_003","finished_at":"2026-09-03T12:41:24"} +{"episode_id":"ep_000090","started_at":"2026-09-03T12:43:01","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.5676793121317163,-2.0263939335251338,0.71338606911949],"aabb_xy":[[0.5530359065776832,-2.041052653181918],[0.5823227176857492,-2.0117352138683495]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[-0.16172988454996384,1.3189776705769711,0.71338606911949],"aabb_xy":[[-0.1791605996289703,1.30170555591312],[-0.14429916947095728,1.3362497852408217]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.5594905182341685,-0.2890885521506874,0.71338606911949],"aabb_xy":[[-0.564389810540732,-0.3167654714532561],[-0.554591225927605,-0.2614116328481186]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.409335106972481,-0.7644936737902106,0.71338606911949],"aabb_xy":[[-0.44524861139747063,-0.8004071820069653],[-0.37342160254749124,-0.728580165573456]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.31412875710615684,-1.7069759590141746,0.71338606911949],"aabb_xy":[[0.2971186598161062,-1.7231104475124484],[0.3311388543962075,-1.6908414705159005]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.23135241521953892,-1.1298870837717552,0.71338606911949],"aabb_xy":[[-0.31135241380685835,-1.2092026857099158],[-0.15135241663221952,-1.050571481833594]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.16671245174865634,-2.393776297802276,0.71338606911949],"aabb_xy":[[0.1431273282847615,-2.4587763000477083],[0.1902975752125512,-2.3287762955568447]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.38393632672010825,0.23620288102076348,0.71338606911949],"aabb_xy":[[-0.39369231622928214,0.22644034696152904],[-0.37418033721093436,0.24596541507999792]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.36759476317078466,-0.1871019460482941,0.71338606911949],"aabb_xy":[[-0.4325947641712852,-0.23788831120296902],[-0.30259476217028414,-0.13631558089361914]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.5052979372820494,-2.514267309930939,0.71338606911949],"aabb_xy":[[0.48779800384806593,-2.531767309851173],[0.5227978707160327,-2.496767310010704]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.07712932797660577,1.6603280374798968,0.71338606911949],"aabb_xy":[[0.012129329820686707,1.6340317929299848],[0.14212932613252482,1.6866242820298092]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.42265844934177765,-0.5250110059642008,0.71338606911949],"aabb_xy":[[-0.428753077229896,-0.5335804005158695],[-0.41656382145365933,-0.5164416114125321]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.28245403471215674,-0.8550470730407684,0.71338606911949],"aabb_xy":[[-0.2872976294733867,-0.8598987255197525],[-0.27761043995092677,-0.8501954205617843]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.2521588845466962,-2.347855493364793,0.71338606911949],"aabb_xy":[[-0.2672611860077142,-2.362957014995854],[-0.23705658308567804,-2.3327539717337302]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.24591645019924968,-1.9787553237085393,0.71338606911949],"aabb_xy":[[-0.25003240031132234,-1.9828708787413847],[-0.241800500087177,-1.9746397686756936]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.09476250364415173,-0.6625511778851325,0.71338606911949],"aabb_xy":[[-0.10200626969039706,-0.7425511760887349],[-0.0875187375979064,-0.5825511796815301]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.4228875145514568,1.1825434717336614,0.71338606911949],"aabb_xy":[[0.39788751538582373,1.1755912260283046],[0.44788751371708996,1.1894957174390177]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.6076169658007936,0.6186081043555389,0.71338606911949],"aabb_xy":[[-0.6420793131989351,0.5841142219577159],[-0.5731546184026515,0.6531019867533613]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.40303283243631594,-0.9134169517170669,0.71338606911949],"aabb_xy":[[0.3680328333063603,-0.919162172792731],[0.4380328315662716,-0.9076717306414028]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.290879528240382,-2.568985981261628,0.71338606911949],"aabb_xy":[[-0.298905798871008,-2.577737476238981],[-0.282853257609756,-2.560234486284276]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.4828484197357943,1.7005533300012492,0.71338606911949],"aabb_xy":[[0.4028484210789083,1.6860484710769865],[0.5628484183926803,1.7150581889255123]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.6617972610769767,1.110021556307685,0.71338606911949],"aabb_xy":[[0.6491704737897802,1.100475482606112],[0.6744240483641729,1.1195676300092579]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.15105624231673853,1.4371975995966495,0.71338606911949],"aabb_xy":[[-0.2310562393309865,1.4170630479232382],[-0.07105624530249055,1.4573321512700608]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.4625790572524216,0.9016375003099402,0.71338606911949],"aabb_xy":[[-0.5125790558983427,0.8517179566504777],[-0.41257905860650035,0.9515570439694024]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[-0.5787896358973816,-0.9254225323010086,0.71338606911949],"aabb_xy":[[-0.5889426514515309,-0.9614920738737488],[-0.5686366203432321,-0.8893529907282681]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.10981614513889315,1.5522107928284519,0.71338606911949],"aabb_xy":[[-0.1448161434495886,1.5444957779049062],[-0.0748161468281977,1.5599258077519975]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.23664022703950222,1.1115433624856945,0.71338606911949],"aabb_xy":[[-0.2644852638201093,1.0807588637473828],[-0.20879519025889506,1.1423278612240062]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[-0.35102310206348525,-1.448253551737906,0.71338606911949],"aabb_xy":[[-0.40102310334732516,-1.498232406128528],[-0.3010231007796452,-1.3982746973472837]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.3123567251314736,-2.3149415965193616,0.71338606911949],"aabb_xy":[[0.2572315195018828,-2.3749415979606487],[0.36748193076106433,-2.2549415950780745]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[0.6474444220385442,0.9567499699401609,0.71338606911949],"aabb_xy":[[0.6435305488431217,0.9480009545336041],[0.6513582952339666,0.9654989853467177]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[0.18577750856238706,1.4726448049869334,0.71338606911949],"aabb_xy":[[0.12177750634198004,1.4282717208616453],[0.2497775107827941,1.517017889112222]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_31","position":[-0.43459205183946614,-2.5695350526283804,0.71338606911949],"aabb_xy":[[-0.4390226811943063,-2.574983424363063],[-0.43016142248462597,-2.564086680893698]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934296166772942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8675.png","name":"8675"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8675.png","name":"8675"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2768.png","name":"2768"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3288.png","name":"3288"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":504.44360146584285,"rotation_z_degrees":240.81680542166004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018124636713826928,0.005126704076498127,-0.019414617204686537]},{"name":"camera_2","offset_m":[0.007994455367948138,-0.016947205457419873,-0.013902493965687622]},{"name":"camera_3","offset_m":[0.0008738693666344582,0.01925840266706143,-0.00457303645380064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00036132194012990964,-0.000495236864304884,0.0007036455153857052],"end_effector_yaw_offset_degrees":0.5246354929216426},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000724064332634629,0.0014950162610780841,-0.0006212694645383028],"end_effector_yaw_offset_degrees":-0.7929616638212107},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0001654668375809412,-0.0008594442497813759,-0.0005245808185199037],"end_effector_yaw_offset_degrees":0.18731475127951147}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004782404423494423,0.003017217722391891],"position_m":[0.3055175955765056,0.09411721772239189,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017580164446164104,0.00030379602044261836],"position_m":[0.3112419835553836,-0.11599620397955739,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002311888968015488,-0.0014053312299611266],"position_m":[0.3574118889680155,0.2952946687700389,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004290570538375491,0.002483711452442797],"position_m":[0.2482905705383755,-0.3493162885475572,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62253e00b989a22ef8013c01582834bbca915dcbe9ac281a5b00f5918ab6f075","episode_index":153,"episode_name":"episode_0153"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0153.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8675/tex_ceiling_textures_3288/tex_floor_textures_2768/tex_table_textures_5160/tex_wall_textures_6369","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4255113438317424210,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4255113438317424210,"visual_seed":4255113438317424210,"scene_id":"lab_003","finished_at":"2026-09-03T12:45:46"} +{"episode_id":"ep_000091","started_at":"2026-09-03T12:45:49","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.010925185778816182,-2.185944030935442,0.71338606911949],"aabb_xy":[[-0.045387663791903954,-2.192607708118364],[0.02353729223427159,-2.1792803537525187]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.20301347916026352,-0.457189989806726,0.71338606911949],"aabb_xy":[[-0.22592919204531345,-0.48009428694314954],[-0.18009776627521362,-0.43428569267030254]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.4474550174156582,-2.0977776463431734,0.71338606911949],"aabb_xy":[[0.40995501706743037,-2.1095690419242565],[0.4849550177638859,-2.0859862507620894]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.2990631133713998,-0.6972687196323246,0.71338606911949],"aabb_xy":[[0.24906311393120412,-0.7472366441166408],[0.34906311281159536,-0.6473007951480082]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.404104640021153,0.7495159575717807,0.71338606911949],"aabb_xy":[[0.38804271256263534,0.664515955759189],[0.4201665674796706,0.8345159593843726]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.4430339821703406,0.45077285857499394,0.71338606911949],"aabb_xy":[[0.3930339825940059,0.40079227962288805],[0.49303398174667534,0.5007534375270999]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.01774425765673804,1.1514504998385453,0.71338606911949],"aabb_xy":[[-0.02578761758269321,1.0664504987431789],[-0.009700897730782861,1.2364505009339117]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.04297072235588495,-1.7531565015132882,0.71338606911949],"aabb_xy":[[-0.10697072469868651,-1.7980973527574207],[0.021029279986916605,-1.7082156502691557]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.19744416517210417,-2.097895103023461,0.71338606911949],"aabb_xy":[[0.11744416820906495,-2.1749707446672346],[0.2774441621351433,-2.0208194613796877]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.30371329428944016,-1.266683653385249,0.71338606911949],"aabb_xy":[[0.2940816580690105,-1.276320966164958],[0.3133449305098697,-1.25704634060554]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.47935985807817627,0.10004520219486812,0.71338606911949],"aabb_xy":[[-0.4971533650130927,0.08224545659907044],[-0.46156635114325983,0.11784494779066577]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.6666358928974012,-0.6180292209585403,0.71338606911949],"aabb_xy":[[0.6316358946272813,-0.6251033486535283],[0.7016358911675211,-0.610955093263552]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.3518842987898697,-1.8916762708997386,0.71338606911949],"aabb_xy":[[-0.3600119869831829,-1.9005898793104463],[-0.34375661059655643,-1.8827626624890308]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.6234255678161196,-0.8124043357195312,0.71338606911949],"aabb_xy":[[0.6059256343821362,-0.8299043356397656],[0.640925501250103,-0.7949043357992965]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.03470654832333708,-1.1053372510153385,0.71338606911949],"aabb_xy":[[-0.06335588068375331,-1.133982810292414],[-0.006057215962920859,-1.0766916917382625]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.639594873170837,-2.513991170295876,0.71338606911949],"aabb_xy":[[-0.6700791232978671,-2.563991170077372],[-0.6091106230438068,-2.46399117051438]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.23345650676500707,-1.7591958036091122,0.71338606911949],"aabb_xy":[[-0.2834298007682675,-1.8091958041636595],[-0.1834832127617466,-1.7091958030545649]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.6530839467641565,-0.10926694306223128,0.71338606911949],"aabb_xy":[[0.6030839458136237,-0.14081609006575269],[0.7030839477146893,-0.07771779605870986]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.47474611355677,1.362920660412597,0.71338606911949],"aabb_xy":[[-0.4820073611271774,1.3501336501490875],[-0.4674848659863626,1.3757076706761064]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[-0.2363400802987221,-1.1749949514470301,0.71338606911949],"aabb_xy":[[-0.26418511707932923,-1.205779450185342],[-0.208495043518115,-1.1442104527087187]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.09511212264470792,1.0391841232006245,0.71338606911949],"aabb_xy":[[-0.11269042483365477,1.0216096336265195],[-0.07753382045576107,1.0567586127747295]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.5953762827945204,0.13883534760035987,0.71338606911949],"aabb_xy":[[0.5734676006551692,0.11693468078026911],[0.6172849649338713,0.16073601442045057]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.11415167088733014,-1.3030977022829449,0.71338606911949],"aabb_xy":[[-0.117854932216469,-1.3067997205916624],[-0.11044840955819127,-1.299395683974227]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.1850324147493987,-0.25215954267574947,0.71338606911949],"aabb_xy":[[-0.24503241534541487,-0.30697201522097295],[-0.1250324141533825,-0.197347070130526]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.62225354248626,-0.8437548480566794,0.71338606911949],"aabb_xy":[[-0.6330265164076277,-0.8787548462757184],[-0.6114805685648922,-0.8087548498376405]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[-0.46805561892032643,-1.3572935061706486,0.71338606911949],"aabb_xy":[[-0.5320556205983238,-1.4058108976499628],[-0.404055617242329,-1.3087761146913344]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.15406266286841486,1.1009776054351552,0.71338606911949],"aabb_xy":[[0.14756102636041024,1.0912097834088457],[0.16056429937641947,1.1107454274614652]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[-0.4609192640852363,0.7638134014135454,0.71338606911949],"aabb_xy":[[-0.49538161148337806,0.7293195190157225],[-0.42645691668709446,0.7983072838113678]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_28","position":[-0.2836094981706258,0.8800086963249991,0.71338606911949],"aabb_xy":[[-0.3135770550804515,0.8500086960271134],[-0.25364194126080014,0.9100086966228849]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_29","position":[0.22313143584330808,-1.8829342849464314,0.71338606911949],"aabb_xy":[[0.15813143320551457,-1.9344138836458784],[0.28813143848110156,-1.8314546862469845]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[0.4121916357548401,-1.6571417953756145,0.71338606911949],"aabb_xy":[[0.3650622567530043,-1.721141796420016],[0.45932101475667564,-1.593141794331212]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_31","position":[-0.31675184614869956,1.2711904040150812,0.71338606911949],"aabb_xy":[[-0.39675184330827484,1.2596428030572642],[-0.23675184898912427,1.2827380049728982]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_32","position":[0.49612275486754664,-0.8719301579843091,0.71338606911949],"aabb_xy":[[0.48790820975186266,-0.8806067482819503],[0.5043372999832305,-0.8632535676866676]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_33","position":[0.033739467336161955,-1.6069396119211077,0.71338606911949],"aabb_xy":[[-0.03626053426611753,-1.6203724051227655],[0.10373946893844144,-1.5935068187194503]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_34","position":[-0.2781906419461864,1.1421725827756606,0.71338606911949],"aabb_xy":[[-0.3421906433541771,1.0903836312517357],[-0.21419064053819578,1.193961534299585]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875054091518079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5344.png","name":"5344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5344.png","name":"5344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1924.png","name":"1924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7880.png","name":"7880"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4574.png","name":"4574"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1912.png","name":"1912"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":614.7709786295575,"rotation_z_degrees":141.99227380057354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00785297448378254,-0.0023759023474899145,-0.01655207738112118]},{"name":"camera_2","offset_m":[0.018992231624125767,0.015985787489426768,-0.003110329218255461]},{"name":"camera_3","offset_m":[-0.017942188722621284,-0.016624426061325363,-0.00598984881219697]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017578717639960889,0.0006803690492759194,0.0006288684109654902],"end_effector_yaw_offset_degrees":-0.5030592417509401},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008064639202552165,-0.0018104799996720886,0.0014958260537225798],"end_effector_yaw_offset_degrees":-0.3998740185448788},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001670463799036136,0.0006284417933308745,0.0017992500562495784],"end_effector_yaw_offset_degrees":0.07844942619819983}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003039711892000686,0.00034313890810909985],"position_m":[0.3072602881079993,0.0914431389081091,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004216813649659531,0.00040884019455009624],"position_m":[0.30878318635034047,-0.11589115980544991,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004014183319706556,-0.0018846635527388043],"position_m":[0.3510858166802935,0.2948153364472612,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002514422432827408,-0.0022818770665402346],"position_m":[0.2465144224328274,-0.35408187706654026,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bc1a07b3bf64450103533353e6c5953a63cee838c5b54125e5d553ba2a0822f7","episode_index":154,"episode_name":"episode_0154"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0154.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5344/tex_ceiling_textures_1912/tex_floor_textures_4574/tex_table_textures_1924/tex_wall_textures_7880","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8399070580322637619,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8399070580322637619,"visual_seed":8399070580322637619,"scene_id":"lab_003","finished_at":"2026-09-03T12:48:20"} +{"episode_id":"ep_000092","started_at":"2026-09-03T12:48:24","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.6862178464810809,0.07601847667814265,0.71338606911949],"aabb_xy":[[0.6527386792200399,0.04253936330703565],[0.7196970137421218,0.10949759004924967]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.43674401724187506,1.4765456222612534,0.71338606911949],"aabb_xy":[[0.41645971451847624,1.4562629971185443],[0.45702831996527377,1.496828247403962]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.6061941869087368,-1.9635202021320284,0.71338606911949],"aabb_xy":[[0.5361941904987748,-1.9839581377837099],[0.6761941833186984,-1.9430822664803464]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.3426629768934866,-0.31868684920604284,0.71338606911949],"aabb_xy":[[-0.38794159177463583,-0.3826868485542266],[-0.2973843620123373,-0.2546868498578592]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.6179459989271272,-1.4979743520313764,0.71338606911949],"aabb_xy":[[0.557945998675726,-1.552255677067841],[0.6779459991785284,-1.4436930269949118]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.03279178170253649,-0.8177175025661345,0.71338606911949],"aabb_xy":[[0.01845735657637304,-0.8297777181206734],[0.047126206828699946,-0.8056572870115957]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.4685542486534875,-0.8252787017891441,0.71338606911949],"aabb_xy":[[-0.5385542512900737,-0.8453835667850095],[-0.39855424601690104,-0.8051738367932785]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.46139062264656894,1.283470601880579,0.71338606911949],"aabb_xy":[[-0.5163906222683148,1.2284869090931063],[-0.40639062302482315,1.3384542946680518]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.2824831341642977,-0.9405254240597545,0.71338606911949],"aabb_xy":[[0.23749054744584724,-0.9855254233342032],[0.32747572088274807,-0.8955254247853057]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.3167307997741696,-2.053256475306763,0.71338606911949],"aabb_xy":[[-0.3417307993259081,-2.0633989591718978],[-0.29173080022243114,-2.0431139914416283]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.5225082844053237,-0.644299449846879,0.71338606911949],"aabb_xy":[[-0.5725082847658897,-0.6942794370564819],[-0.4725082840447576,-0.594319462637276]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.17316313861051902,-1.4050699825684734,0.71338606911949],"aabb_xy":[[-0.23079360749778985,-1.4650699814951837],[-0.11553266972324816,-1.3450699836417626]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.6269195701487011,-0.5761072036585007,0.71338606911949],"aabb_xy":[[0.6229590863789667,-0.5837750682440214],[0.6308800539184354,-0.5684393390729802]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.011017554177108702,-1.10181621633703,0.71338606911949],"aabb_xy":[[-0.03898244718377852,-1.1517941209124456],[0.06101755553799592,-1.0518383117616144]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.19556308013160673,0.7795423266196142,0.71338606911949],"aabb_xy":[[0.18828076375494301,0.689542323010105],[0.20284539650827033,0.869542330229123]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.6898743185402674,1.7680938442233454,0.71338606911949],"aabb_xy":[[0.6612249861798511,1.7394482849462694],[0.7185236509006836,1.796739403500421]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.4467964719561992,0.004859630145675808,0.71338606911949],"aabb_xy":[[0.43215306640216616,-0.009799089511108472],[0.46143987751023213,0.01951834980246009]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.38142677090848065,-2.362475816734107,0.71338606911949],"aabb_xy":[[0.3716707813993067,-2.372238350793341],[0.3911827604176545,-2.352713282674872]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.15174542212073594,0.14440160465532825,0.71338606911949],"aabb_xy":[[-0.1604593911706704,0.12190160399614001],[-0.14303145307080142,0.16690160531451645]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.12638321174576606,-0.9619721306141362,0.71338606911949],"aabb_xy":[[0.09641565483594039,-0.991972130912022],[0.15635076865559172,-0.9319721303162505]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.5763753670079848,-0.7519770014994924,0.71338606911949],"aabb_xy":[[0.5419130196098428,-0.7864708838973149],[0.6108377144061264,-0.7174831191016695]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[-0.17915867484845527,1.6804616966372428,0.71338606911949],"aabb_xy":[[-0.18640244089470057,1.6004616984336404],[-0.17191490880220991,1.7604616948408451]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.4173459717919733,1.58344418709622,0.71338606911949],"aabb_xy":[[-0.4673459713683081,1.533463608144114],[-0.36734597221563864,1.6334247660483259]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.590342835050357,0.32654070420027326,0.71338606911949],"aabb_xy":[[0.551797142225156,0.2879949331440846],[0.628888527875558,0.36508647525646193]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.6055322461552833,-0.12622821114217464,0.71338606911949],"aabb_xy":[[-0.6255906577685236,-0.14629329805133218],[-0.585473834542043,-0.1061631242330171]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.5654827522033641,-0.1654436082130215,0.71338606911949],"aabb_xy":[[0.5542376966327464,-0.1766854059371168],[0.576727807773982,-0.15420181048892623]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.04214164064048176,0.9134927555534076,0.71338606911949],"aabb_xy":[[0.028910695105800452,0.9002653365314082],[0.05537258617516304,0.926720174575407]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.024788980300964436,-2.1473887889235295,0.71338606911949],"aabb_xy":[[-0.025188436564289145,-2.1973887904127776],[0.07476639716621801,-2.0973887874342805]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.4788917474441967,0.8023994350008334,0.71338606911949],"aabb_xy":[[0.3888917480258258,0.7690239381566436],[0.5688917468625676,0.835774931845023]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.3834512515632034,0.1932343186586123,0.71338606911949],"aabb_xy":[[-0.40595125108691077,0.1707383712079915],[-0.36095125203949596,0.21573026610923307]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_30","position":[-0.5014171198462811,-0.17840327756871943,0.71338606911949],"aabb_xy":[[-0.5107107380834317,-0.21590327605685333],[-0.49212350160913054,-0.14090327908058553]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[0.6302160638104213,-1.1494477844757012,0.71338606911949],"aabb_xy":[[0.5803992843455865,-1.1994477829600045],[0.680032843275256,-1.0994477859913978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861317110818415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5553.png","name":"5553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5553.png","name":"5553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7001.png","name":"7001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8481.png","name":"8481"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5613.png","name":"5613"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":775.5405377149017,"rotation_z_degrees":321.3014876739403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012233457213336987,-0.0026638664027673065,-0.016644457666764256]},{"name":"camera_2","offset_m":[-0.014918376724281406,-7.445960889515546e-05,0.002916179295062254]},{"name":"camera_3","offset_m":[0.0066777499034872505,-0.00964842604208314,0.01984235138896073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009156946613651622,-7.29835458872371e-05,-0.0003094283645244712],"end_effector_yaw_offset_degrees":0.6627784673535606},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007354487209725313,-0.0005411911041296959,0.0013219020123103838],"end_effector_yaw_offset_degrees":-0.7881728643669377},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001311403703367449,-0.0007903416155929453,-0.0016797870792468876],"end_effector_yaw_offset_degrees":0.11368767204605934}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025868338976631046,-0.0029439451697402287],"position_m":[0.31288683389766314,0.08815605483025978,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007531250707346927,0.0010340816961272974],"position_m":[0.3137531250707347,-0.1152659183038727,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004861695116102629,-0.0033040954648909638],"position_m":[0.3502383048838974,0.29339590453510905,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00039868884041551096,-0.0028783729996243214],"position_m":[0.24360131115958447,-0.35467837299962435,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"61a1254f25c43bf4549c39512d89cc07a6f6cf090ab0c5dc93d124c844ea8969","episode_index":155,"episode_name":"episode_0155"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0155.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5553/tex_ceiling_textures_5613/tex_floor_textures_8481/tex_table_textures_3827/tex_wall_textures_7001","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5936742947685385566,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5936742947685385566,"visual_seed":5936742947685385566,"scene_id":"lab_003","finished_at":"2026-09-03T12:51:00"} +{"episode_id":"ep_000093","started_at":"2026-09-03T12:51:03","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.08898012402176791,-0.7258414264758135,0.71338606911949],"aabb_xy":[[-0.09700639465239391,-0.7345929214531662],[-0.08095385339114192,-0.717089931498461]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.09065011980314663,-1.8142271495998439,0.71338606911949],"aabb_xy":[[-0.14065011924334225,-1.8641950740841597],[-0.040650120362951014,-1.7642592251155271]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.19181304160275836,0.9166005955832408,0.71338606911949],"aabb_xy":[[0.10809081610267587,0.8266005920485449],[0.2755352671028408,1.0066005991179368]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.029441103825207704,1.545545191904759,0.71338606911949],"aabb_xy":[[-0.09344110111085635,1.504038472951915],[0.03455889346044094,1.5870519108576029]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.5042089040812242,-0.7626215307235018,0.71338606911949],"aabb_xy":[[-0.5217089032155913,-0.7725011577610895],[-0.486708904946857,-0.7527419036859139]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.5298397057518612,0.17784927868584433,0.71338606911949],"aabb_xy":[[-0.619839705170232,0.14447378184165457],[-0.43983970633349023,0.21122477553003402]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.40485448595934537,1.3734994959171818,0.71338606911949],"aabb_xy":[[-0.41135612246735,1.363731673890872],[-0.39835284945134075,1.3832673179434916]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.28160388513893164,-2.0991676664200467,0.71338606911949],"aabb_xy":[[-0.2910213597087944,-2.1085838435577657],[-0.2721864105690689,-2.0897514892823277]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.19685069819199552,1.382423269479827,0.71338606911949],"aabb_xy":[[-0.26085069845246633,1.337414470126899],[-0.1328506979315247,1.427432068832755]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.5795433011800486,0.43525803866035817,0.71338606911949],"aabb_xy":[[0.5450808231669608,0.42859436147743535],[0.6140057791931364,0.441921715843281]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.03392332378082841,-1.182302603206732,0.71338606911949],"aabb_xy":[[0.02846537814380834,-1.2623026065143912],[0.039381269417848475,-1.102302599899073]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.6200249418614181,0.5267745132786903,0.71338606911949],"aabb_xy":[[0.6087798862908003,0.5155327155545949],[0.6312699974320359,0.5380163110027855]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.35013560816451383,-0.7000377274659408,0.71338606911949],"aabb_xy":[[-0.3825973090464412,-0.7301705595808432],[-0.31767390728258627,-0.669904895351038]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.14744119888799545,-0.9621823483037115,0.71338606911949],"aabb_xy":[[-0.19692162010195424,-1.0261823462165633],[-0.09796077767403666,-0.8981823503908597]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.3439378894267261,-1.9514367700048676,0.71338606911949],"aabb_xy":[[-0.4339378859275978,-1.9973484124233254],[-0.2539378929258543,-1.905525127586409]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[0.23362878786631702,-1.2896180948197413,0.71338606911949],"aabb_xy":[[0.16962878869654707,-1.3363847819387038],[0.297628787036087,-1.2428514077007788]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.6707451946100667,-0.8125092045552467,0.71338606911949],"aabb_xy":[[0.6634628782334028,-0.9025092081647553],[0.6780275109867301,-0.7225092009457373]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.46259827347503163,-0.26295713864496095,0.71338606911949],"aabb_xy":[[-0.5325982698849931,-0.28339507429664257],[-0.3925982770650697,-0.24251920299327914]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.24730805809960876,1.637789193376586,0.71338606911949],"aabb_xy":[[-0.2848080582714807,1.6050884579936784],[-0.20980805792773682,1.6704899287594928]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.020181713710008764,-2.1516632620839067,0.71338606911949],"aabb_xy":[[-0.03981828654139241,-2.205944587120371],[0.08018171396140994,-2.0973819370474414]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.38472120871146753,-1.9280555876049268,0.71338606911949],"aabb_xy":[[0.3472212101358467,-1.9407918832684847],[0.42222120728708834,-1.9153192919413689]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.516053530643323,1.7095475073171325,0.71338606911949],"aabb_xy":[[-0.5800535338619609,1.6628243954181243],[-0.4520535274246852,1.756270619216141]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.4416160254172607,0.9041685357233469,0.71338606911949],"aabb_xy":[[-0.4476530384179255,0.8981418346543987],[-0.435579012416596,0.9101952367922951]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[-0.21917003205827518,-1.499310830268104,0.71338606911949],"aabb_xy":[[-0.23584716805137065,-1.5160107542420342],[-0.20249289606517965,-1.4826109062941737]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.2362518526968147,-2.4359712639843165,0.71338606911949],"aabb_xy":[[0.18626761698863747,-2.485971262797812],[0.28623608840499193,-2.385971265170821]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.4956816111486345,-1.7746524324392978,0.71338606911949],"aabb_xy":[[-0.5192667346125294,-1.8396524346847296],[-0.47209648768473966,-1.709652430193866]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.4033293384262322,-1.6233424062041182,0.71338606911949],"aabb_xy":[[0.35724424717150066,-1.6873424034566733],[0.4494144296809636,-1.559342408951563]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.3998985132442532,-2.420763312542129,0.71338606911949],"aabb_xy":[[0.38169268958300556,-2.4317887131241207],[0.4181043369055009,-2.4097379119601374]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[0.27272533957348344,-1.0145417933498226,0.71338606911949],"aabb_xy":[[0.26829471021864326,-1.0199901650845051],[0.2771559689283236,-1.0090934216151402]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[0.343233985883163,1.2983145435503198,0.71338606911949],"aabb_xy":[[0.33347799637398906,1.2885520094910852],[0.35298997539233684,1.308077077609554]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_30","position":[-0.556346214214684,0.8474300993309627,0.71338606911949],"aabb_xy":[[-0.6113416920353433,0.7924300978970557],[-0.5013507363940245,0.9024301007648695]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_31","position":[-0.045956739094506927,0.8361470052033719,0.71338606911949],"aabb_xy":[[-0.08345674027929972,0.8317287825073112],[-0.008456737909714135,0.8405652278994322]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_32","position":[-0.41534890323835866,1.1128169422554,0.71338606911949],"aabb_xy":[[-0.4803489032726614,1.0661162655750727],[-0.35034890320405593,1.1595176189357272]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_33","position":[0.4145839139115117,1.2297004541685297,0.71338606911949],"aabb_xy":[[0.3795839139350159,1.2202358381209133],[0.44958391388800756,1.2391650702161465]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_34","position":[0.4751069388179858,-2.1865754289108628,0.71338606911949],"aabb_xy":[[0.41510693795717296,-2.238001858917349],[0.5351069396787985,-2.1351489989043757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873159375590088,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9045.png","name":"9045"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9045.png","name":"9045"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/130.png","name":"130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7890.png","name":"7890"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/326.png","name":"326"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1473.png","name":"1473"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":541.0800750759141,"rotation_z_degrees":83.19995976641144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010165446141325777,0.004170412160963387,0.0033583136657882387]},{"name":"camera_2","offset_m":[-0.01997413438871953,0.011569580792897802,0.014821363061500736]},{"name":"camera_3","offset_m":[-0.0016396398806313266,0.006932396141693338,0.006561203482430361]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000167180105867117,0.00011064088306455026,0.001743850176808186],"end_effector_yaw_offset_degrees":-0.7235808846629179},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009139754173434751,-0.0001237313405024927,0.0013099997864558129],"end_effector_yaw_offset_degrees":0.6889735833832467},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010277246532642208,-0.0012347673099228564,-0.0012337060510956444],"end_effector_yaw_offset_degrees":0.9986122785463472}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007986300000232026,0.004310120460324457],"position_m":[0.31109863000002325,0.09541012046032446,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005799396664159075,0.0006668890383616909],"position_m":[0.3135799396664159,-0.11563311096163831,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002845436686111611,-0.004805424672662558],"position_m":[0.35225456331388844,0.2918945753273375,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007230883090728005,-0.0009616829736662303],"position_m":[0.2432769116909272,-0.3527616829736662,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c291a082250e4d662643f27b8d4b0473a31780b7a0f447e43a2cb1f85c0e65f","episode_index":156,"episode_name":"episode_0156"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0156.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9045/tex_ceiling_textures_1473/tex_floor_textures_326/tex_table_textures_130/tex_wall_textures_7890","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3493739269514658406,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3493739269514658406,"visual_seed":3493739269514658406,"scene_id":"lab_003","finished_at":"2026-09-03T12:53:36"} +{"episode_id":"ep_000094","started_at":"2026-09-03T12:53:40","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.09252583429376116,-1.66560632543223,0.71338606911949],"aabb_xy":[[-0.11636205193436625,-1.7556063262407167],[-0.06868961665315611,-1.5756063246237437]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.4287018458576197,-1.84420290682968,0.71338606911949],"aabb_xy":[[0.3787070129296781,-1.8942029057249234],[0.4786966787855613,-1.7942029079344364]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.45402398983206504,0.25951964620154877,0.71338606911949],"aabb_xy":[[-0.5116544587193358,0.19951964727483812],[-0.3963935209447941,0.3195196451282593]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.05114646101915876,-1.45661163284596,0.71338606911949],"aabb_xy":[[-0.11614646212510205,-1.4815770059140883],[0.013853540086784528,-1.4316462597778317]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.27550189666917235,-0.8799082684451025,0.71338606911949],"aabb_xy":[[0.2694648836685077,-0.885934969514051],[0.28153890966983713,-0.8738815673761546]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.6552802762314374,1.6623579119128045,0.71338606911949],"aabb_xy":[[-0.6730737831663538,1.6445581663170068],[-0.6374867692965209,1.6801576575086021]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.27156427280823275,0.7956691151171085,0.71338606911949],"aabb_xy":[[-0.3331550320322256,0.7316691170080617],[-0.20997351358423993,0.8596691132261555]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[0.14335327107773554,0.8844804081007034,0.71338606911949],"aabb_xy":[[0.07835327012060832,0.8325321961669977],[0.20835327203486273,0.9364286200344089]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.6263627191447595,-0.513224661447798,0.71338606911949],"aabb_xy":[[-0.6345772642604434,-0.5219012517454391],[-0.6181481740290754,-0.5045480711501564]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.5158349325493206,0.4897016210493139,0.71338606911949],"aabb_xy":[[-0.5469818513929037,0.4197016223625067],[-0.48468801370573744,0.5597016197361211]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.0829015339455692,-2.2371339216727453,0.71338606911949],"aabb_xy":[[0.04605098600858161,-2.274633922495779],[0.11975208188255683,-2.1996339208497115]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.4561969584440424,1.341018014310742,0.71338606911949],"aabb_xy":[[0.4386969581847059,1.3269264721219696],[0.47369695870337913,1.3551095564995148]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.24042566211900773,0.5243039889817465,0.71338606911949],"aabb_xy":[[-0.26827069889961486,0.4935194902434348],[-0.21258062533840064,0.5550884877200581]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.2439275579157989,-1.3219015111441703,0.71338606911949],"aabb_xy":[[-0.25120987429246244,-1.411901514753679],[-0.2366452415391352,-1.231901507534661]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.2640661751018277,-1.1603747762796852,0.71338606911949],"aabb_xy":[[0.1990661769459086,-1.1866710208295974],[0.32906617325774673,-1.134078531729773]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.5312296472902316,-1.2461716674395984,0.71338606911949],"aabb_xy":[[0.4953161428652418,-1.282085175656353],[0.5671431517152211,-1.2102581592228439]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.5400486596413883,-0.7776884034892126,0.71338606911949],"aabb_xy":[[0.47604865823339754,-0.8294773550131374],[0.6040486610493788,-0.7258994519652879]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.5711014025443856,-0.7318413036945806,0.71338606911949],"aabb_xy":[[-0.5781428534951333,-0.7388680554323751],[-0.5640599515936381,-0.724814551956786]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.4421064387900669,-1.1592637494615279,0.71338606911949],"aabb_xy":[[-0.47943771531530954,-1.1939168042563801],[-0.40477516226482424,-1.1246106946666756]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.1794775727660547,0.2839309937876875,0.71338606911949],"aabb_xy":[[-0.19072262833667256,0.2726891960635922],[-0.1682325171954369,0.2951727915117828]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.30249157842494934,-1.9300378820082316,0.71338606911949],"aabb_xy":[[-0.32607670188884413,-1.9950378842536634],[-0.27890645496105443,-1.8650378797627998]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.23280677520183402,-1.7442763095696892,0.71338606911949],"aabb_xy":[[0.19530677509624106,-1.75109847142267],[0.27030677530742697,-1.7374541477167078]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[0.5546987752281018,-2.4198221851367094,0.71338606911949],"aabb_xy":[[0.4846987730966722,-2.4425841507624044],[0.6246987773595313,-2.3970602195110127]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.12507129466382783,-1.4862687923896427,0.71338606911949],"aabb_xy":[[0.10215558177877795,-1.5091730895260667],[0.14798700754887775,-1.4633644952532194]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_24","position":[-0.31617468911725566,1.077605507617442,0.71338606911949],"aabb_xy":[[-0.396174690190376,1.0678274612800573],[-0.23617468804413533,1.0873835539548262]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.544792352200693,1.4810487710494846,0.71338606911949],"aabb_xy":[[-0.5639046595586719,1.4619139921722426],[-0.5256800448427141,1.5001835499267266]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.2030649815508917,-1.47425766902382,0.71338606911949],"aabb_xy":[[-0.21499771591271977,-1.4866398218316796],[-0.19113224718906363,-1.461875516215961]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.054017004667277324,-2.1226002814092855,0.71338606911949],"aabb_xy":[[-0.1090102160044141,-2.177600281748079],[0.0009762066698594323,-2.067600281070492]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[-0.18423038578727113,-0.5396446085922042,0.71338606911949],"aabb_xy":[[-0.20673038579741942,-0.5537408282318075],[-0.16173038577712284,-0.5255483889526009]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_29","position":[0.6876209531090818,-0.5008540393029097,0.71338606911949],"aabb_xy":[[0.6811193166010773,-0.5106218613292195],[0.6941225896170865,-0.49108621727659996]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.03659263687664471,-1.9055718577070242,0.71338606911949],"aabb_xy":[[-0.07088954789438534,-1.9398687439169653],[-0.002295725858904085,-1.8712749714970827]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[-0.2424257790382699,-0.8075979892160887,0.71338606911949],"aabb_xy":[[-0.2924045875485858,-0.8575979892218075],[-0.19244697052795398,-0.7575979892103699]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_32","position":[-0.07350903795061026,1.5960335356137088,0.71338606911949],"aabb_xy":[[-0.13750904116924811,1.5493104237147006],[-0.009509034731972399,1.6427566475127173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921288014291772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2557.png","name":"2557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2557.png","name":"2557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4810.png","name":"4810"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7809.png","name":"7809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1650.png","name":"1650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2393.png","name":"2393"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":640.3591802104592,"rotation_z_degrees":8.770912354241695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003088818941176491,-0.008156178198018149,0.014716934465248712]},{"name":"camera_2","offset_m":[0.01235760671759752,0.016771797087707253,0.0002713296812733232]},{"name":"camera_3","offset_m":[-0.01878529419282288,0.0030347410904453392,-0.0060053168828207645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012233776432552718,-0.0003893719350533105,0.0016263930607450694],"end_effector_yaw_offset_degrees":0.12028339629739393},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009829237735502344,-0.00034853449887491247,0.0011676852700867064],"end_effector_yaw_offset_degrees":-0.08287708074468636},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[7.097204733479958e-05,-0.0003788763464612015,-0.0018964593727868314],"end_effector_yaw_offset_degrees":0.06321479189049461}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003103733816819134,-0.0023684346126961386],"position_m":[0.3071962661831809,0.08873156538730387,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032067214765305408,0.0016242514391914499],"position_m":[0.31620672147653056,-0.11467574856080855,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023161676197631254,-0.004482244012742945],"position_m":[0.35741616761976314,0.2922177559872571,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023452984264208353,0.0004997467896023277],"position_m":[0.24634529842642083,-0.35130025321039765,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0f572f4b629099a740effdab32895cd96d50afac6d89511c3ca34b8385c078ec","episode_index":157,"episode_name":"episode_0157"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0157.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2557/tex_ceiling_textures_2393/tex_floor_textures_1650/tex_table_textures_4810/tex_wall_textures_7809","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4423829560291202123,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4423829560291202123,"visual_seed":4423829560291202123,"scene_id":"lab_003","finished_at":"2026-09-03T12:56:24"} +{"episode_id":"ep_000095","started_at":"2026-09-03T12:56:28","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.15095575276845408,-2.4807905494796203,0.71338606911949],"aabb_xy":[[0.07095575411156807,-2.495295408403883],[0.23095575142534008,-2.4662856905553574]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.11135151687552403,1.272789726643146,0.71338606911949],"aabb_xy":[[-0.17535151546209649,1.2257827632436373],[-0.04735151828895155,1.3197966900426548]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.3597172589298706,0.38617907344794533,0.71338606911949],"aabb_xy":[[-0.36379541683692035,0.382098093199682],[-0.35563910102282087,0.39026005369620864]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.5161359822974083,0.3884574551496085,0.71338606911949],"aabb_xy":[[0.5009638130157751,0.37328859822140514],[0.5313081515790418,0.40362631207781186]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.14782627219016498,-2.3845887007159536,0.71338606911949],"aabb_xy":[[-0.15316384785616954,-2.4095887016450934],[-0.1424886965241604,-2.359588699786814]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.026099237014957533,0.8367534340493066,0.71338606911949],"aabb_xy":[[-0.04216116447347518,0.7517534322367146],[-0.01003730955643989,0.9217534358618983]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.4993978342087544,-1.3243575479769485,0.71338606911949],"aabb_xy":[[-0.508557713152631,-1.3308887660204856],[-0.4902379552648778,-1.3178263299334114]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.5986558654592387,0.17402422934152106,0.71338606911949],"aabb_xy":[[0.5817451330228969,0.1605520237489065],[0.6155665978955804,0.18749643493413556]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.20859888690303485,-1.530121286239913,0.71338606911949],"aabb_xy":[[0.189486579545056,-1.549256065117155],[0.22771119426101372,-1.510986507362671]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.003520777248926854,-1.76176689970512,0.71338606911949],"aabb_xy":[[-0.014112058344600718,-1.7793898457207429],[0.021153612842454424,-1.744143953689497]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.20717727698963406,-1.1637525560590607,0.71338606911949],"aabb_xy":[[0.16967727841401326,-1.1764888517226184],[0.24467727556525487,-1.1510162603955025]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.46852780584475373,-0.1864548757072706,0.71338606911949],"aabb_xy":[[0.44602780632104627,-0.20895082315789132],[0.4910278053684611,-0.16395892825664976]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.15313160511713642,1.0309225843702907,0.71338606911949],"aabb_xy":[[-0.19063160493416997,1.0262843730591489],[-0.11563160530010286,1.0355607956814326]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.07133661891753473,-1.543289795463872,0.71338606911949],"aabb_xy":[[0.048836619103632364,-1.547764411834353],[0.09383661873143713,-1.5388151790933915]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.44392015069208224,-1.6659035251107026,0.71338606911949],"aabb_xy":[[0.42605104293762674,-1.6797364330879136],[0.46178925844653773,-1.6520706171334916]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.40512896416278904,0.643835305684962,0.71338606911949],"aabb_xy":[[-0.485128964436396,0.5708857578592451],[-0.32512896388918205,0.7167848535106786]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.20091717786934937,-1.2307894513737374,0.71338606911949],"aabb_xy":[[0.16591717955865393,-1.2385044662972828],[0.23591717618004482,-1.2230744364501915]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.12013805504234631,-1.38212363753461,0.71338606911949],"aabb_xy":[[-0.13447248016850977,-1.3941838530891488],[-0.10580362991618286,-1.3700634219800711]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.38559391706391904,0.13813828135023165,0.71338606911949],"aabb_xy":[[-0.39287623344058265,0.04813827774072262],[-0.37831160068725533,0.2281382849597406]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.5233578738637781,0.7101427313732329,0.71338606911949],"aabb_xy":[[0.48632376443571834,0.6757655240395235],[0.5603919832918378,0.7445199387069423]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.24249341040842154,0.8736636290151187,0.71338606911949],"aabb_xy":[[-0.3024934112692343,0.8222371990086322],[-0.1824934095476087,0.925090059021605]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.5038611706705445,-2.434437177947478,0.71338606911949],"aabb_xy":[[0.49198908765904337,-2.5194371776411284],[0.5157332536820456,-2.3494371782538277]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.27724453948230576,1.7816464954741789,0.71338606911949],"aabb_xy":[[0.2678975319000105,1.767342873256535],[0.28659154706460094,1.7959501176918231]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.2818466550074931,1.5823804237844477,0.71338606911949],"aabb_xy":[[-0.37184665473066725,1.5593070712492676],[-0.1918466552843189,1.6054537763196273]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.4895494638747788,-2.1864106865550212,0.71338606911949],"aabb_xy":[[-0.5535494655527761,-2.2349280780343355],[-0.42554946219678136,-2.137893295075707]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[-0.6327614812274335,0.8140632813195241,0.71338606911949],"aabb_xy":[[-0.6780400961085827,0.7500632819713404],[-0.5874828663462842,0.8780632806677078]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[0.3211757129035282,0.7563760855745203,0.71338606911949],"aabb_xy":[[0.2740463339016924,0.6923760845301182],[0.36830509190536376,0.8203760866189221]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.5197031768926237,-0.6096230226451451,0.71338606911949],"aabb_xy":[[0.5019096699577074,-0.6274227682409428],[0.5374966838275402,-0.5918232770493475]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_28","position":[0.023473289418896814,-2.3808533152135563,0.71338606911949],"aabb_xy":[[-0.006924821680246769,-2.4112602172152258],[0.0538714005180404,-2.3504464132118867]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_29","position":[0.15499676108871974,-2.0669403446910315,0.71338606911949],"aabb_xy":[[0.1448437455345703,-2.1030098862637714],[0.16514977664286906,-2.0308708031182907]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_30","position":[-0.01581422358356721,-0.7625296752006077,0.71338606911949],"aabb_xy":[[-0.05799863774439795,-0.826529675477819],[0.02637019057726353,-0.6985296749233966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966939768583332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3266.png","name":"3266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3266.png","name":"3266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6851.png","name":"6851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6987.png","name":"6987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3191.png","name":"3191"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9119.png","name":"9119"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.0349150932625,"rotation_z_degrees":4.181101185386202,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0025036888231340718,0.014220306318128605,0.0023892475870475743]},{"name":"camera_2","offset_m":[-0.01406150349709273,0.016725275570144364,-0.009920440397405224]},{"name":"camera_3","offset_m":[-0.00041336884413556776,0.011902118129507155,0.005950154502747364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012467141145408069,-0.00154258281566538,-0.0003056180333952381],"end_effector_yaw_offset_degrees":0.4441895956054731},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.713364301822513e-05,0.0018779479293935782,-0.0009006563135635481],"end_effector_yaw_offset_degrees":-0.4822410970069215},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001653681173316289,-0.0006340971371900008,-0.0015818500899199956],"end_effector_yaw_offset_degrees":0.09350632715460483}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003058690344607605,-0.0011845436864478822],"position_m":[0.3133586903446076,0.08991545631355212,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010715717283843497,0.0033257574314610678],"position_m":[0.31407157172838435,-0.11297424256853893,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033559989208784063,0.004008399160777773],"position_m":[0.3584559989208784,0.3007083991607778,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004932923695899281,0.0008242634788275093],"position_m":[0.2390670763041007,-0.3509757365211725,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5156df0affc752aa54622c4cf553f47916b21f030a9bcac1b6209333483a94af","episode_index":158,"episode_name":"episode_0158"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0158.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3266/tex_ceiling_textures_9119/tex_floor_textures_3191/tex_table_textures_6851/tex_wall_textures_6987","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7637819162832999694,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7637819162832999694,"visual_seed":7637819162832999694,"scene_id":"lab_003","finished_at":"2026-09-03T12:58:57"} +{"episode_id":"ep_000096","started_at":"2026-09-03T12:58:59","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.5619330376489152,-1.5629741474007692,0.71338606911949],"aabb_xy":[[-0.5753795642829586,-1.5764439990538601],[-0.5484865110148719,-1.549504295747678]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.4587403904952022,0.7990373060439984,0.71338606911949],"aabb_xy":[[-0.5387403890825215,0.7197217041058374],[-0.3787403919078827,0.8783529079821591]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.27138032559418274,0.5956512315217051,0.71338606911949],"aabb_xy":[[-0.3313803261901989,0.5408387589764815],[-0.21138032499816656,0.6504637040669284]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.19909197289814018,0.6404970524742866,0.71338606911949],"aabb_xy":[[0.18752299215120358,0.615497052357355],[0.21066095364507673,0.6654970525912184]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.010543707830676152,-1.9452545219572752,0.71338606911949],"aabb_xy":[[-0.032433455419616945,-2.035254519246524],[0.011346039758264644,-1.855254524668026]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.5836806864116806,-1.3360948244690987,0.71338606911949],"aabb_xy":[[0.5685085171300474,-1.351263681397302],[0.598852855693314,-1.3209259675408953]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.5308931883890131,1.5187362522895644,0.71338606911949],"aabb_xy":[[0.5058931888372746,1.5085937684244297],[0.5558931879407516,1.5288787361546992]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.19439199683854813,-0.5234640022645625,0.71338606911949],"aabb_xy":[[-0.2118227119175546,-0.5407361169284132],[-0.1769612817595416,-0.5061918876007115]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.11517408924013905,-1.1674597584639452,0.71338606911949],"aabb_xy":[[0.025174089516964867,-1.1905331109991248],[0.2051740889633132,-1.1443864059287652]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.07371040229576764,0.6826784376643631,0.71338606911949],"aabb_xy":[[-0.07814103165060783,0.6772300659296805],[-0.06927977294092748,0.6881268093990457]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.11798458007528434,-1.1262011540866315,0.71338606911949],"aabb_xy":[[-0.15298457838597979,-1.1339161690101769],[-0.08298458176458888,-1.1184861391630856]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.4591136628487148,-0.4477887119525068,0.71338606911949],"aabb_xy":[[-0.49259283010975574,-0.48126782532361384],[-0.42563449558767386,-0.4143095985813999]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[0.5535116452244455,0.8813374316784102,0.71338606911949],"aabb_xy":[[0.4994960489425455,0.8173374287861529],[0.6075272415063455,0.9453374345706672]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.4877682516041397,-0.7719395185802564,0.71338606911949],"aabb_xy":[[0.4828689592975762,-0.7996164378828252],[0.49266754391070317,-0.7442625992776877]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.21960147594791646,0.9161574716825225,0.71338606911949],"aabb_xy":[[0.20071709217940628,0.8972715469021699],[0.2384858597164267,0.9350433964628755]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.5573180497556389,-0.3483929854253871,0.71338606911949],"aabb_xy":[[0.5491903615623257,-0.35730659383609475],[0.5654457379489521,-0.33947937701467945]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.3994547645783768,0.964959543377045,0.71338606911949],"aabb_xy":[[0.39336013669025854,0.9563901488253764],[0.4055493924664952,0.9735289379287139]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[0.6346219391715373,-2.3938883764271504,0.71338606911949],"aabb_xy":[[0.6244689236173878,-2.4299579179998902],[0.6447749547256866,-2.3578188348544096]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.4449029033897507,-2.513157937910271,0.71338606911949],"aabb_xy":[[0.35990290469767594,-2.54514380130515],[0.5299029020818252,-2.4811720745153925]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.01085351443702387,0.9853796558548438,0.71338606911949],"aabb_xy":[[-0.030451028626712118,0.9213796562867265],[0.05215805750075986,1.0493796554229606]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.617655243463688,-1.9294094753367266,0.71338606911949],"aabb_xy":[[-0.6481394935907181,-1.9794094751182223],[-0.5871709933366578,-1.8794094755552304]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.28552833827520163,-0.6847891726416737,0.71338606911949],"aabb_xy":[[0.2816144650797791,-0.6935381880482305],[0.28944221147062416,-0.6760401572351169]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.28915433341416036,-0.8722278612077932,0.71338606911949],"aabb_xy":[[-0.3491543339220132,-0.9290745948937144],[-0.2291543329063074,-0.8153811275218718]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.685683423978112,0.01394051698188381,0.71338606911949],"aabb_xy":[[0.6681367290619931,-0.02355948458236745],[0.7032301188942309,0.05144051854613507]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[-0.015051130500067234,1.1991081291506052,0.71338606911949],"aabb_xy":[[-0.10505112909453718,1.1828575428371844],[0.07494886809440271,1.2153587154640264]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.05444033336110954,-2.455873992777201,0.71338606911949],"aabb_xy":[[-0.06908373891514252,-2.470532712433985],[-0.03979692780707655,-2.4412152731204166]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[0.27119293291653923,-0.9383711709795599,0.71338606911949],"aabb_xy":[[0.23741737372584631,-0.9524096661927248],[0.30496849210723226,-0.9243326757663948]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.47267512262024647,1.5672086139144468,0.71338606911949],"aabb_xy":[[-0.520481290234015,1.5022086112073876],[-0.42486895500647776,1.6322086166215055]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[-0.11766650494301079,0.12306776616653847,0.71338606911949],"aabb_xy":[[-0.18766650833457274,0.0877519924631076],[-0.047666501551448796,0.1583835398699693]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[0.6680604864871771,-0.6595853292640261,0.71338606911949],"aabb_xy":[[0.6480020748739368,-0.6796504161731837],[0.6881188981004174,-0.6395202423548686]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_30","position":[0.17197145784663248,-1.73544933774488,0.71338606911949],"aabb_xy":[[0.09197145458878953,-1.8154458455368638],[0.25197146110447544,-1.6554528299528959]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[0.030996238954675626,1.3571771109713504,0.71338606911949],"aabb_xy":[[-0.019003761995857182,1.325627963967829],[0.08099623990520843,1.3887262579748718]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_32","position":[-0.0641027740737401,0.32696761196988167,0.71338606911949],"aabb_xy":[[-0.10160277486573555,0.3205997710116915],[-0.02660277328174465,0.3333354529280717]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[0.6763656596893823,-0.5636640940548809,0.71338606911949],"aabb_xy":[[0.6413656614192623,-0.570738221749869],[0.7113656579595021,-0.5565899663598927]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692314846257895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2486.png","name":"2486"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2486.png","name":"2486"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1138.png","name":"1138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5717.png","name":"5717"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8299.png","name":"8299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":679.0114950662013,"rotation_z_degrees":87.89772155179013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004872881989200793,-0.009815601128472462,-0.005362973127022542]},{"name":"camera_2","offset_m":[0.0032365567241492282,0.012254917083964225,-0.018891329348955325]},{"name":"camera_3","offset_m":[-0.013514233490472795,-0.013564933203728854,-0.014275093917828743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[7.925329986148075e-05,-0.0006904031169085369,-0.0007670666372872259],"end_effector_yaw_offset_degrees":-0.14662565600516486},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010493008975596193,-0.001213859737408439,-1.6054589473619377e-05],"end_effector_yaw_offset_degrees":0.45730493542468453},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00014616750432569188,-0.0004670399979021327,0.001069953394040746],"end_effector_yaw_offset_degrees":-0.6806453389726694}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026078255162916455,0.00124396797017416],"position_m":[0.3076921744837084,0.09234396797017416,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027120073182040462,-0.0007694890262089707],"position_m":[0.31028799268179597,-0.11706948902620898,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014204688108859233,0.0038389747472172093],"position_m":[0.3536795311891141,0.30053897474721725,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012435263534066512,0.0041199279721151885],"position_m":[0.24524352635340665,-0.3476800720278848,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ed4aa4455f47aafc7e9e9ba43a5fed0488cc012d703ed8152e6f273a38fe5885","episode_index":159,"episode_name":"episode_0159"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0159.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2486/tex_ceiling_textures_6527/tex_floor_textures_8299/tex_table_textures_1138/tex_wall_textures_5717","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7151354366846218896,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7151354366846218896,"visual_seed":7151354366846218896,"scene_id":"lab_003","finished_at":"2026-09-03T13:01:29"} +{"episode_id":"ep_000097","started_at":"2026-09-03T13:01:31","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.16048185654495117,-0.5114504891618048,0.71338606911949],"aabb_xy":[[-0.16847534634023323,-0.5194486211022805],[-0.15248836674966917,-0.5034523572213293]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.052653135593433875,-1.1439605582884127,0.71338606911949],"aabb_xy":[[0.0026538604249977255,-1.1939605595643599],[0.10265241076187005,-1.0939605570124655]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.3950192853291008,-1.7750298262565702,0.71338606911949],"aabb_xy":[[0.36453503520207065,-1.8250298260380664],[0.42550353545613095,-1.7250298264750745]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.5092711313363542,-0.2675965171411705,0.71338606911949],"aabb_xy":[[-0.554271132802583,-0.31259637400265117],[-0.4642711298701253,-0.22259666027968983]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.3609171304222776,1.4893539498947086,0.71338606911949],"aabb_xy":[[0.3376352882241462,1.4043539485974805],[0.38419897262040886,1.5743539511919367]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.2397372389333271,0.6202154632489574,0.71338606911949],"aabb_xy":[[0.15973724034600767,0.5408998613107964],[0.31973723752064653,0.6995310651871182]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.44447193507498767,-1.738071046390798,0.71338606911949],"aabb_xy":[[-0.4504384740157234,-1.7440321910501622],[-0.4385053961342518,-1.7321099017314339]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.4343022067716502,-2.288783656662985,0.71338606911949],"aabb_xy":[[0.42726075582090267,-2.2958104084007793],[0.44134365772239786,-2.2817569049251905]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[0.19549201206286526,-1.6326741791992474,0.71338606911949],"aabb_xy":[[0.1254920099314357,-1.6554361448249428],[0.2654920141942948,-1.6099122135735515]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[-0.5685829485146945,-1.4138333582330755,0.71338606911949],"aabb_xy":[[-0.5836852499757123,-1.4289348798641373],[-0.5534806470536761,-1.3987318366020134]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.34014894498099957,0.8767543483620988,0.71338606911949],"aabb_xy":[[0.33456727334687075,0.8642543485443231],[0.3457306166151283,0.8892543481798741]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.5629354401820996,1.6854473837047883,0.71338606911949],"aabb_xy":[[0.5325373290829559,1.6550404817031183],[0.5933335512812431,1.7158542857064574]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.36261353966011883,-0.8234990793818491,0.71338606911949],"aabb_xy":[[-0.4276135406606193,-0.874285444536524],[-0.29761353865961826,-0.7727127142271741]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.3754170332946418,1.13227517236118,0.71338606911949],"aabb_xy":[[0.3673736733686866,1.0472751712658135],[0.38346039322059694,1.2172751734565463]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.5287368141241211,-1.1915549811433812,0.71338606911949],"aabb_xy":[[-0.5927368155321119,-1.2433439326673057],[-0.4647368127161306,-1.1397660296194563]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.44151538847913185,0.641599466216153,0.71338606911949],"aabb_xy":[[0.4301536538258456,0.6302309998098649],[0.4528771231324179,0.652967932622441]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.0361022848242164,1.5393524522879356,0.71338606911949],"aabb_xy":[[-0.040062768593950776,1.531684587702415],[-0.03214180105448203,1.5470203168734562]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.046693273777474786,-2.289821192079301,0.71338606911949],"aabb_xy":[[0.03941095740081111,-2.3798211956888093],[0.05397559015413842,-2.1998211884697914]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.5844514855113969,1.1282098361819437,0.71338606911949],"aabb_xy":[[0.5768272174212188,1.1205766126454002],[0.5920757536015753,1.1358430597184876]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.10769343530359576,1.5391507171390058,0.71338606911949],"aabb_xy":[[0.042693436746522914,1.509398183725123],[0.1726934338606686,1.5689032505528882]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.46807664187128206,-0.0024595944401806236,0.71338606911949],"aabb_xy":[[-0.4717799032004209,-0.006161612748898481],[-0.4643733805421431,0.0012424238685372344]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[0.4981754785982253,0.3348255905663833,0.71338606911949],"aabb_xy":[[0.4756617867747681,0.2648255899653757],[0.5206891704216825,0.40482559116739075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876894339953579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3365.png","name":"3365"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3365.png","name":"3365"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6715.png","name":"6715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7315.png","name":"7315"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3978.png","name":"3978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2432.png","name":"2432"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":740.9041857024666,"rotation_z_degrees":126.56837361209777,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01584677345540073,-0.01800848751878901,0.007693354914474565]},{"name":"camera_2","offset_m":[-0.008116048018670314,0.015257338758302565,0.005743125275190754]},{"name":"camera_3","offset_m":[-0.009206374576003165,0.004141312422013117,0.007230278921122445]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000353624753929262,0.0005879424395654285,-0.0017292988889565414],"end_effector_yaw_offset_degrees":0.8114424777287761},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011285485783470105,-0.00023474062980411337,0.0018773455007446518],"end_effector_yaw_offset_degrees":0.8072736253382176},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016411636700811218,-0.0007250415712608165,0.0008126405095688067],"end_effector_yaw_offset_degrees":-0.6317670767003396}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001289055899541561,0.0009767802273919803],"position_m":[0.31158905589954156,0.09207678022739198,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012611650248609487,0.0013662243114740246],"position_m":[0.31173883497513905,-0.11493377568852597,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027598566063843813,-0.004109005272378952],"position_m":[0.35234014339361563,0.29259099472762107,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015807976390828848,-0.002122984334905594],"position_m":[0.2424192023609171,-0.3539229843349056,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8c1b1b3af4c1e608bfec8c1cb5fb0532db12d6343e31c6f5eb8fa740f9fad5af","episode_index":160,"episode_name":"episode_0160"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0160.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3365/tex_ceiling_textures_2432/tex_floor_textures_3978/tex_table_textures_6715/tex_wall_textures_7315","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":856788619832470706,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":856788619832470706,"visual_seed":856788619832470706,"scene_id":"lab_003","finished_at":"2026-09-03T13:03:58"} +{"episode_id":"ep_000098","started_at":"2026-09-03T13:04:00","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.063457089844704,-1.0476627927458564,0.71338606911949],"aabb_xy":[[-0.0015429112612392881,-1.0726281658139845],[0.12845709095064728,-1.0226974196777279]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.06560542062915298,-0.820190923092678,0.71338606911949],"aabb_xy":[[-0.07118709226328172,-0.8326909229104533],[-0.06002374899502421,-0.8076909232749023]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.10642514609169751,-0.32267200564543597,0.71338606911949],"aabb_xy":[[-0.14142514440239295,-0.3303870205689816],[-0.07142514778100205,-0.3149569907218903]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.19293143193431594,-1.3918819177253583,0.71338606911949],"aabb_xy":[[0.11293142867030284,-1.4054419500342719],[0.2729314351983291,-1.3783218854164452]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.4166969417803317,0.17009395610233335,0.71338606911949],"aabb_xy":[[0.4079829727303972,0.14759395544314508],[0.42541091083026616,0.19259395676152152]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[0.3224818125981461,-2.079819893310332,0.71338606911949],"aabb_xy":[[0.27639672134341464,-2.1438198905628867],[0.3685669038528776,-2.0158198960577765]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.054717470297681925,1.275458237451291,0.71338606911949],"aabb_xy":[[-0.10184684929951758,1.2114582364068889],[-0.0075880912958462415,1.3394582384956928]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.3488041393867256,1.0774035466980134,0.71338606911949],"aabb_xy":[[-0.40380413900847145,1.0224198539105407],[-0.29380413976497977,1.1323872394854861]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.16046996409305758,0.26009616130837676,0.71338606911949],"aabb_xy":[[-0.19796996266867833,0.2473598656448188],[-0.12296996551743673,0.27283245697193464]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[0.14463823845179757,1.052210388007678,0.71338606911949],"aabb_xy":[[0.07463823664305214,1.0308566192434907],[0.214638240260543,1.0735641567718655]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[0.012323457176515173,-2.2564800283140194,0.71338606911949],"aabb_xy":[[-0.029860956984315568,-2.3204800285912306],[0.054507871337345914,-2.192480028036808]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.6511457470041715,-1.7434404024054007,0.71338606911949],"aabb_xy":[[0.5911457464963186,-1.8002871360913217],[0.7111457475120244,-1.6865936687194791]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.09817539784674989,0.7748565714318887,0.71338606911949],"aabb_xy":[[-0.1170597816152601,0.7559706466515359],[-0.07929101407823969,0.7937424962122415]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.306586560731401,0.43734703570333133,0.71338606911949],"aabb_xy":[[-0.3565865603077358,0.3873664567512255],[-0.25658656115506634,0.4873276146554374]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.27821715642910927,-2.3565739938565007,0.71338606911949],"aabb_xy":[[-0.2854609224753546,-2.436573992060103],[-0.27097339038286394,-2.2765739956528983]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.6505370306607083,0.07896948501311352,0.71338606911949],"aabb_xy":[[0.6429127625705302,0.0713362614765698],[0.6581612987508867,0.08660270854965724]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.03918671627636949,-1.7026971141652556,0.71338606911949],"aabb_xy":[[-0.08699288389013815,-1.7676971168723143],[0.008619451337399156,-1.6376971114581964]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.06946934893076795,1.495559961563059,0.71338606911949],"aabb_xy":[[0.05623840339608664,1.4823325425410594],[0.08270029446544923,1.5087873805850582]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.16574131664808867,0.919607739314253,0.71338606911949],"aabb_xy":[[0.11576389978283504,0.8696077378250043],[0.2157187335133422,0.9696077408035014]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.2852213647667432,1.2544214067665513,0.71338606911949],"aabb_xy":[[0.2754653752575693,1.2446588727073167],[0.2949773542759171,1.2641839408257856]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.49018559518836646,-2.157000104057295,0.71338606911949],"aabb_xy":[[-0.5266814158156452,-2.1934840464840524],[-0.4536897745610877,-2.1205161616305372]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.4118093425910503,-0.5061679550553109,0.71338606911949],"aabb_xy":[[0.40376598266509506,-0.5911679561506773],[0.4198527025170054,-0.42116795395994444]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.04250859518567862,-2.391880674977255,0.71338606911949],"aabb_xy":[[-0.08000859568303686,-2.395849358525373],[-0.005008594688320378,-2.387911991429136]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[0.30050792142306515,-1.9249757658373623,0.71338606911949],"aabb_xy":[[0.23650792104553148,-1.9747210326881746],[0.3645079218005987,-1.87523049898655]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.0899787791929747,-1.9713255498697149,0.71338606911949],"aabb_xy":[[0.035963182911074684,-2.035325552761972],[0.1439943754748747,-1.9073255469774577]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.08767818505390657,1.6231097440866002,0.71338606911949],"aabb_xy":[[-0.1376781867154013,1.573111301830897],[-0.037678183392411795,1.6731081863423025]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[0.27231872166581406,-1.1720812406706858,0.71338606911949],"aabb_xy":[[0.2630251034286634,-1.2095812391588197],[0.2816123399029646,-1.1345812421825519]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[-0.5563262202370083,-1.7783035091771517,0.71338606911949],"aabb_xy":[[-0.621326220271311,-1.825004185857479],[-0.49132622020270555,-1.7316028324968245]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[0.008154153003109399,0.9053696063216368,0.71338606911949],"aabb_xy":[[0.0028216383484964153,0.9000452780764012],[0.013486667657722386,0.9106939345668723]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[0.5204649200902929,0.9406057781723431,0.71338606911949],"aabb_xy":[[0.5131826037136291,0.850605774562834],[0.5277472364669564,1.030605781781852]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_30","position":[0.6696569435522262,-0.015218003087438703,0.71338606911949],"aabb_xy":[[0.6346569435757303,-0.024682619135055317],[0.704656943528722,-0.0057533870398220905]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_31","position":[0.6284993301128667,-0.5943242145427727,0.71338606911949],"aabb_xy":[[0.5784993290937315,-0.6307904302806008],[0.678499331132002,-0.5578579988049449]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_32","position":[0.5631291239514937,-2.528786096586234,0.71338606911949],"aabb_xy":[[0.5456291248171264,-2.5386657236238213],[0.5806291230858608,-2.5189064695486456]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692803881546965,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1098.png","name":"1098"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5037.png","name":"5037"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3656.png","name":"3656"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":598.5400735673891,"rotation_z_degrees":62.47883566319831,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013491263845273984,-0.005093428757371905,0.005428160205012224]},{"name":"camera_2","offset_m":[0.012806347404564825,0.006720435595975963,0.0033977598067241703]},{"name":"camera_3","offset_m":[0.009783429789832737,-0.006748207320528535,-0.0032305883907241748]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007671937558937118,-0.001607059100087343,-0.0005424827023550742],"end_effector_yaw_offset_degrees":0.9336637231687122},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007029413888283531,-6.868221621959955e-05,-0.0011570037626874152],"end_effector_yaw_offset_degrees":0.04289441482372536},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007836353194817173,-0.0009518488196644079,0.0010926035423573315],"end_effector_yaw_offset_degrees":0.623447024630887}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004943583358238898,-0.0033124918589162748],"position_m":[0.3098056416641761,0.08778750814108373,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013029442015228044,0.0008098538338372789],"position_m":[0.3116970557984772,-0.11549014616616272,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016155005009422761,-0.0013952654112390117],"position_m":[0.3567155005009423,0.295304734588761,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0047995891865718785,-0.00458392000228902],"position_m":[0.24879958918657188,-0.356383920002289,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"160a27a391e72184b7a007daa63dcf309636643540b911f9fe1c3af229fe901e","episode_index":161,"episode_name":"episode_0161"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0161.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3671/tex_ceiling_textures_7095/tex_floor_textures_3656/tex_table_textures_1098/tex_wall_textures_5037","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8690986073935792590,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8690986073935792590,"visual_seed":8690986073935792590,"scene_id":"lab_003","finished_at":"2026-09-03T13:06:32"} +{"episode_id":"ep_000099","started_at":"2026-09-03T13:06:36","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.10102952695756517,-1.8659232124187257,0.71338606911949],"aabb_xy":[[0.07602952768560288,-1.8822685760148883],[0.12602952622952743,-1.8495778488225636]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.6826458229231536,-0.029704062545941934,0.71338606911949],"aabb_xy":[[-0.6922774591435833,-0.03934137532565085],[-0.6730141867027241,-0.020066749766233016]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.19844619403262753,-2.2577144229474206,0.71338606911949],"aabb_xy":[[0.17011648408408728,-2.2621751651411377],[0.22677590398116773,-2.2532536807537036]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.6288956546369531,-2.4518198263886535,0.71338606911949],"aabb_xy":[[0.5913956542887253,-2.463611221969737],[0.6663956549851808,-2.44002843080757]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.062458019865979875,0.9846489935043299,0.71338606911949],"aabb_xy":[[-0.08434776745492067,0.8946489962150809],[-0.040568272277039075,1.074648990793579]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.18248091734383742,0.3549302462727284,0.71338606911949],"aabb_xy":[[-0.1873245121050674,0.3500785937937443],[-0.17763732258260745,0.3597818987517125]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.6763228557444048,-1.4689407837466009,0.71338606911949],"aabb_xy":[[0.6335561488649846,-1.5329407871684033],[0.719089562623825,-1.4049407803247984]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.5041943306701506,0.10503792351397401,0.71338606911949],"aabb_xy":[[0.4401943284497436,0.06066483938868572],[0.5681943328905577,0.1494110076392623]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.19458607229965919,-2.3241593774990097,0.71338606911949],"aabb_xy":[[0.18373446605078358,-2.3350186682266605],[0.20543767854853479,-2.313300086771359]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.024704747483240475,-1.606645042670737,0.71338606911949],"aabb_xy":[[-0.08470474732980726,-1.6634636648637757],[0.03529525236332631,-1.5498264204776984]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.0791248091112774,-2.0172141796427314,0.71338606911949],"aabb_xy":[[-0.08521943699939571,-2.0257835741944006],[-0.07303018122315907,-2.008644785091063]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.5142274908189649,0.8142101082514084,0.71338606911949],"aabb_xy":[[-0.5641101876966612,0.7642101090051336],[-0.4643447939412688,0.8642101074976831]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.4759402214496038,-2.4734871064189163,0.71338606911949],"aabb_xy":[[0.4627889754783145,-2.4984871061756033],[0.4890914674208932,-2.4484871066622302]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.022298768653179923,0.1579266719511918,0.71338606911949],"aabb_xy":[[-0.03940084661154808,0.14081986641992206],[-0.0051966906948117675,0.17503347748246156]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.15376533176869678,-1.962560974786971,0.71338606911949],"aabb_xy":[[-0.16305895000584736,-2.0000609732751045],[-0.1444717135315462,-1.9250609762988367]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.35727484098378137,-1.7583283119807218,0.71338606911949],"aabb_xy":[[0.3199435644585388,-1.7929813667755738],[0.39460611750902397,-1.7236752571858693]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[0.28809965444425845,-1.9548821874106688,0.71338606911949],"aabb_xy":[[0.23828287497942363,-2.004882185894972],[0.33791643390909315,-1.9048821889263654]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.5200224383453205,0.32715902695978283,0.71338606911949],"aabb_xy":[[-0.5279457185840688,0.30465902672177947],[-0.5120991581065721,0.3496590271977862]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.5881474909383775,1.666378591532189,0.71338606911949],"aabb_xy":[[0.5699416672771298,1.6553531909501973],[0.6063533145996252,1.6774039921141806]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.5546978186002182,-2.29993981494486,0.71338606911949],"aabb_xy":[[-0.5679287641348992,-2.3131672339668596],[-0.5414668730655366,-2.286712395922861]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.17593080938066752,-2.1586237303417124,0.71338606911949],"aabb_xy":[[0.13943498875338875,-2.19510767276847],[0.21242663000794623,-2.122139787914955]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.04964251723639923,-0.8218984776609475,0.71338606911949],"aabb_xy":[[-0.030357483037207745,-0.8948480254866641],[0.1296425175100062,-0.7489489298352306]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[-0.3635678665845863,0.03568796012594966,0.71338606911949],"aabb_xy":[[-0.40106786810021805,0.024461187109804605],[-0.32606786506895463,0.04691473314209471]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[-0.27511214426318886,-1.117968656507773,0.71338606911949],"aabb_xy":[[-0.28688033105784644,-1.2029686564129949],[-0.2633439574685314,-1.0329686566025518]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.34007213154984184,-2.4273107627081933,0.71338606911949],"aabb_xy":[[-0.3652929684096815,-2.45253451356108],[-0.31485129469000217,-2.402087011855307]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.5339432165355108,-2.4301173831765333,0.71338606911949],"aabb_xy":[[-0.5412044641059182,-2.4429043934400427],[-0.5266819689651034,-2.4173303729130238]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[-0.5066069554046757,-1.6632766630977494,0.71338606911949],"aabb_xy":[[-0.5516069568709046,-1.70827651995923],[-0.46160695393844686,-1.6182768062362687]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_27","position":[-0.2781986817045532,-0.46373559006247733,0.71338606911949],"aabb_xy":[[-0.3431986827050537,-0.5145219552171523],[-0.21319868070405268,-0.4129492249078024]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_28","position":[-0.09371528527290851,1.4580902252884473,0.71338606911949],"aabb_xy":[[-0.15771528668089918,1.4063012737645224],[-0.02971528386491785,1.5098791768123718]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_29","position":[-0.29984476438669067,1.8201511157337298,0.71338606911949],"aabb_xy":[[-0.32484476393842915,1.8100086318685953],[-0.2748447648349522,1.8302935995988647]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[-0.1635669120157338,-1.0825797834732203,0.71338606911949],"aabb_xy":[[-0.1880805361127397,-1.1068443767752567],[-0.13905328791872798,-1.0583151901711838]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_31","position":[-0.40000017438943575,1.1665394441793762,0.71338606911949],"aabb_xy":[[-0.4334793416504767,1.1330603308082694],[-0.3665210071283948,1.2000185575504834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858675252339725,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3235.png","name":"3235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2013.png","name":"2013"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3788.png","name":"3788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4257.png","name":"4257"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":615.1934520353369,"rotation_z_degrees":291.8648973357946,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031107330766997933,-0.0021284664820071554,0.00571209062384484]},{"name":"camera_2","offset_m":[0.011863413254736953,0.018745527762685104,-0.013985826955167497]},{"name":"camera_3","offset_m":[0.005775809629043244,-0.013546497498923369,-0.011535038226180698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015122846367455144,0.0006341541833814242,-0.0008489918905175587],"end_effector_yaw_offset_degrees":-0.7609487950178859},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006927670490147072,0.0005669917895012896,-0.0008828084935604719],"end_effector_yaw_offset_degrees":-0.733344832138076},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010719971055728147,0.0010004479980477584,6.481156977370056e-05],"end_effector_yaw_offset_degrees":0.006907816252144983}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003403373058992576,-0.004135009019814632],"position_m":[0.30689662694100744,0.08696499098018537,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002213409404764959,-0.0030651429610755333],"position_m":[0.31078659059523506,-0.11936514296107553,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046187740257771495,-0.004437622896794387],"position_m":[0.3504812259742229,0.29226237710320563,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003671595030413953,-0.0033664985475565746],"position_m":[0.24767159503041394,-0.35516649854755655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"541dcc5a259e27aed01d3adb59cfefb879ec064aaf367c12a2019ddc8bf2916e","episode_index":162,"episode_name":"episode_0162"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0162.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6529/tex_ceiling_textures_4257/tex_floor_textures_3788/tex_table_textures_3235/tex_wall_textures_2013","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6436521843511161352,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6436521843511161352,"visual_seed":6436521843511161352,"scene_id":"lab_003","finished_at":"2026-09-03T13:09:14"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..964ca4e48c2916ccd942df108587c5217a829b1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_poo_00017 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at home. + layout_id: layout_00017 + reproducibility: + enabled: true + layout_id: layout_00017 + action_seed: 7849331405013718693 + step_seeds: + - 3030943202933364417 + - 4812653209273302290 + - 2775566628856368117 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.313 + - 0.313 + 'y': + - -0.1163 + - -0.1163 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3103 + - 0.3103 + 'y': + - 0.0911 + - 0.0911 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3551 + - 0.3551 + 'y': + - 0.2967 + - 0.2967 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.244 + - 0.244 + 'y': + - -0.3518 + - -0.3518 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6903a9d0db1f4714c5fa0a9be83a2f809d373026 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33710562826307383, + 0.09197447797799921, + 1.0456348495501349 + ], + "current_z": 1.0456348495501349, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18904834214156918, + "gripper_z": 1.0482767677877267, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3316978965574111, + 0.08697887102630755, + 1.0482767677877267 + ], + "object_minus_gripper": [ + 0.005407731705662722, + 0.004995606951691656, + -0.002641918237591856 + ], + "object_to_gripper_xy": 0.007362041226196703, + "object_to_gripper_z": -0.002641918237591856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33710562826307383, + 0.06723354786008202, + 1.0456348495501349 + ], + "finger_b": [ + 0.32515813255516485, + 0.09197447797799921, + 1.0456348495501349 + ], + "finger_midpoint": [ + 0.33113188040911934, + 0.07960401291904062, + 1.0456348495501349 + ], + "object_minus_finger_midpoint": [ + 0.005973747853954492, + 0.012370465058958585, + 0.0 + ], + "finger_gap": 0.027474647892014287, + "fingertip_max_gap": 0.09399363506072064, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013737323946007138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456348495501349, + "object_top_z": 1.091631131248231, + "finger_top_clearance": 0.04599628169809611, + "fingertip_min_top_clearance": 0.013798884509428816, + "object_projection_between_fingers": 0.8109008852685434, + "object_to_finger_line_xy": 0.010758724099223392, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049496817530360324, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.35587215835861, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3367339169380893, + 0.08962574976532539, + 1.2400962171072303 + ], + "held_position": [ + 0.34242662647708566, + 0.09422167456590007, + 1.2373305570745488 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007821658525165209, + "max_held_gripper_dist": 0.007823827222181688, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027656600326815273, + "max_held_gripper_z_dist": 0.0027810334944224913, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738761824170209, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34242662647708566, + 0.06863248283092244, + 1.2373305570745488 + ], + "held_grasp_finger_b": [ + 0.33227122588101177, + 0.09422167456590007, + 1.2373305570745488 + ], + "held_grasp_midpoint": [ + 0.3373489261790487, + 0.08142707869841126, + 1.2373305570745488 + ], + "held_grasp_object_position": [ + 0.34242662647708566, + 0.09422167456590007, + 1.2373305570745488 + ], + "held_grasp_finger_gap": 0.027530690055212664, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025308774387731294, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026413636195391468, + -0.9995241627555381, + 0.01593009387223898 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004742404751294088, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03227759671518197, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2963705914451691, + 0.08037389513906093, + 0.7565863197038597 + ], + "target_position": [ + 0.3124190714120394, + 0.08663595655307593, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017226930150201842, + "xy_threshold": 0.08, + "gripper_dist": 0.20425134587202706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863197038597, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523901408381213, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0886664052588415, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1750481052535345, + "release_required_pad_clearance": 0.05433320262942075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.688597797346266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b2321e6c5dd3b17d75ed03b890b3567e1efc493fa918fdcb882493f69d577d8", + "visual_seed": 2298885610887330572, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d0dbcdd224d1b260e6294f7a757a89cb2fa1db --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3338192399770489, + 0.09447626299936498, + 1.0468148188605562 + ], + "current_z": 1.0468148188605562, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19022843066128015, + "gripper_z": 1.0495422115107678, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3282796532377106, + 0.08940189910779887, + 1.0495422115107678 + ], + "object_minus_gripper": [ + 0.005539586739338298, + 0.005074363891566111, + -0.002727392650211602 + ], + "object_to_gripper_xy": 0.0075124024217744535, + "object_to_gripper_z": -0.002727392650211602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3338192399770489, + 0.0697349904726977, + 1.0468148188605562 + ], + "finger_b": [ + 0.32164305050371955, + 0.09447626299936498, + 1.0468148188605562 + ], + "finger_midpoint": [ + 0.3277311452403842, + 0.08210562673603133, + 1.0468148188605562 + ], + "object_minus_finger_midpoint": [ + 0.006088094736664662, + 0.01237063626333365, + 0.0 + ], + "finger_gap": 0.027575172825011224, + "fingertip_max_gap": 0.09450309389378017, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013787586412505617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468148188605562, + "object_top_z": 1.0929749271282774, + "finger_top_clearance": 0.04616010826772121, + "fingertip_min_top_clearance": 0.013848032480316363, + "object_projection_between_fingers": 0.8050216867533702, + "object_to_finger_line_xy": 0.010924842575156399, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04975154694689009, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5592529204162453, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3332193925667609, + 0.09217823526473876, + 1.2394634019235542 + ], + "held_position": [ + 0.3390379310705262, + 0.09685513141285712, + 1.2366033708140491 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007994280821150853, + "max_held_gripper_dist": 0.007994967701575609, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002860031109505057, + "max_held_gripper_z_dist": 0.002875398688555242, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741967087803273, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3390379310705262, + 0.07124019185692887, + 1.2366033708140491 + ], + "held_grasp_finger_b": [ + 0.32868458933645917, + 0.09685513141285712, + 1.2366033708140491 + ], + "held_grasp_midpoint": [ + 0.3338612602034927, + 0.084047661634893, + 1.2366033708140491 + ], + "held_grasp_object_position": [ + 0.3390379310705262, + 0.09685513141285712, + 1.2366033708140491 + ], + "held_grasp_finger_gap": 0.02762818874838219, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0253720080270995, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.022535506832980834, + -0.9996246828763541, + 0.015577044524852864 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004890841151514165, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228090314886877, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29641417582633456, + 0.09295241012552521, + 0.756587511414248 + ], + "target_position": [ + 0.309007827119556, + 0.08985986090258077, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012967802959313967, + "xy_threshold": 0.08, + "gripper_dist": 0.2072447938913073, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587511414248, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535382176888554, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09076072523878052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17926215668311513, + "release_required_pad_clearance": 0.055380362619390264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.883955768886113, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad36f6d82e3bb3ad4aed0c08030ea96a225ad130271598fc85222b25731bedb1", + "visual_seed": 1303991595319054486, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..735dd5096ffe528ac4b6896297431e9d5da62b83 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_103_success.json @@ -0,0 +1,684 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33235202401939967, + 0.09057006738209301, + 1.0474561424097113 + ], + "current_z": 1.0474561424097113, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.19086963500114595, + "gripper_z": 1.049207525537104, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3272806537013573, + 0.08577558781366458, + 1.049207525537104 + ], + "object_minus_gripper": [ + 0.00507137031804239, + 0.004794479568428434, + -0.0017513831273927583 + ], + "object_to_gripper_xy": 0.006978956314148919, + "object_to_gripper_z": -0.0017513831273927583, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33235202401939967, + 0.06603454177088854, + 1.0474561424097113 + ], + "finger_b": [ + 0.320726274374539, + 0.09057006738209301, + 1.0474561424097113 + ], + "finger_midpoint": [ + 0.32653914919696936, + 0.07830230457649077, + 1.0474561424097113 + ], + "object_minus_finger_midpoint": [ + 0.005812874822430314, + 0.01226776280560224, + 0.0 + ], + "finger_gap": 0.02715050776363214, + "fingertip_max_gap": 0.09379564611054289, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01357525388181606, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474561424097113, + "object_top_z": 1.093958673447582, + "finger_top_clearance": 0.04650253103787061, + "fingertip_min_top_clearance": 0.013950759311361182, + "object_projection_between_fingers": 0.8166478442161467, + "object_to_finger_line_xy": 0.010506023704757806, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04939782305527145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4970831429104325, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327384931958469, + 0.0877921008425819, + 1.2407993841596665 + ], + "held_position": [ + 0.3381483122937167, + 0.09214310499203712, + 1.2389019782125388 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007197050028202463, + "max_held_gripper_dist": 0.00719835589363594, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018974059471277283, + "max_held_gripper_z_dist": 0.0019079407804862836, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08769856767104375, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3381483122937167, + 0.06654843050797687, + 1.2389019782125388 + ], + "held_grasp_finger_b": [ + 0.3287111824951313, + 0.09214310499203712, + 1.2389019782125388 + ], + "held_grasp_midpoint": [ + 0.333429747394424, + 0.079345767750007, + 1.2389019782125388 + ], + "held_grasp_object_position": [ + 0.3381483122937167, + 0.09214310499203712, + 1.2389019782125388 + ], + "held_grasp_finger_gap": 0.027279053883526704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024999102967655822, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057805511157950906, + -0.9980443820621966, + 0.02378937396940628 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003982819910372054, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321551553701117, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2976454753431367, + 0.09774612077267023, + 0.7565871365305089 + ], + "target_position": [ + 0.30786177938315934, + 0.08786713974204595, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014211514150209948, + "xy_threshold": 0.08, + "gripper_dist": 0.20750657014652754, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565871365305089, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755411606540212, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.091976605345422, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18061321697452767, + "release_required_pad_clearance": 0.055988302672711, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.209674119927401, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12d918a23b614717968863fa7a5ebd1565336b027fd6c43f5f7a28384f52d16b", + "visual_seed": 6715330708644242152, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e5811672a0d03e7e20d2bea3757a3a335194de50 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3330470466143346, + 0.09297436578908289, + 1.0469647938964337 + ], + "current_z": 1.0469647938964337, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19037822688322337, + "gripper_z": 1.0489154946180161, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3278550468825754, + 0.08801950688683582, + 1.0489154946180161 + ], + "object_minus_gripper": [ + 0.0051919997317592115, + 0.004954858902247061, + -0.0019507007215824324 + ], + "object_to_gripper_xy": 0.007176871738840306, + "object_to_gripper_z": -0.0019507007215824324, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3330470466143346, + 0.06853691259764778, + 1.0469647938964337 + ], + "finger_b": [ + 0.3209597292539844, + 0.09297436578908289, + 1.0469647938964337 + ], + "finger_midpoint": [ + 0.3270033879341595, + 0.08075563919336534, + 1.0469647938964337 + ], + "object_minus_finger_midpoint": [ + 0.00604365868017509, + 0.012218726595717544, + 0.0 + ], + "finger_gap": 0.02726338862748731, + "fingertip_max_gap": 0.09402369005191066, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013631694313743649, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469647938964337, + "object_top_z": 1.0937694745608146, + "finger_top_clearance": 0.04680468066438093, + "fingertip_min_top_clearance": 0.014041404199314244, + "object_projection_between_fingers": 0.8034377198801519, + "object_to_finger_line_xy": 0.010834429140102157, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049511845025955334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4131266368876443, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33318672572201713, + 0.09008984409791224, + 1.2407199095627033 + ], + "held_position": [ + 0.33876498915873954, + 0.0945417321129327, + 1.2386269528717322 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007437526307720703, + "max_held_gripper_dist": 0.0074386492896531976, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002092956690971093, + "max_held_gripper_z_dist": 0.002103889648276569, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08757185954910174, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33876498915873954, + 0.06892013255498394, + 1.2386269528717322 + ], + "held_grasp_finger_b": [ + 0.32903496170192637, + 0.0945417321129327, + 1.2386269528717322 + ], + "held_grasp_midpoint": [ + 0.33389997543033295, + 0.08173093233395831, + 1.2386269528717322 + ], + "held_grasp_object_position": [ + 0.33876498915873954, + 0.0945417321129327, + 1.2386269528717322 + ], + "held_grasp_finger_gap": 0.02740692974811695, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02485526077183552, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07108211644704088, + -0.9970841851139635, + 0.02775717055164284 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003958526454760301, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208096363517492, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2903297918854256, + 0.1046961810710012, + 0.7565878684914213 + ], + "target_position": [ + 0.30845651962782245, + 0.09122638381617595, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022583482830003797, + "xy_threshold": 0.08, + "gripper_dist": 0.20110243323495777, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878684914213, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07655973649383888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09120025233260674, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1765252799231308, + "release_required_pad_clearance": 0.055600126166303374, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.358553499193656, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c77573da17a4796282bbd74e19dfe75fe272b166a30d5984f7a0fcaa5975a88", + "visual_seed": 6302364446587093032, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18c2fe34902410103a1c2a87f5791beb0c2fc047 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3359405266882875, + 0.09014172015835328, + 1.0482405182483432 + ], + "current_z": 1.0482405182483432, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19165395123513285, + "gripper_z": 1.0500049161159657, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.330715448087882, + 0.08521992304881017, + 1.0500049161159657 + ], + "object_minus_gripper": [ + 0.005225078600405497, + 0.004921797109543116, + -0.0017643978676225025 + ], + "object_to_gripper_xy": 0.007178128806863419, + "object_to_gripper_z": -0.0017643978676225025, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3359405266882875, + 0.06560878659117968, + 1.0482405182483432 + ], + "finger_b": [ + 0.3239892897436316, + 0.09014172015835328, + 1.0482405182483432 + ], + "finger_midpoint": [ + 0.3299649082159596, + 0.07787525337476647, + 1.0482405182483432 + ], + "object_minus_finger_midpoint": [ + 0.005975618472327915, + 0.01226646678358681, + 0.0 + ], + "finger_gap": 0.027289135089237644, + "fingertip_max_gap": 0.0933926912041251, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013644567544618815, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482405182483432, + "object_top_z": 1.0947759279611606, + "finger_top_clearance": 0.046535409712817444, + "fingertip_min_top_clearance": 0.013960622913845233, + "object_projection_between_fingers": 0.8082010739218843, + "object_to_finger_line_xy": 0.010744162504601536, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049196345602062555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2110925502037464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.336135210748019, + 0.0873308574322025, + 1.2412534802108055 + ], + "held_position": [ + 0.3417216885693604, + 0.09177775593310353, + 1.239342422916007 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007391602039453816, + "max_held_gripper_dist": 0.007392667747836292, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019110572947984572, + "max_held_gripper_z_dist": 0.001920553965698124, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.087090084703937, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3417216885693604, + 0.06613355652109298, + 1.239342422916007 + ], + "held_grasp_finger_b": [ + 0.33202895894064655, + 0.09177775593310353, + 1.239342422916007 + ], + "held_grasp_midpoint": [ + 0.3368753237550035, + 0.07895565622709826, + 1.239342422916007 + ], + "held_grasp_object_position": [ + 0.3417216885693604, + 0.09177775593310353, + 1.239342422916007 + ], + "held_grasp_finger_gap": 0.027414849464082593, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024915932585299116, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06817710415823885, + -0.9973699865551129, + 0.024596593009004967 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003973774060822228, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208143643568675, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3033161275719644, + 0.09516711108769099, + 0.7565864896974884 + ], + "target_position": [ + 0.31132047326375867, + 0.08632118581648661, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011929792280567068, + "xy_threshold": 0.08, + "gripper_dist": 0.20964508910099308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864896974884, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755545259153926, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861970711497798, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18238183187828017, + "release_required_pad_clearance": 0.0530985355748899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2245950418857616, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4fb6863d289a13c8c7fd0d1386caba679b0d124d1653a22c0b45fa81bbe0e101", + "visual_seed": 3663579485836587814, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..daf53bf99b330d7336731f89dcd37d872effcdc5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3369399748424493, + 0.09390329556767843, + 1.0239043448178309 + ], + "current_z": 1.0239043448178309, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1673178374092653, + "gripper_z": 1.0512198402077284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3314702657748335, + 0.0887989083185389, + 1.0512198402077284 + ], + "object_minus_gripper": [ + 0.005469709067615791, + 0.00510438724913953, + -0.027315495389897526 + ], + "object_to_gripper_xy": 0.007481476222881193, + "object_to_gripper_z": -0.027315495389897526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3369399748424493, + 0.06888545701481409, + 1.0376479801969316 + ], + "finger_b": [ + 0.3251372681680452, + 0.09390329556767843, + 1.0377531850189607 + ], + "finger_midpoint": [ + 0.33103862150524727, + 0.08139437629124627, + 1.0377005826079462 + ], + "object_minus_finger_midpoint": [ + 0.005901353337202042, + 0.012508919276432162, + -0.013796237790115295 + ], + "finger_gap": 0.027662378761664483, + "fingertip_max_gap": 0.10021323834584386, + "finger_z_skew": 0.00010520482202913684, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013831089352426358, + "object_to_finger_midpoint_z": 0.013796237790115295, + "finger_midpoint_minus_object_z": 0.013796237790115295, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0239043448178309, + "object_top_z": 1.0716545191547213, + "finger_top_clearance": 0.03395393654677514, + "fingertip_min_top_clearance": 0.014325052301067131, + "object_projection_between_fingers": 0.8179500924622658, + "object_to_finger_line_xy": 0.010674437947118604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052606619172921934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 5.251040195100508, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 196, + "max_stable_success_frames": 196, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33678222036880767, + 0.09027623885406838, + 1.2185028454113094 + ], + "held_position": [ + 0.3413141844483112, + 0.09425833555759347, + 1.1889624241780996 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.030150162175510864, + "max_held_gripper_dist": 0.03015600094078096, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.029540421233209768, + "max_held_gripper_z_dist": 0.029543288806007872, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08767469641785508, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3413141844483112, + 0.06891051762172315, + 1.2049248407677273 + ], + "held_grasp_finger_b": [ + 0.332919537825463, + 0.0947545750261075, + 1.2046610622639424 + ], + "held_grasp_midpoint": [ + 0.3371168611368871, + 0.08183254632391532, + 1.2047929515158349 + ], + "held_grasp_object_position": [ + 0.3413141844483112, + 0.09425833555759347, + 1.1889624241780996 + ], + "held_grasp_finger_gap": 0.027174528039004994, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025990506231414235, + "held_grasp_world_z_skew": 0.000263778503784895, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020574337697188628, + -0.9984573221104625, + 0.05157201326617199 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.015813004771763024, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206354970380482, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29810655202042224, + 0.09161202527628437, + 0.756586396872463 + ], + "target_position": [ + 0.3120423426661041, + 0.08935704560536419, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014117053312803522, + "xy_threshold": 0.08, + "gripper_dist": 0.20479502584968604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586396872463, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560843457504883, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08673853815281145, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17647959321638387, + "release_required_pad_clearance": 0.053369269076405726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7542992311438865, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "702e4bbfbd92a5d8c14b3eefd993a5f49f86572d5e3558e73a58933748e2e1f0", + "visual_seed": 5418641759501445634, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..09831ea3ffbb75d86aff0b1823d4ae44419ddb4a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3354189596368293, + 0.0940239635280972, + 1.0462123739252864 + ], + "current_z": 1.0462123739252864, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18962586651672075, + "gripper_z": 1.0479708781146846, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33019305307137625, + 0.08905372947752137, + 1.0479708781146846 + ], + "object_minus_gripper": [ + 0.00522590656545302, + 0.004970234050575839, + -0.0017585041893981579 + ], + "object_to_gripper_xy": 0.007212026480008826, + "object_to_gripper_z": -0.0017585041893981579, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3354189596368293, + 0.0695310429928248, + 1.0462123739252864 + ], + "finger_b": [ + 0.32334636622426993, + 0.0940239635280972, + 1.0462123739252864 + ], + "finger_midpoint": [ + 0.32938266293054963, + 0.081777503260461, + 1.0462123739252864 + ], + "object_minus_finger_midpoint": [ + 0.006036296706279642, + 0.012246460267636206, + 0.0 + ], + "finger_gap": 0.027306604843007124, + "fingertip_max_gap": 0.09654576974717385, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01365330242150355, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462123739252864, + "object_top_z": 1.0939493921653636, + "finger_top_clearance": 0.047737018240077145, + "fingertip_min_top_clearance": 0.014321105472023143, + "object_projection_between_fingers": 0.8045364700259617, + "object_to_finger_line_xy": 0.010828628194844694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05077288487358693, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3644645150734585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3356376819438128, + 0.09107594937693937, + 1.239739976441005 + ], + "held_position": [ + 0.34126199856429257, + 0.09553511663082802, + 1.2378361960642703 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007425731598192725, + "max_held_gripper_dist": 0.00742715168528163, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001903780376734776, + "max_held_gripper_z_dist": 0.0019142194608188223, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08713263484187012, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34126199856429257, + 0.06985718717297344, + 1.2378361960642703 + ], + "held_grasp_finger_b": [ + 0.3315684101513815, + 0.09553511663082802, + 1.2378361960642703 + ], + "held_grasp_midpoint": [ + 0.336415204357837, + 0.08269615190190073, + 1.2378361960642703 + ], + "held_grasp_object_position": [ + 0.34126199856429257, + 0.09553511663082802, + 1.2378361960642703 + ], + "held_grasp_finger_gap": 0.027446706861871055, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025039915607491095, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.059188845517943164, + -0.9974974016739692, + 0.038673171836991045 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004109158663749712, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210651485497891, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3045505514244007, + 0.08825275806111192, + 0.7565861471574434 + ], + "target_position": [ + 0.3107807248293877, + 0.08897158986787618, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0062715053872753074, + "xy_threshold": 0.08, + "gripper_dist": 0.2108539412006617, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861471574434, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757320144138001, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857922132413844, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18119770355959341, + "release_required_pad_clearance": 0.052896106620692204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8289711599927362, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 208, + "max_placed_release_frames": 208 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2014658eb9127b21e19b1047ca6653088b2fb9f39b0a58167b35721ed49fbe39", + "visual_seed": 6099832552763917319, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e382a1c8a8ba054a64bc6a3f78f867e4a1e92693 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3324155863069083, + 0.09069833707725315, + 1.0457419759233209 + ], + "current_z": 1.0457419759233209, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1891554089101105, + "gripper_z": 1.0474265371986256, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3273272267983951, + 0.08588551311119708, + 1.0474265371986256 + ], + "object_minus_gripper": [ + 0.005088359508513218, + 0.004812823966056076, + -0.0016845612753046968 + ], + "object_to_gripper_xy": 0.00700390441226325, + "object_to_gripper_z": -0.0016845612753046968, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3324155863069083, + 0.06618875165344301, + 1.0457419759233209 + ], + "finger_b": [ + 0.3207208849988704, + 0.09069833707725315, + 1.0457419759233209 + ], + "finger_midpoint": [ + 0.3265682356528894, + 0.07844354436534809, + 1.0457419759233209 + ], + "object_minus_finger_midpoint": [ + 0.0058473506540189235, + 0.012254792711905063, + 0.0 + ], + "finger_gap": 0.027156690084236514, + "fingertip_max_gap": 0.0954637585236687, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01357834504211824, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457419759233209, + "object_top_z": 1.09312984072905, + "finger_top_clearance": 0.047387864805729096, + "fingertip_min_top_clearance": 0.014216359441718729, + "object_projection_between_fingers": 0.8145509572447293, + "object_to_finger_line_xy": 0.01055475758740123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05023187926183435, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8596103310884236, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3324655018560935, + 0.08832190915379708, + 1.2397277299049971 + ], + "held_position": [ + 0.33786587405970586, + 0.09272977109714191, + 1.2379132183157553 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007203174241723532, + "max_held_gripper_dist": 0.0072040693796185246, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018145115892418406, + "max_held_gripper_z_dist": 0.0018235452694268517, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08619342560574482, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33786587405970586, + 0.06724288426539674, + 1.2379132183157553 + ], + "held_grasp_finger_b": [ + 0.328153868281151, + 0.09272977109714191, + 1.2379132183157553 + ], + "held_grasp_midpoint": [ + 0.33300987117042846, + 0.07998632768126931, + 1.2379132183157553 + ], + "held_grasp_object_position": [ + 0.33786587405970586, + 0.09272977109714191, + 1.2379132183157553 + ], + "held_grasp_finger_gap": 0.02727461194255325, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024948712117347036, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.050617467898900446, + -0.9981724887007312, + 0.03300840414943384 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004226129646035058, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223427176640732, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3027764881261097, + 0.08956071630920277, + 0.7565862739758211 + ], + "target_position": [ + 0.3079902703674185, + 0.08808622553493106, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005418269862529871, + "xy_threshold": 0.08, + "gripper_dist": 0.20920653481885879, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862739758211, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542253794808836, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08508633830015942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18029066011625544, + "release_required_pad_clearance": 0.05254316915007971, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15322967604797613, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 207, + "max_placed_release_frames": 207 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1241af17002170b6842c0eae187118d90e3df0394de61372a9b7cd8e43d8af17", + "visual_seed": 2586216288990475176, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bae5a2659ce19f60ddd8500cacc79d000ebc0bab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3333690952209714, + 0.09647812175011482, + 1.0471398427858662 + ], + "current_z": 1.0471398427858662, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19055333537730068, + "gripper_z": 1.0499526566332733, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32784552423173546, + 0.09139658429689598, + 1.0499526566332733 + ], + "object_minus_gripper": [ + 0.005523570989235949, + 0.0050815374532188345, + -0.0028128138474070585 + ], + "object_to_gripper_xy": 0.007505455306748203, + "object_to_gripper_z": -0.0028128138474070585, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3333690952209714, + 0.07177354505944086, + 1.0471398427858662 + ], + "finger_b": [ + 0.32115307362615064, + 0.09647812175011482, + 1.0471398427858662 + ], + "finger_midpoint": [ + 0.32726108442356105, + 0.08412583340477783, + 1.0471398427858662 + ], + "object_minus_finger_midpoint": [ + 0.006108010797410357, + 0.012352288345336984, + 0.0 + ], + "finger_gap": 0.02755988557796491, + "fingertip_max_gap": 0.09498955361040887, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013779942788982449, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471398427858662, + "object_top_z": 1.0934258585444772, + "finger_top_clearance": 0.04628601575861091, + "fingertip_min_top_clearance": 0.013885804727583273, + "object_projection_between_fingers": 0.803526146473578, + "object_to_finger_line_xy": 0.010950395330576849, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049994776805204436, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7883351364682265, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327118997655904, + 0.09452871686890703, + 1.2414765865807098 + ], + "held_position": [ + 0.3385151573338468, + 0.09921671990077716, + 1.2385457398664512 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008015299950271913, + "max_held_gripper_dist": 0.008019201353555227, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029308467142585837, + "max_held_gripper_z_dist": 0.0029477619362805463, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08679345201458707, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3385151573338468, + 0.07366785332126839, + 1.2385457398664512 + ], + "held_grasp_finger_b": [ + 0.3280416691030077, + 0.09921671990077716, + 1.2385457398664512 + ], + "held_grasp_midpoint": [ + 0.3332784132184272, + 0.08644228661102277, + 1.2385457398664512 + ], + "held_grasp_object_position": [ + 0.3385151573338468, + 0.09921671990077716, + 1.2385457398664512 + ], + "held_grasp_finger_gap": 0.027612289641010666, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025359633805199445, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.017334800046274086, + -0.999699518958431, + 0.017331373333852595 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005019434867127367, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03233885223894245, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29521632627804695, + 0.0934930362662016, + 0.7565867300097704 + ], + "target_position": [ + 0.3085991960890428, + 0.09161547610411534, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013513934902178469, + "xy_threshold": 0.08, + "gripper_dist": 0.20406185586708792, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867300097704, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582160840659677, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09255320057395909, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17538022389861332, + "release_required_pad_clearance": 0.05627660028697955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.855501053550824, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad3938337e9acae510d628a91dff70260eeb813963c736773b602f4e44b1a4f1", + "visual_seed": 3888987415904207724, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..347ce1f241620c481ad0caf1a5b3bda3787ac830 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33512696781769, + 0.09219308732123861, + 1.0473568817507597 + ], + "current_z": 1.0473568817507597, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19077031473754924, + "gripper_z": 1.049871380182734, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3297835793839019, + 0.08727434182898867, + 1.049871380182734 + ], + "object_minus_gripper": [ + 0.005343388433788121, + 0.004918745492249937, + -0.002514498431974266 + ], + "object_to_gripper_xy": 0.00726263431351667, + "object_to_gripper_z": -0.002514498431974266, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33512696781769, + 0.06736728289829622, + 1.0473568817507597 + ], + "finger_b": [ + 0.323458286038794, + 0.09219308732123861, + 1.0473568817507597 + ], + "finger_midpoint": [ + 0.329292626928242, + 0.07978018510976742, + 1.0473568817507597 + ], + "object_minus_finger_midpoint": [ + 0.005834340889448009, + 0.012412902211471191, + 0.0 + ], + "finger_gap": 0.02743134520404215, + "fingertip_max_gap": 0.09324413899990483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013715672602021068, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473568817507597, + "object_top_z": 1.0929904959189707, + "finger_top_clearance": 0.04563361416821099, + "fingertip_min_top_clearance": 0.013690084250463296, + "object_projection_between_fingers": 0.819053835662296, + "object_to_finger_line_xy": 0.01056034290559466, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912206949995242, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3351276512043913, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33500352098794434, + 0.08953876052417256, + 1.2389906117791214 + ], + "held_position": [ + 0.34060162590242554, + 0.09407804203846573, + 1.236318157249774 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076867332795520025, + "max_held_gripper_dist": 0.007690938497277338, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002672454529347501, + "max_held_gripper_z_dist": 0.00268466380418686, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08747955819804029, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34060162590242554, + 0.06839204834091057, + 1.236318157249774 + ], + "held_grasp_finger_b": [ + 0.3308276984282684, + 0.09407804203846573, + 1.236318157249774 + ], + "held_grasp_midpoint": [ + 0.33571466216534696, + 0.08123504518968816, + 1.236318157249774 + ], + "held_grasp_object_position": [ + 0.34060162590242554, + 0.09407804203846573, + 1.236318157249774 + ], + "held_grasp_finger_gap": 0.027482720580410642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025432702110645408, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.025067426425731565, + -0.9996774748464698, + 0.004070677704794856 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004563789499850494, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322388667026392, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2941736084628512, + 0.09008674010445311, + 0.7565879422104668 + ], + "target_position": [ + 0.3104519114252688, + 0.08829649250185817, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01637645058658472, + "xy_threshold": 0.08, + "gripper_dist": 0.20315340283725114, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879422104668, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520281798620383, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08726333536173213, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17560323400941455, + "release_required_pad_clearance": 0.053631667680866066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.270442376836015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dc3e7dd88bd939603944cd6dbe36bac7b05a199d968bf1037d133fa39d73ed19", + "visual_seed": 6577426792107127987, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60650b462899c6362c45d8021119c5d12830b5b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_112_success.json @@ -0,0 +1,684 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3378781691028143, + 0.09710775544121883, + 1.048901119736443 + ], + "current_z": 1.048901119736443, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19231473153716705, + "gripper_z": 1.0504544446621689, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327769814863182, + 0.09224760303192989, + 1.0504544446621689 + ], + "object_minus_gripper": [ + 0.005101187616496139, + 0.0048601524092889425, + -0.0015533249257257964 + ], + "object_to_gripper_xy": 0.007045792825524369, + "object_to_gripper_z": -0.0015533249257257964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3378781691028143, + 0.07265155128457532, + 1.048901119736443 + ], + "finger_b": [ + 0.3260374163885693, + 0.09710775544121883, + 1.048901119736443 + ], + "finger_midpoint": [ + 0.3319577927456918, + 0.08487965336289707, + 1.048901119736443 + ], + "object_minus_finger_midpoint": [ + 0.005920376357122503, + 0.012228102078321756, + 0.0 + ], + "finger_gap": 0.02717184842058648, + "fingertip_max_gap": 0.09594691642011241, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358592421029324, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048901119736443, + "object_top_z": 1.0963076506769718, + "finger_top_clearance": 0.04740653094052871, + "fingertip_min_top_clearance": 0.014221959282158646, + "object_projection_between_fingers": 0.8101020588629951, + "object_to_finger_line_xy": 0.010657348784873602, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05047345821005621, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.173369708935005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3380360858809088, + 0.09484467943373959, + 1.2428222632853774 + ], + "held_position": [ + 0.3434724813579359, + 0.09927915420135526, + 1.2411379509811764 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007214975411277837, + "max_held_gripper_dist": 0.00721662912652375, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016843123042009633, + "max_held_gripper_z_dist": 0.001694915248774409, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08728239391055832, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3434724813579359, + 0.07379103692205531, + 1.2411379509811764 + ], + "held_grasp_finger_b": [ + 0.33369192138118897, + 0.09927915420135526, + 1.2411379509811764 + ], + "held_grasp_midpoint": [ + 0.3385822013695624, + 0.08653509556170529, + 1.2411379509811764 + ], + "held_grasp_object_position": [ + 0.3434724813579359, + 0.09927915420135526, + 1.2411379509811764 + ], + "held_grasp_finger_gap": 0.02730024681027797, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024987951672273214, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04684592427809855, + -0.9983527133644844, + 0.033125807104165905 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004309007361109878, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03224806975760608, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.309493188715431, + 0.09606295315721312, + 0.7565868295899913 + ], + "target_position": [ + 0.31345312747960696, + 0.09342182713621851, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004759901435407894, + "xy_threshold": 0.08, + "gripper_dist": 0.21166848717731518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868295899913, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537143414556483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08683828921050034, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829338181946294, + "release_required_pad_clearance": 0.05341914460525017, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8523910612434256, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e27d64c93d72620d227a2cc70c32b76e2f5e44018b116105c890d2df829b369", + "visual_seed": 933823813348520381, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3193a57a8da426158b77467b4c39687cf3a77cb2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33250626741198636, + 0.09815917668822548, + 1.0476875303816202 + ], + "current_z": 1.0476875303816202, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19110102297305454, + "gripper_z": 1.0493678277069673, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32741230013654377, + 0.09333219915477718, + 1.0493678277069673 + ], + "object_minus_gripper": [ + 0.00509396727544259, + 0.004826977533448296, + -0.0016802973253471354 + ], + "object_to_gripper_xy": 0.0070177072261312385, + "object_to_gripper_z": -0.0016802973253471354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33250626741198636, + 0.0736532502570823, + 1.0476875303816202 + ], + "finger_b": [ + 0.3207819675667271, + 0.09815917668822548, + 1.0476875303816202 + ], + "finger_midpoint": [ + 0.32664411748935673, + 0.0859062134726539, + 1.0476875303816202 + ], + "object_minus_finger_midpoint": [ + 0.0058621499226296225, + 0.01225296321557158, + 0.0 + ], + "finger_gap": 0.027166148735331394, + "fingertip_max_gap": 0.09578820039445105, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013583074367665692, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476875303816202, + "object_top_z": 1.0950841178294144, + "finger_top_clearance": 0.04739658744779418, + "fingertip_min_top_clearance": 0.014218976234338253, + "object_projection_between_fingers": 0.8137408205242384, + "object_to_finger_line_xy": 0.01057620762750644, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050394100197225525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0544774343166154, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3325659136456128, + 0.09572430776067575, + 1.242200145591931 + ], + "held_position": [ + 0.3379797663767038, + 0.10013832771096624, + 1.2403971715955908 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007214158907799491, + "max_held_gripper_dist": 0.007216747392654428, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001802973996340107, + "max_held_gripper_z_dist": 0.001814620839036829, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08739043214889199, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3379797663767038, + 0.0746587483735149, + 1.2403971715955908 + ], + "held_grasp_finger_b": [ + 0.32823171323075734, + 0.10013832771096624, + 1.2403971715955908 + ], + "held_grasp_midpoint": [ + 0.3331057398037306, + 0.08739853804224057, + 1.2403971715955908 + ], + "held_grasp_object_position": [ + 0.3379797663767038, + 0.10013832771096624, + 1.2403971715955908 + ], + "held_grasp_finger_gap": 0.02728064338225318, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02497952077595123, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04695890225952282, + -0.9983398200559453, + 0.03335363832092885 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004291869833754475, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225270670293402, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3066114710285522, + 0.09820630070799623, + 0.7565863188145662 + ], + "target_position": [ + 0.3080846233852894, + 0.09456965983204711, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003923688918197313, + "xy_threshold": 0.08, + "gripper_dist": 0.2129434677502748, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863188145662, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523284057172311, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08917797893835848, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18442259867433974, + "release_required_pad_clearance": 0.05458898946917924, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.215315598095566, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 211, + "max_placed_release_frames": 211 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8477b091f1c7c283402c015022e04a7f39598a335113f93cd27ef576a659214f", + "visual_seed": 3661269672037216002, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a41145ae9466bf284b1da485530bb32d67bd920d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_114_success.json @@ -0,0 +1,684 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3323049052837118, + 0.09684365648582988, + 1.0481286124123155 + ], + "current_z": 1.0481286124123155, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1915421050037499, + "gripper_z": 1.0500336789284448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32717037535402227, + 0.09191158563270949, + 1.0500336789284448 + ], + "object_minus_gripper": [ + 0.005134529929689546, + 0.0049320708531203905, + -0.0019050665161293168 + ], + "object_to_gripper_xy": 0.007119601147471496, + "object_to_gripper_z": -0.0019050665161293168, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3323049052837118, + 0.07246269689109294, + 1.0481286124123155 + ], + "finger_b": [ + 0.320230390074566, + 0.09684365648582988, + 1.0481286124123155 + ], + "finger_midpoint": [ + 0.3262676476791389, + 0.08465317668846141, + 1.0481286124123155 + ], + "object_minus_finger_midpoint": [ + 0.00603725760457291, + 0.012190479797368467, + 0.0 + ], + "finger_gap": 0.02720707827562689, + "fingertip_max_gap": 0.09297625576545757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013603539137813444, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481286124123155, + "object_top_z": 1.0945407492423973, + "finger_top_clearance": 0.04641213683008183, + "fingertip_min_top_clearance": 0.013923641049024582, + "object_projection_between_fingers": 0.8030411074929704, + "object_to_finger_line_xy": 0.01082028229778517, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048988127882728785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.982329952921999, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3324893387197968, + 0.0943893126396451, + 1.2404636679891148 + ], + "held_position": [ + 0.33799806759209194, + 0.09883580432381053, + 1.2384121188362924 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007370633352179211, + "max_held_gripper_dist": 0.0073717499368889374, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020515491528223517, + "max_held_gripper_z_dist": 0.0020605989722977114, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08737705578738517, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33799806759209194, + 0.07326632230576643, + 1.2384121188362924 + ], + "held_grasp_finger_b": [ + 0.3282747359547077, + 0.09883580432381053, + 1.2384121188362924 + ], + "held_grasp_midpoint": [ + 0.3331364017733998, + 0.08605106331478848, + 1.2384121188362924 + ], + "held_grasp_object_position": [ + 0.33799806759209194, + 0.09883580432381053, + 1.2384121188362924 + ], + "held_grasp_finger_gap": 0.02735583281133364, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024756961690076004, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07542567397653474, + -0.9969052370374503, + 0.022156625927485792 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038941328314926705, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0320883552787257, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2980226748697068, + 0.10106316143888032, + 0.7565866860650519 + ], + "target_position": [ + 0.30778323006438796, + 0.09494059757669306, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011521902011168941, + "xy_threshold": 0.08, + "gripper_dist": 0.2104374636746209, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866860650519, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570026580650807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591777768314789, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18232116475059265, + "release_required_pad_clearance": 0.052958888841573945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9528463113980236, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8e37bdaf69a57816b075220d614cac681ece2fc5698da219aa9cb1d950378aaa", + "visual_seed": 2450096088555882828, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00220cfcf050749f17176c6b6de9d44c2375d9a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33747097954213234, + 0.0921991235307591, + 1.0466236675273306 + ], + "current_z": 1.0466236675273306, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19003710051412015, + "gripper_z": 1.0483749363196981, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33238742512926733, + 0.08732031722916964, + 1.0483749363196981 + ], + "object_minus_gripper": [ + 0.00508355441286501, + 0.004878806301589461, + -0.001751268792367533 + ], + "object_to_gripper_xy": 0.007045940419630892, + "object_to_gripper_z": -0.001751268792367533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33747097954213234, + 0.06780702894604859, + 1.0466236675273306 + ], + "finger_b": [ + 0.3255340097789433, + 0.0921991235307591, + 1.0466236675273306 + ], + "finger_midpoint": [ + 0.3315024946605378, + 0.08000307623840384, + 1.0466236675273306 + ], + "object_minus_finger_midpoint": [ + 0.005968484881594516, + 0.012196047292355253, + 0.0 + ], + "finger_gap": 0.027156316490952022, + "fingertip_max_gap": 0.09156805490416572, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013578158245476011, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466236675273306, + "object_top_z": 1.0922963820077762, + "finger_top_clearance": 0.04567271448044563, + "fingertip_min_top_clearance": 0.013701814344133688, + "object_projection_between_fingers": 0.806782497312863, + "object_to_finger_line_xy": 0.010721914204216454, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048284027452082864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6894596616677747, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3377152903545271, + 0.08959409377822017, + 1.2406215799491322 + ], + "held_position": [ + 0.3431722234582592, + 0.09399758444348269, + 1.238739233034413 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007260308453847891, + "max_held_gripper_dist": 0.0072611591209102, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001882346914719335, + "max_held_gripper_z_dist": 0.0018927318861583498, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08749244684115531, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3431722234582592, + 0.06845980597244246, + 1.238739233034413 + ], + "held_grasp_finger_b": [ + 0.3334971877490919, + 0.09399758444348269, + 1.238739233034413 + ], + "held_grasp_midpoint": [ + 0.3383347056036755, + 0.08122869520796258, + 1.238739233034413 + ], + "held_grasp_object_position": [ + 0.3431722234582592, + 0.09399758444348269, + 1.238739233034413 + ], + "held_grasp_finger_gap": 0.02730905427160723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024741377721166555, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0746527872048952, + -0.9970971489175728, + 0.01497454450019053 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038756395532069305, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210726772323126, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3109537169136412, + 0.08342430052851185, + 0.7565864201120674 + ], + "target_position": [ + 0.31302385201144994, + 0.08826656959233872, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005266215814954258, + "xy_threshold": 0.08, + "gripper_dist": 0.21245699842482493, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864201120674, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585293737785834, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086293661185927, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18134681403070502, + "release_required_pad_clearance": 0.053146830592963504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3187640608427345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 206, + "max_placed_release_frames": 206 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68d8dd3b71a94cc41f0447bc56dad1f17da1ce750ff847140a3b0d2fd67e94d8", + "visual_seed": 4685985579161215367, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b51eb6e8a388c4c1e19539e50170fde3c0314e49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_119_success.json @@ -0,0 +1,684 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3351672112758086, + 0.09134798744815975, + 1.0485575341829565 + ], + "current_z": 1.0485575341829565, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19197096716974615, + "gripper_z": 1.0501655345154288, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33011702684101163, + 0.08656083795308414, + 1.0501655345154288 + ], + "object_minus_gripper": [ + 0.005050184434796989, + 0.00478714949507561, + -0.0016080003324723258 + ], + "object_to_gripper_xy": 0.006958531677995614, + "object_to_gripper_z": -0.0016080003324723258, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3351672112758086, + 0.06683736276606243, + 1.0485575341829565 + ], + "finger_b": [ + 0.32354157370434933, + 0.09134798744815975, + 1.0485575341829565 + ], + "finger_midpoint": [ + 0.329354392490079, + 0.0790926751071111, + 1.0485575341829565 + ], + "object_minus_finger_midpoint": [ + 0.005812818785729645, + 0.012255312341048652, + 0.0 + ], + "finger_gap": 0.027127959216453494, + "fingertip_max_gap": 0.09550347171354592, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013563979608226742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485575341829565, + "object_top_z": 1.095858178729308, + "finger_top_clearance": 0.04730064454635152, + "fingertip_min_top_clearance": 0.014190193363905456, + "object_projection_between_fingers": 0.8163464567193758, + "object_to_finger_line_xy": 0.010503983618174277, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050251735856772964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.955543761892035, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.335556832486428, + 0.08846430474173884, + 1.2429885077933522 + ], + "held_position": [ + 0.3409478362990506, + 0.0928114791375455, + 1.2412415949007105 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071423071895394385, + "max_held_gripper_dist": 0.007143482756170189, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017469128926417277, + "max_held_gripper_z_dist": 0.0017563176039752104, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08766083481971676, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3409478362990506, + 0.06724273169612031, + 1.2412415949007105 + ], + "held_grasp_finger_b": [ + 0.3314892963650615, + 0.0928114791375455, + 1.2412415949007105 + ], + "held_grasp_midpoint": [ + 0.33621856633205605, + 0.08002710541683292, + 1.2412415949007105 + ], + "held_grasp_object_position": [ + 0.3409478362990506, + 0.0928114791375455, + 1.2412415949007105 + ], + "held_grasp_finger_gap": 0.027262150014374393, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02500594263972422, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05408607866704088, + -0.9979964029574289, + 0.03283101854125326 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004053119936716698, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032185678311003586, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29686749114243227, + 0.09796458233172062, + 0.7565862561915926 + ], + "target_position": [ + 0.3107133377289891, + 0.08982991059271868, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01605865349273671, + "xy_threshold": 0.08, + "gripper_dist": 0.2055884662831092, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862561915926, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588696124797904, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0902314442549194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17828482552660255, + "release_required_pad_clearance": 0.0551157221274597, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.3183590705858315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dc9881fccace9c747454187567830471b9f2cfd3ef05ec96f50dff19959bad8e", + "visual_seed": 5022342434285351780, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4aec6c2cd7afe72d7b6e2f67d2bfad0ea5c3951a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3340215708905863, + 0.09688370281531335, + 1.04657157612227 + ], + "current_z": 1.04657157612227, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18998506871370435, + "gripper_z": 1.0483536469337338, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3288421372632362, + 0.09191204463456017, + 1.0483536469337338 + ], + "object_minus_gripper": [ + 0.005179433627350127, + 0.00497165818075318, + -0.001782070811463754 + ], + "object_to_gripper_xy": 0.007179409290907945, + "object_to_gripper_z": -0.001782070811463754, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3340215708905863, + 0.07243383278674415, + 1.04657157612227 + ], + "finger_b": [ + 0.3219455895344819, + 0.09688370281531335, + 1.04657157612227 + ], + "finger_midpoint": [ + 0.3279835802125341, + 0.08465876780102874, + 1.04657157612227 + ], + "object_minus_finger_midpoint": [ + 0.0060379906780522186, + 0.012224935014284607, + 0.0 + ], + "finger_gap": 0.027269497064062412, + "fingertip_max_gap": 0.09207945889479083, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013634748532031211, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04657157612227, + "object_top_z": 1.092364829379152, + "finger_top_clearance": 0.04579325325688188, + "fingertip_min_top_clearance": 0.013737975977064564, + "object_projection_between_fingers": 0.8038941220126652, + "object_to_finger_line_xy": 0.010827342137280791, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048539729447395416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8747438581456586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33393066171747837, + 0.09443014365815545, + 1.2378041297196942 + ], + "held_position": [ + 0.3394576690776543, + 0.09894884060686121, + 1.2358710639812531 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007396159518480946, + "max_held_gripper_dist": 0.007399100258353939, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019330657384410976, + "max_held_gripper_z_dist": 0.001943026213707233, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741733383818405, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3394576690776543, + 0.0733797060318539, + 1.2358710639812531 + ], + "held_grasp_finger_b": [ + 0.32959895103322767, + 0.09894884060686121, + 1.2358710639812531 + ], + "held_grasp_midpoint": [ + 0.334528310055441, + 0.08616427331935755, + 1.2358710639812531 + ], + "held_grasp_object_position": [ + 0.3394576690776543, + 0.09894884060686121, + 1.2358710639812531 + ], + "held_grasp_finger_gap": 0.02740392242716975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02485309949958598, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06664437348521228, + -0.9976922571309534, + 0.012987976890461495 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004069856517826889, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211664712857962, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2984139915264794, + 0.0971460528970801, + 0.7565861076031397 + ], + "target_position": [ + 0.30951498136299294, + 0.09218952024259064, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012157269072674054, + "xy_threshold": 0.08, + "gripper_dist": 0.20818301629645797, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861076031397, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754921649625143, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0950682485753022, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18038916629865773, + "release_required_pad_clearance": 0.0575341242876511, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.800807119132587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ffb8c1c3b2b6400fa7e82cfbeffe7804159ce136511696dbd7be97f45f66dbea", + "visual_seed": 7406736590035163115, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_120_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bae21977c1caefb0ca91c8fc9718abfc591526a8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_120_success.json @@ -0,0 +1,684 @@ +{ + "episode": 120, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3366910352238528, + 0.09380893688051821, + 1.0492444324464816 + ], + "current_z": 1.0492444324464816, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.192657925037916, + "gripper_z": 1.0509951824813115, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3316776269570864, + 0.08895424996979207, + 1.0509951824813115 + ], + "object_minus_gripper": [ + 0.005013408266766384, + 0.004854686910726144, + -0.0017507500348299398 + ], + "object_to_gripper_xy": 0.006978699552958077, + "object_to_gripper_z": -0.0017507500348299398, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3366910352238528, + 0.06947173205356877, + 1.0492444324464816 + ], + "finger_b": [ + 0.3247833338219936, + 0.09380893688051821, + 1.0492444324464816 + ], + "finger_midpoint": [ + 0.3307371845229232, + 0.0816403344670435, + 1.0492444324464816 + ], + "object_minus_finger_midpoint": [ + 0.005953850700929575, + 0.012168602413474713, + 0.0 + ], + "finger_gap": 0.02709414865731586, + "fingertip_max_gap": 0.09337013852799927, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013547074328657913, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492444324464816, + "object_top_z": 1.0958564255816226, + "finger_top_clearance": 0.04661199313514097, + "fingertip_min_top_clearance": 0.013983597940542292, + "object_projection_between_fingers": 0.8068454900946932, + "object_to_finger_line_xy": 0.010696042592094888, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04918506926399964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.165271783064217, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3370743739927406, + 0.09117820718955948, + 1.2432988938326024 + ], + "held_position": [ + 0.34246734567198256, + 0.09555275035558689, + 1.2414187598679198 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007194141725716555, + "max_held_gripper_dist": 0.007195212447687734, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018801339646825621, + "max_held_gripper_z_dist": 0.0018907240254539825, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0874716550286524, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34246734567198256, + 0.07004012073453772, + 1.2414187598679198 + ], + "held_grasp_finger_b": [ + 0.33286246515025397, + 0.09555275035558689, + 1.2414187598679198 + ], + "held_grasp_midpoint": [ + 0.33766490541111827, + 0.0827964355450623, + 1.2414187598679198 + ], + "held_grasp_object_position": [ + 0.34246734567198256, + 0.09555275035558689, + 1.2414187598679198 + ], + "held_grasp_finger_gap": 0.027260741002722515, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024718663742958263, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07436638776084546, + -0.9968766211088763, + 0.026582751135907134 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038558612004963677, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212661282505618, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31056886859589183, + 0.0907051473874785, + 0.7565862905130614 + ], + "target_position": [ + 0.31229804060753025, + 0.09132617811209136, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.001837311896969814, + "xy_threshold": 0.08, + "gripper_dist": 0.21376179838569473, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862905130614, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574855062691781, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08646080967618612, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.183488127772257, + "release_required_pad_clearance": 0.05323040483809306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4819704316771938, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 208, + "max_placed_release_frames": 208 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 120, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dbd706c01bec2952d3193478677181bbeb1e1ec078a0c75dd08881733e889baa", + "visual_seed": 8594294180586891213, + "episode_index": 120, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_123_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63429ac2d91be7a019b3dfaa2c02fa04bd4ea844 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_123_success.json @@ -0,0 +1,684 @@ +{ + "episode": 123, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3368185435304056, + 0.09094682410923116, + 1.047093914186102 + ], + "current_z": 1.047093914186102, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1905074663821812, + "gripper_z": 1.0492102293274441, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3315008352442069, + 0.08608742119900281, + 1.0492102293274441 + ], + "object_minus_gripper": [ + 0.0053177082861986524, + 0.00485940291022835, + -0.00211631514134214 + ], + "object_to_gripper_xy": 0.007203597577671976, + "object_to_gripper_z": -0.00211631514134214, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3368185435304056, + 0.06606529540699072, + 1.047093914186102 + ], + "finger_b": [ + 0.3253436523152682, + 0.09094682410923116, + 1.047093914186102 + ], + "finger_midpoint": [ + 0.3310810979228369, + 0.07850605975811094, + 1.047093914186102 + ], + "object_minus_finger_midpoint": [ + 0.00573744560756867, + 0.012440764351120223, + 0.0 + ], + "finger_gap": 0.027400065674367508, + "fingertip_max_gap": 0.09316581910253072, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013700032837183742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047093914186102, + "object_top_z": 1.092694594854137, + "finger_top_clearance": 0.04560068066803491, + "fingertip_min_top_clearance": 0.013680204200410506, + "object_projection_between_fingers": 0.824614394488892, + "object_to_finger_line_xy": 0.010420151488601065, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908290955126536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.082045609971969, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3363801212585641, + 0.08894137517942591, + 1.2394539566484974 + ], + "held_position": [ + 0.34189143706117286, + 0.09351884770344082, + 1.2372037932008915 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007509400250695037, + "max_held_gripper_dist": 0.007510717233976068, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022501634476059795, + "max_held_gripper_z_dist": 0.0022621536595268665, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08762244286910534, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34189143706117286, + 0.06799651004913193, + 1.2372037932008915 + ], + "held_grasp_finger_b": [ + 0.3318582138458901, + 0.09351884770344082, + 1.2372037932008915 + ], + "held_grasp_midpoint": [ + 0.3368748254535315, + 0.08075767887628638, + 1.2372037932008915 + ], + "held_grasp_object_position": [ + 0.34189143706117286, + 0.09351884770344082, + 1.2372037932008915 + ], + "held_grasp_finger_gap": 0.027423626445607856, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025391544012130347, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.012769420490378349, + -0.999895182169243, + 0.006823970623941911 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004854034973882756, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032376334513635835, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3716060850411236, + 0.08467652074288433, + 0.7433649481576905 + ], + "target_position": [ + 0.31228900616101, + 0.08728765417975051, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.05937452201655804, + "xy_threshold": 0.08, + "gripper_dist": 0.2666449919855002, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7433649481576905, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545226679500483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.11722108896776888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.2332036581822404, + "release_required_pad_clearance": 0.06861054448388444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.899636591194475, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 327, + "max_placed_release_frames": 327 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 123, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9b77a4bcd32c00810ec3691cf0045f3f33d6ef52a5287f5a075d94217f49d9d7", + "visual_seed": 7102831258682466860, + "episode_index": 123, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_124_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d3fb5452f3a476137e541ad8428b7535c350d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_124_success.json @@ -0,0 +1,684 @@ +{ + "episode": 124, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33316143293967654, + 0.09451475377446561, + 1.0463342054720552 + ], + "current_z": 1.0463342054720552, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1897476384588449, + "gripper_z": 1.048012045821989, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3281127171360577, + 0.08975256900259454, + 1.048012045821989 + ], + "object_minus_gripper": [ + 0.0050487158036188196, + 0.00476218477187107, + -0.0016778403499337902 + ], + "object_to_gripper_xy": 0.006940312317695158, + "object_to_gripper_z": -0.0016778403499337902, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33316143293967654, + 0.06996955909822075, + 1.0463342054720552 + ], + "finger_b": [ + 0.32161821384244293, + 0.09451475377446561, + 1.0463342054720552 + ], + "finger_midpoint": [ + 0.3273898233910597, + 0.08224215643634318, + 1.0463342054720552 + ], + "object_minus_finger_midpoint": [ + 0.0057716095486168295, + 0.012272597338122429, + 0.0 + ], + "finger_gap": 0.027124020513587168, + "fingertip_max_gap": 0.09583694505398391, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013562010256793596, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463342054720552, + "object_top_z": 1.0937807439140632, + "finger_top_clearance": 0.04744653844200797, + "fingertip_min_top_clearance": 0.014233961532602389, + "object_projection_between_fingers": 0.8188886159317769, + "object_to_finger_line_xy": 0.010445743461601415, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050418472526991956, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.058685180191793, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3334359520919766, + 0.09181950789892691, + 1.2408001564098223 + ], + "held_position": [ + 0.338805675536969, + 0.09616485001837871, + 1.2389904345673675 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007140799756178673, + "max_held_gripper_dist": 0.007142476943280453, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00180972184245487, + "max_held_gripper_z_dist": 0.0018220743309818044, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08748012072761875, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.338805675536969, + 0.07063976837562352, + 1.2389904345673675 + ], + "held_grasp_finger_b": [ + 0.3292936246793645, + 0.09616485001837871, + 1.2389904345673675 + ], + "held_grasp_midpoint": [ + 0.3340496501081668, + 0.08340230919700112, + 1.2389904345673675 + ], + "held_grasp_object_position": [ + 0.338805675536969, + 0.09616485001837871, + 1.2389904345673675 + ], + "held_grasp_finger_gap": 0.027239840388426875, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025016664334926234, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04860768371598919, + -0.9981955572602376, + 0.03525510671789523 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004154925146371029, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222953403877082, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29009200043845407, + 0.10204549029383282, + 0.7565869081207255 + ], + "target_position": [ + 0.30873708587370774, + 0.09254954954481388, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020923959988414884, + "xy_threshold": 0.08, + "gripper_dist": 0.2012935589407542, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869081207255, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531626201583899, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08748029137954104, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17572082590499416, + "release_required_pad_clearance": 0.05374014568977052, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4894818781626795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 124, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d0863b144f7db8295ae0f1905a61f0cc507e8e3a1b3cedd19a3d3aec7748fb6", + "visual_seed": 4974932377432245344, + "episode_index": 124, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_125_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4843374ea1417332f742dd149753bd6e944a42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_125_success.json @@ -0,0 +1,684 @@ +{ + "episode": 125, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33994945759367323, + 0.09360501481656065, + 1.0050992060829744 + ], + "current_z": 1.0050992060829744, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14851275827905364, + "gripper_z": 1.0485587970038894, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33329035263880086, + 0.08989074290532174, + 1.0485587970038894 + ], + "object_minus_gripper": [ + 0.006659104954872375, + 0.003714271911238909, + -0.043459590920915 + ], + "object_to_gripper_xy": 0.007624925877057701, + "object_to_gripper_z": -0.043459590920915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33994945759367323, + 0.07007799877073412, + 1.034981575606818 + ], + "finger_b": [ + 0.3265994143894155, + 0.09360501481656065, + 1.0350846723272398 + ], + "finger_midpoint": [ + 0.3332744359915444, + 0.08184150679364738, + 1.035033123967029 + ], + "object_minus_finger_midpoint": [ + 0.00667502160212885, + 0.011763508022913274, + -0.02993391788405453 + ], + "finger_gap": 0.027050966091988093, + "fingertip_max_gap": 0.11202091619178664, + "finger_z_skew": 0.00010309672042185802, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013525384815007363, + "object_to_finger_midpoint_z": 0.02993391788405453, + "finger_midpoint_minus_object_z": 0.02993391788405453, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0050992060829744, + "object_top_z": 1.0568558278366955, + "finger_top_clearance": 0.02182270386966656, + "fingertip_min_top_clearance": 0.015526986526116325, + "object_projection_between_fingers": 0.756439929746609, + "object_to_finger_line_xy": 0.011611007190366524, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05851045809589332, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 12.424650200177338, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 186, + "max_stable_success_frames": 186, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3423702728425726, + 0.08120490407866077, + 1.2003956552414319 + ], + "held_position": [ + 0.3477211886060456, + 0.08101527289419312, + 1.1565059700739482 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04421507348851459, + "max_held_gripper_dist": 0.04423564045005038, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.043889685167483705, + "max_held_gripper_z_dist": 0.043928259100999734, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09019382036137892, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3477211886060456, + 0.056609116639056975, + 1.1871405585852404 + ], + "held_grasp_finger_b": [ + 0.3452056172495975, + 0.0974680962664672, + 1.1848428844032948 + ], + "held_grasp_midpoint": [ + 0.3464634029278215, + 0.07703860645276209, + 1.1859917214942675 + ], + "held_grasp_object_position": [ + 0.3477211886060456, + 0.08101527289419312, + 1.1565059700739482 + ], + "held_grasp_finger_gap": 0.041000775871791566, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.04038274434708862, + "held_grasp_world_z_skew": 0.002297674181945597, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09883984584875352, + -0.9875463901766756, + 0.1224042978069475 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.028777073539157778, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03753958033617799, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3028006382799945, + 0.09174728121208561, + 0.7565862841529816 + ], + "target_position": [ + 0.31196256655891724, + 0.09539320732275178, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009860715338785613, + "xy_threshold": 0.08, + "gripper_dist": 0.20851280251012086, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862841529816, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531163409201784, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09569040992459364, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17878615479102525, + "release_required_pad_clearance": 0.05784520496229682, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.567752788365246, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 376, + "max_placed_release_frames": 376 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 125, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c619948a322231e54656229b880e0fd59b69cb9455a3fa01864f7d82ae8974c0", + "visual_seed": 5167263657423354861, + "episode_index": 125, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_126_success.json new file mode 100644 index 0000000000000000000000000000000000000000..daf83f91ac74971f264178ec4782b1d9c1ce13e4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_126_success.json @@ -0,0 +1,684 @@ +{ + "episode": 126, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3314248196598838, + 0.09336340513880306, + 1.0492025688304176 + ], + "current_z": 1.0492025688304176, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19261600181720728, + "gripper_z": 1.0509641913021688, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3265722636323538, + 0.0885731134319901, + 1.0509641913021688 + ], + "object_minus_gripper": [ + 0.004852556027529986, + 0.0047902917068129575, + -0.0017616224717511564 + ], + "object_to_gripper_xy": 0.00681866516531488, + "object_to_gripper_z": -0.0017616224717511564, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3314248196598838, + 0.06918061311631447, + 1.0492025688304176 + ], + "finger_b": [ + 0.3195612407062104, + 0.09336340513880306, + 1.0492025688304176 + ], + "finger_midpoint": [ + 0.3254930301830471, + 0.08127200912755878, + 1.0492025688304176 + ], + "object_minus_finger_midpoint": [ + 0.005931789476836702, + 0.012091396011244288, + 0.0 + ], + "finger_gap": 0.026936071272421678, + "fingertip_max_gap": 0.09319742870803313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013468035636210832, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492025688304176, + "object_top_z": 1.0954175424716657, + "finger_top_clearance": 0.04621497364124805, + "fingertip_min_top_clearance": 0.013864492092374415, + "object_projection_between_fingers": 0.8060173246247153, + "object_to_finger_line_xy": 0.010650939388209593, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909871435401657, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3765665165849355, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33187552819830873, + 0.09092280448071287, + 1.2410341312261952 + ], + "held_position": [ + 0.337098940475308, + 0.09523783343405966, + 1.2391285411814854 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0070380952041177005, + "max_held_gripper_dist": 0.007043253120374756, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001905590044709804, + "max_held_gripper_z_dist": 0.0019119204438011739, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08764000628369527, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.337098940475308, + 0.06978883095682185, + 1.2391285411814854 + ], + "held_grasp_finger_b": [ + 0.3276784833634019, + 0.09523783343405966, + 1.2391285411814854 + ], + "held_grasp_midpoint": [ + 0.33238871191935493, + 0.08251333219544076, + 1.2391285411814854 + ], + "held_grasp_object_position": [ + 0.337098940475308, + 0.09523783343405966, + 1.2391285411814854 + ], + "held_grasp_finger_gap": 0.02713663094939602, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024743860331885647, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0680677193529797, + -0.9974885807591352, + 0.019578478929944576 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038414674981490037, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218706576899795, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2979578990705993, + 0.08961135689953563, + 0.7566027880482915 + ], + "target_position": [ + 0.3071797681532211, + 0.08853856285614949, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009284059265027421, + "xy_threshold": 0.08, + "gripper_dist": 0.20870977100462954, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566027880482915, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588539813033428, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09011010986961802, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17926785880569227, + "release_required_pad_clearance": 0.055055054934809014, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.1038390132057385, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 126, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2676eb8a7b35e1cc71e0eada8f1c1ef92f4705135828edeb4aa355d3ab7bdc72", + "visual_seed": 7008230623926548165, + "episode_index": 126, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_127_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_127_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94c3075be2627748d72915d5715dcb06ea21060d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_127_success.json @@ -0,0 +1,684 @@ +{ + "episode": 127, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3356939566896806, + 0.09825917498828905, + 1.0464386573203484 + ], + "current_z": 1.0464386573203484, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18985226912107234, + "gripper_z": 1.0480599408037818, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3304888241954804, + 0.09333022783537367, + 1.0480599408037818 + ], + "object_minus_gripper": [ + 0.005205132494200182, + 0.004928947152915378, + -0.0016212834834334888 + ], + "object_to_gripper_xy": 0.0071685371114622275, + "object_to_gripper_z": -0.0016212834834334888, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3356939566896806, + 0.07372895817171396, + 1.0464386573203484 + ], + "finger_b": [ + 0.3237440190403789, + 0.09825917498828905, + 1.0464386573203484 + ], + "finger_midpoint": [ + 0.32971898786502973, + 0.0859940665800015, + 1.0464386573203484 + ], + "object_minus_finger_midpoint": [ + 0.0059749688246508725, + 0.012265108408287553, + 0.0 + ], + "finger_gap": 0.027286123705839594, + "fingertip_max_gap": 0.09360976463985546, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013643061852919816, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464386573203484, + "object_top_z": 1.0928144781656655, + "finger_top_clearance": 0.046375820845317106, + "fingertip_min_top_clearance": 0.013912746253595098, + "object_projection_between_fingers": 0.8082004468191197, + "object_to_finger_line_xy": 0.010742990270149256, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930488231992773, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5540784742215836, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3359987057903466, + 0.09499268563964003, + 1.2402557171857551 + ], + "held_position": [ + 0.34159867327662286, + 0.09940881449902647, + 1.2384784116443257 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007349873804199156, + "max_held_gripper_dist": 0.007352303112800034, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017773055414294081, + "max_held_gripper_z_dist": 0.0017854636506440258, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08786341273684929, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34159867327662286, + 0.07369919524924971, + 1.2384784116443257 + ], + "held_grasp_finger_b": [ + 0.332062328329631, + 0.09940881449902647, + 1.2384784116443257 + ], + "held_grasp_midpoint": [ + 0.33683050080312693, + 0.08655400487413809, + 1.2384784116443257 + ], + "held_grasp_object_position": [ + 0.34159867327662286, + 0.09940881449902647, + 1.2384784116443257 + ], + "held_grasp_finger_gap": 0.027421276354621216, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025014474449219126, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06616963980112044, + -0.997505669384952, + 0.024576784034305625 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039201897951370275, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206197123103952, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30766780094169927, + 0.0977422827443736, + 0.7565863182239194 + ], + "target_position": [ + 0.31106235532424453, + 0.09597403684120849, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003827491741351964, + "xy_threshold": 0.08, + "gripper_dist": 0.21106120661314343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863182239194, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752273032467684, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756953850675574, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18249642790737924, + "release_required_pad_clearance": 0.05378476925337787, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5787491391311694, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 208, + "max_placed_release_frames": 208 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 127, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed098341511acc5c44244816a5cf1c5efbf867b7760703149d32dc8c166cc8f1", + "visual_seed": 1380143070647378889, + "episode_index": 127, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_128_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04eb29b7a5ca823688bf54abbd17b5095a55398d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_128_success.json @@ -0,0 +1,684 @@ +{ + "episode": 128, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33151138376006306, + 0.09929946696482626, + 1.0475195812101699 + ], + "current_z": 1.0475195812101699, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19093301419695952, + "gripper_z": 1.0491487618035753, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3267365575042005, + 0.09454079705022077, + 1.0491487618035753 + ], + "object_minus_gripper": [ + 0.004774826255862563, + 0.004758669914605496, + -0.0016291805934054437 + ], + "object_to_gripper_xy": 0.0067412094708476445, + "object_to_gripper_z": -0.0016291805934054437, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33151138376006306, + 0.0751843894327811, + 1.0475195812101699 + ], + "finger_b": [ + 0.31967457415550377, + 0.09929946696482626, + 1.0475195812101699 + ], + "finger_midpoint": [ + 0.3255929789577834, + 0.08724192819880369, + 1.0475195812101699 + ], + "object_minus_finger_midpoint": [ + 0.005918404802279675, + 0.012057538766022571, + 0.0 + ], + "finger_gap": 0.026863488715934428, + "fingertip_max_gap": 0.09212450821928389, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013431744357967219, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475195812101699, + "object_top_z": 1.0933745508955997, + "finger_top_clearance": 0.04585496968542979, + "fingertip_min_top_clearance": 0.01375649090562897, + "object_projection_between_fingers": 0.8058468245993878, + "object_to_finger_line_xy": 0.010625782241630001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856225410964195, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9440338929974618, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321357202369352, + 0.09679169877685846, + 1.2409763330773003 + ], + "held_position": [ + 0.33731579625813696, + 0.10105895392785898, + 1.2392149052551784 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006938680139746652, + "max_held_gripper_dist": 0.006942476824687131, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017614278221218527, + "max_held_gripper_z_dist": 0.00176977447663762, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738387133312764, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33731579625813696, + 0.07563198600504424, + 1.2392149052551784 + ], + "held_grasp_finger_b": [ + 0.3279754820581473, + 0.10105895392785898, + 1.2392149052551784 + ], + "held_grasp_midpoint": [ + 0.33264563915814216, + 0.08834546996645161, + 1.2392149052551784 + ], + "held_grasp_object_position": [ + 0.33731579625813696, + 0.10105895392785898, + 1.2392149052551784 + ], + "held_grasp_finger_gap": 0.027088229309099883, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024596679941209638, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07980119747945631, + -0.9966602497053785, + 0.01732384305105172 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036475632171067036, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215651673721241, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2938916390210408, + 0.10491893502383334, + 0.7565877655359905 + ], + "target_position": [ + 0.3073204733915968, + 0.094521084159681, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016983783298928988, + "xy_threshold": 0.08, + "gripper_dist": 0.20495504220609084, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565877655359905, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526530837941793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538220397870054, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17893198781309683, + "release_required_pad_clearance": 0.05269110198935027, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4352086725796545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 128, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ab9611a704186291e5499402be97bf887183d43685b422a15c61bf47e5f9fb36", + "visual_seed": 1552922445320364188, + "episode_index": 128, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95558922f95c05d2a838b8f49a9c061f4e19dca1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3313242974079705, + 0.09200125264096849, + 1.0491092724346809 + ], + "current_z": 1.0491092724346809, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19252276502611532, + "gripper_z": 1.0508053827948962, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3264559171466172, + 0.08728766308673794, + 1.0508053827948962 + ], + "object_minus_gripper": [ + 0.004868380261353278, + 0.0047135895542305545, + -0.0016961103602153305 + ], + "object_to_gripper_xy": 0.0067763598528181495, + "object_to_gripper_z": -0.0016961103602153305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3313242974079705, + 0.0676777545309631, + 1.0491092724346809 + ], + "finger_b": [ + 0.3197312209881801, + 0.09200125264096849, + 1.0491092724346809 + ], + "finger_midpoint": [ + 0.3255277591980753, + 0.0798395035859658, + 1.0491092724346809 + ], + "object_minus_finger_midpoint": [ + 0.0057965382098951745, + 0.012161749055002696, + 0.0 + ], + "finger_gap": 0.0269449806305838, + "fingertip_max_gap": 0.09240533609344562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013472490315291888, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491092724346809, + "object_top_z": 1.095197949296288, + "finger_top_clearance": 0.046088676861607114, + "fingertip_min_top_clearance": 0.013826603058482167, + "object_projection_between_fingers": 0.814884985291977, + "object_to_finger_line_xy": 0.010465183710908084, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870266804672281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8222254620832268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3318111463009987, + 0.08942127764109854, + 1.2431172951422285 + ], + "held_position": [ + 0.3370248117736589, + 0.09369704522688604, + 1.2412905541945924 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006985805508189445, + "max_held_gripper_dist": 0.006987176516693492, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018267409476360186, + "max_held_gripper_z_dist": 0.0018354431901415058, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745780671068751, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3370248117736589, + 0.06825802489813151, + 1.2412905541945924 + ], + "held_grasp_finger_b": [ + 0.32764452144424594, + 0.09369704522688604, + 1.2412905541945924 + ], + "held_grasp_midpoint": [ + 0.3323346666089524, + 0.08097753506250878, + 1.2412905541945924 + ], + "held_grasp_object_position": [ + 0.3370248117736589, + 0.09369704522688604, + 1.2412905541945924 + ], + "held_grasp_finger_gap": 0.02711334730259, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02470497732837099, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07093598981264083, + -0.9973016719885592, + 0.018906623128550844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037839094264735997, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032182336122378426, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29576118921756844, + 0.09951783670534198, + 0.756588930783908 + ], + "target_position": [ + 0.3070549833190267, + 0.09028700244336059, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014586229340659044, + "xy_threshold": 0.08, + "gripper_dist": 0.20636440103914863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756588930783908, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542681302147956, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09168180683391201, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17966786110477614, + "release_required_pad_clearance": 0.05584090341695601, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.884266398451587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "43eb7bdbb6f788b511c95e0832a5883798b9c9b8e28cc6dbc085af89679cdc12", + "visual_seed": 1199139049638132438, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_130_success.json new file mode 100644 index 0000000000000000000000000000000000000000..761a704de8864c8e8c88444cc68917fc755a95cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_130_success.json @@ -0,0 +1,684 @@ +{ + "episode": 130, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33955750576787186, + 0.09672655331615534, + 1.0485664844346256 + ], + "current_z": 1.0485664844346256, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19197997702606007, + "gripper_z": 1.0501012803520595, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3343694962601017, + 0.09181672586897724, + 1.0501012803520595 + ], + "object_minus_gripper": [ + 0.005188009507770153, + 0.004909827447178106, + -0.0015347959174338843 + ], + "object_to_gripper_xy": 0.007142957945681675, + "object_to_gripper_z": -0.0015347959174338843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33955750576787186, + 0.07220118868321408, + 1.0485664844346256 + ], + "finger_b": [ + 0.327645374541203, + 0.09672655331615534, + 1.0485664844346256 + ], + "finger_midpoint": [ + 0.3336014401545374, + 0.08446387099968472, + 1.0485664844346256 + ], + "object_minus_finger_midpoint": [ + 0.005956065613334449, + 0.012262682316470624, + 0.0 + ], + "finger_gap": 0.02726522291748419, + "fingertip_max_gap": 0.09404604282250709, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013632611458742101, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485664844346256, + "object_top_z": 1.0951025333020565, + "finger_top_clearance": 0.0465360488674309, + "fingertip_min_top_clearance": 0.013960814660229304, + "object_projection_between_fingers": 0.8091198214594187, + "object_to_finger_line_xy": 0.01071509163059712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049523021411253546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7190683453493796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3399192427032035, + 0.0935612664335774, + 1.2431141660270597 + ], + "held_position": [ + 0.34549898192523715, + 0.09797304735834012, + 1.2414384173631958 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073079021817784575, + "max_held_gripper_dist": 0.00730968259682568, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016757486638638852, + "max_held_gripper_z_dist": 0.0016863456482869577, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08784093979868715, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34549898192523715, + 0.0723034253975686, + 1.2414384173631958 + ], + "held_grasp_finger_b": [ + 0.3359113164672172, + 0.09797304735834012, + 1.2414384173631958 + ], + "held_grasp_midpoint": [ + 0.3407051491962272, + 0.08513823637795435, + 1.2414384173631958 + ], + "held_grasp_object_position": [ + 0.34549898192523715, + 0.09797304735834012, + 1.2414384173631958 + ], + "held_grasp_finger_gap": 0.027401693753194015, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025018960226887738, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06183796119970521, + -0.997749088421197, + 0.02593883400105023 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040051617257499585, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032097863167778115, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3147201893471753, + 0.09770941253766935, + 0.7565863321792063 + ], + "target_position": [ + 0.31495715215886033, + 0.09520656110004877, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0025140438924014558, + "xy_threshold": 0.08, + "gripper_dist": 0.21416406751214737, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863321792063, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520523838070002, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08760323675724861, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1853258036702488, + "release_required_pad_clearance": 0.05380161837862431, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.612224599045188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 208, + "max_placed_release_frames": 208 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 130, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "136c9dfab59ab8e9f03d4fe953d67c2b97261e91a248c2392f7dddedf4684f2e", + "visual_seed": 5823191267272785944, + "episode_index": 130, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_133_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d7ca1a892c435f196af938e4acaf6033f1a1c377 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_133_success.json @@ -0,0 +1,684 @@ +{ + "episode": 133, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33007819612446393, + 0.09604002816970163, + 1.048471101153355 + ], + "current_z": 1.048471101153355, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1918845937447894, + "gripper_z": 1.0503251220442562, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3252657478597869, + 0.0913450267947973, + 1.0503251220442562 + ], + "object_minus_gripper": [ + 0.004812448264677027, + 0.004695001374904334, + -0.0018540208909012534 + ], + "object_to_gripper_xy": 0.006723295041164453, + "object_to_gripper_z": -0.0018540208909012534, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33007819612446393, + 0.07174956947773575, + 1.048471101153355 + ], + "finger_b": [ + 0.31852483105901774, + 0.09604002816970163, + 1.048471101153355 + ], + "finger_midpoint": [ + 0.32430151359174086, + 0.0838947988237187, + 1.048471101153355 + ], + "object_minus_finger_midpoint": [ + 0.005776682532723065, + 0.01214522934598293, + 0.0 + ], + "finger_gap": 0.02689807851504588, + "fingertip_max_gap": 0.0948917273745202, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013449039257522923, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048471101153355, + "object_top_z": 1.095702357236014, + "finger_top_clearance": 0.0472312560826591, + "fingertip_min_top_clearance": 0.01416937682479773, + "object_projection_between_fingers": 0.8155092998372914, + "object_to_finger_line_xy": 0.01043333027370129, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0499458636872601, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5903170975560545, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33050497519670397, + 0.09374680311032084, + 1.2420820338874672 + ], + "held_position": [ + 0.33564235816648047, + 0.09802746806035999, + 1.2401024408066514 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006973921777469037, + "max_held_gripper_dist": 0.006975173772096591, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019795930808157447, + "max_held_gripper_z_dist": 0.0019876319531830777, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08726082230625634, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33564235816648047, + 0.07266422903050289, + 1.2401024408066514 + ], + "held_grasp_finger_b": [ + 0.3262082622215041, + 0.09802746806035999, + 1.2401024408066514 + ], + "held_grasp_midpoint": [ + 0.3309253101939923, + 0.08534584854543144, + 1.2401024408066514 + ], + "held_grasp_object_position": [ + 0.33564235816648047, + 0.09802746806035999, + 1.2401024408066514 + ], + "held_grasp_finger_gap": 0.027060969317167588, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024728818659951884, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.060920360414755445, + -0.9976465212239018, + 0.03146630541997497 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003956352696876256, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226108711067949, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.282908338936011, + 0.10168503027784317, + 0.7565864616332875 + ], + "target_position": [ + 0.3059077088860175, + 0.09109924771878813, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.025318566517179765, + "xy_threshold": 0.08, + "gripper_dist": 0.19994938659386755, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864616332875, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752674857677284, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08681838867482357, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17501391221343848, + "release_required_pad_clearance": 0.053409194337411786, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.832851009144579, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 133, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f0ccc747ced06be7a748d19e2ad1b907dc26896e088fe3d1f5ee760245c5c119", + "visual_seed": 6814491210922231143, + "episode_index": 133, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_135_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_135_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88cb09f2ef35cf8c3c39e7b4d24af7c47fdd02e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_135_success.json @@ -0,0 +1,684 @@ +{ + "episode": 135, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33504825109877323, + 0.09298270005934021, + 1.0475593153426481 + ], + "current_z": 1.0475593153426481, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19097274832943778, + "gripper_z": 1.0493308843036284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3298984774142021, + 0.08804422058079366, + 1.0493308843036284 + ], + "object_minus_gripper": [ + 0.005149773684571146, + 0.004938479478546559, + -0.0017715689609802965 + ], + "object_to_gripper_xy": 0.007135036689627249, + "object_to_gripper_z": -0.0017715689609802965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33504825109877323, + 0.06854983993299314, + 1.0475593153426481 + ], + "finger_b": [ + 0.3230163744860405, + 0.09298270005934021, + 1.0475593153426481 + ], + "finger_midpoint": [ + 0.32903231279240686, + 0.08076626999616668, + 1.0475593153426481 + ], + "object_minus_finger_midpoint": [ + 0.006015938306366375, + 0.012216430063173536, + 0.0 + ], + "finger_gap": 0.02723473349929582, + "fingertip_max_gap": 0.09221129635494871, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361736674964791, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475593153426481, + "object_top_z": 1.0933133798831947, + "finger_top_clearance": 0.045754064540546535, + "fingertip_min_top_clearance": 0.01372621936216396, + "object_projection_between_fingers": 0.804826666725728, + "object_to_finger_line_xy": 0.010794053055226967, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048605648177474356, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0419197051201337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33533461366364037, + 0.0899642042645557, + 1.2401866987903356 + ], + "held_position": [ + 0.3408801602291137, + 0.09439593844931375, + 1.238266297153899 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007353998710865747, + "max_held_gripper_dist": 0.007357280159664381, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019204016364366971, + "max_held_gripper_z_dist": 0.0019306904708451533, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08765625854092696, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3408801602291137, + 0.06874109783858871, + 1.238266297153899 + ], + "held_grasp_finger_b": [ + 0.3312796712126074, + 0.09439593844931375, + 1.238266297153899 + ], + "held_grasp_midpoint": [ + 0.33607991572086054, + 0.08156851814395123, + 1.238266297153899 + ], + "held_grasp_object_position": [ + 0.3408801602291137, + 0.09439593844931375, + 1.238266297153899 + ], + "held_grasp_finger_gap": 0.027392339004140658, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024879959382927072, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07326469490594761, + -0.9972128328473873, + 0.01410143555909904 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003851913365087, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032056868375605, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29487326925542, + 0.09494776136031619, + 0.7565918273175473 + ], + "target_position": [ + 0.3104796983081405, + 0.0891149929271969, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016660786757293013, + "xy_threshold": 0.08, + "gripper_dist": 0.20273329252860403, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565918273175473, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519047740505043, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565015917797512, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17619604554138057, + "release_required_pad_clearance": 0.052825079588987564, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6898257809147423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 135, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1e0e7098775ae2e152ca0fd77291d365fb73392c6c3944be1d3e17408c616d6", + "visual_seed": 763966199264007329, + "episode_index": 135, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_137_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f018c3f040e1c9d32d3d9ecb7ff1aee764d7293 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_137_success.json @@ -0,0 +1,684 @@ +{ + "episode": 137, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3349850541441977, + 0.09479136548772614, + 1.047150478963444 + ], + "current_z": 1.047150478963444, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1905639119502337, + "gripper_z": 1.048906746139729, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32991349924533, + 0.0898895473697622, + 1.048906746139729 + ], + "object_minus_gripper": [ + 0.005071554898867736, + 0.004901818117963946, + -0.0017562671762849646 + ], + "object_to_gripper_xy": 0.007053260944685723, + "object_to_gripper_z": -0.0017562671762849646, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3349850541441977, + 0.07045546322205046, + 1.047150478963444 + ], + "finger_b": [ + 0.32294944033423206, + 0.09479136548772614, + 1.047150478963444 + ], + "finger_midpoint": [ + 0.3289672472392149, + 0.08262341435488829, + 1.047150478963444 + ], + "object_minus_finger_midpoint": [ + 0.006017806904982825, + 0.012167951132837848, + 0.0 + ], + "finger_gap": 0.027149440857357536, + "fingertip_max_gap": 0.09216919430460754, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013574720428678773, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047150478963444, + "object_top_z": 1.0932634739848757, + "finger_top_clearance": 0.046112995021431624, + "fingertip_min_top_clearance": 0.01383389850642952, + "object_projection_between_fingers": 0.8034764011928459, + "object_to_finger_line_xy": 0.010788344516029499, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048584597152303774, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.750321746912057, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33531159447997877, + 0.09183649757710931, + 1.241156326925403 + ], + "held_position": [ + 0.3407904726772264, + 0.09622253643846931, + 1.2392621997075708 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007269330169346278, + "max_held_gripper_dist": 0.007270338849304911, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001894127217832109, + "max_held_gripper_z_dist": 0.0019035019267046316, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08760414972048615, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3407904726772264, + 0.07063815019620227, + 1.2392621997075708 + ], + "held_grasp_finger_b": [ + 0.33120310715583834, + 0.09622253643846931, + 1.2392621997075708 + ], + "held_grasp_midpoint": [ + 0.33599678991653237, + 0.08343034331733579, + 1.2392621997075708 + ], + "held_grasp_object_position": [ + 0.3407904726772264, + 0.09622253643846931, + 1.2392621997075708 + ], + "held_grasp_finger_gap": 0.02732175684384523, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024674163984131442, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08472390193868896, + -0.9961717572224054, + 0.021533475165623872 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037032289060536213, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03205086395746061, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2904914212372551, + 0.10425189936435873, + 0.7565860435600439 + ], + "target_position": [ + 0.31050387091747905, + 0.09204783200489489, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.023440081107321868, + "xy_threshold": 0.08, + "gripper_dist": 0.20259983274556292, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565860435600439, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07726767801298692, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08839311247215607, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17693518655590879, + "release_required_pad_clearance": 0.05419655623607804, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4077448334529, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 137, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "014dd0aea677df6b7a64d6fe9449f36961b6a8061df1c277ef04eae3cb366573", + "visual_seed": 1838261695156567698, + "episode_index": 137, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_139_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_139_success.json new file mode 100644 index 0000000000000000000000000000000000000000..110d684cdeca0d94bbe98ea4f412e815e3a67be9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_139_success.json @@ -0,0 +1,684 @@ +{ + "episode": 139, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33881569710136267, + 0.09461244678052104, + 1.0465804178040619 + ], + "current_z": 1.0465804178040619, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1899939103954963, + "gripper_z": 1.0481825990074072, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33390340862212187, + 0.08977761174271526, + 1.0481825990074072 + ], + "object_minus_gripper": [ + 0.004912288479240801, + 0.004834835037805782, + -0.0016021812033453209 + ], + "object_to_gripper_xy": 0.006892474733074931, + "object_to_gripper_z": -0.0016021812033453209, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33881569710136267, + 0.07038486223943079, + 1.0465804178040619 + ], + "finger_b": [ + 0.3268948905545524, + 0.09461244678052104, + 1.0465804178040619 + ], + "finger_midpoint": [ + 0.33285529382795753, + 0.08249865450997591, + 1.0465804178040619 + ], + "object_minus_finger_midpoint": [ + 0.005960403273405135, + 0.012113792270545126, + 0.0 + ], + "finger_gap": 0.027001508873063927, + "fingertip_max_gap": 0.0924966005834538, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013500754436531964, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465804178040619, + "object_top_z": 1.092506295890829, + "finger_top_clearance": 0.04592587808676707, + "fingertip_min_top_clearance": 0.013777763426030086, + "object_projection_between_fingers": 0.8050895100925034, + "object_to_finger_line_xy": 0.01069615589886311, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487483002917269, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0908008490907837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3391767921684955, + 0.09206733726864276, + 1.2398883968825063 + ], + "held_position": [ + 0.34447090807388453, + 0.09642822009158886, + 1.2381523541071882 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007075224853875226, + "max_held_gripper_dist": 0.007079988678664845, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017360427753181362, + "max_held_gripper_z_dist": 0.0017455361951357329, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08618292402416895, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34447090807388453, + 0.07096646505083372, + 1.2381523541071882 + ], + "held_grasp_finger_b": [ + 0.33491668204151226, + 0.09642822009158886, + 1.2381523541071882 + ], + "held_grasp_midpoint": [ + 0.33969379505769837, + 0.08369734257121128, + 1.2381523541071882 + ], + "held_grasp_object_position": [ + 0.34447090807388453, + 0.09642822009158886, + 1.2381523541071882 + ], + "held_grasp_finger_gap": 0.02719529747645868, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02471706895715509, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07090424460741583, + -0.9973587482929381, + 0.015751676107493947 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038677572672624447, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032164255307599365, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29662297019196165, + 0.10116580930668906, + 0.756586376340074 + ], + "target_position": [ + 0.31455178350539864, + 0.09063808193155112, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020791233501485765, + "xy_threshold": 0.08, + "gripper_dist": 0.20249598532176086, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586376340074, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521934858217592, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08847627992334937, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770800627872376, + "release_required_pad_clearance": 0.05423813996167469, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4941694547895765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 139, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33cb04f2efd7c90f04dde59aea4370b1622acd186c48e4ce3a260574a65a2b0d", + "visual_seed": 6264256722344551486, + "episode_index": 139, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_141_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_141_success.json new file mode 100644 index 0000000000000000000000000000000000000000..723eca42cec3c8a53d3e86cd308f3b4ba86c6baf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_141_success.json @@ -0,0 +1,684 @@ +{ + "episode": 141, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3305055044811772, + 0.10016174742574536, + 1.0465570640423913 + ], + "current_z": 1.0465570640423913, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18997043742453623, + "gripper_z": 1.0485773059168024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32525398916256765, + 0.09514133911989228, + 1.0485773059168024 + ], + "object_minus_gripper": [ + 0.0052515153186095676, + 0.005020408305853083, + -0.0020202418744110773 + ], + "object_to_gripper_xy": 0.007265184973493075, + "object_to_gripper_z": -0.0020202418744110773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3305055044811772, + 0.07574534593425786, + 1.0465570640423913 + ], + "finger_b": [ + 0.3182448821117413, + 0.10016174742574536, + 1.0465570640423913 + ], + "finger_midpoint": [ + 0.32437519329645925, + 0.0879535466800016, + 1.0465570640423913 + ], + "object_minus_finger_midpoint": [ + 0.0061303111847179625, + 0.01220820074574376, + 0.0 + ], + "finger_gap": 0.027321850645214828, + "fingertip_max_gap": 0.09406532115557145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366092532260742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465570640423913, + "object_top_z": 1.0932722214943533, + "finger_top_clearance": 0.046715157451961975, + "fingertip_min_top_clearance": 0.014014547235588575, + "object_projection_between_fingers": 0.7986253462817986, + "object_to_finger_line_xy": 0.010956808240956059, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953266057778573, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4977262322606215, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3304556321867446, + 0.09784501687723182, + 1.239827683875478 + ], + "held_position": [ + 0.3360857237666939, + 0.10236761057347538, + 1.237665629859814 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00753831960761588, + "max_held_gripper_dist": 0.007540706953156571, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002162054015663939, + "max_held_gripper_z_dist": 0.002172417610010635, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08737531442326203, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3360857237666939, + 0.0767800456930115, + 1.237665629859814 + ], + "held_grasp_finger_b": [ + 0.32613810645472857, + 0.10236761057347538, + 1.237665629859814 + ], + "held_grasp_midpoint": [ + 0.33111191511071125, + 0.08957382813324344, + 1.237665629859814 + ], + "held_grasp_object_position": [ + 0.3360857237666939, + 0.10236761057347538, + 1.237665629859814 + ], + "held_grasp_finger_gap": 0.027453206856344857, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02486639058012447, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06598291978271885, + -0.997467462592961, + 0.026550242283401748 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004133140206962263, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211065684062395, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29101788735921225, + 0.10152556318272557, + 0.7565874850816663 + ], + "target_position": [ + 0.30589797256743306, + 0.09524512532096324, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016151186815196266, + "xy_threshold": 0.08, + "gripper_dist": 0.20626739679098505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874850816663, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581158449638883, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851475473186639, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17858154037317941, + "release_required_pad_clearance": 0.052573773659331954, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2130623359566653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 141, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99bcd62af7678cfadf5d247de928cd4c2891ebe4758ed9027304de5d0437487a", + "visual_seed": 7306089992768637376, + "episode_index": 141, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_146_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_146_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b915c0670b9d31008ed157b9bf08b283dfe0f6d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_146_success.json @@ -0,0 +1,684 @@ +{ + "episode": 146, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33073196209880246, + 0.09365500577734978, + 1.0458749627138528 + ], + "current_z": 1.0458749627138528, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.18928827649135294, + "gripper_z": 1.0478492468355967, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32549074607305345, + 0.08863130739024196, + 1.0478492468355967 + ], + "object_minus_gripper": [ + 0.005241216025749007, + 0.005023698387107825, + -0.00197428412174383 + ], + "object_to_gripper_xy": 0.007260020035316568, + "object_to_gripper_z": -0.00197428412174383, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33073196209880246, + 0.069214514346353, + 1.0458749627138528 + ], + "finger_b": [ + 0.3185060402553658, + 0.09365500577734978, + 1.0458749627138528 + ], + "finger_midpoint": [ + 0.3246190011770841, + 0.0814347600618514, + 1.0458749627138528 + ], + "object_minus_finger_midpoint": [ + 0.006112960921718369, + 0.012220245715498387, + 0.0 + ], + "finger_gap": 0.027327839034772743, + "fingertip_max_gap": 0.09220044730893193, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013663919517386386, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458749627138528, + "object_top_z": 1.0916711143597246, + "finger_top_clearance": 0.04579615164587181, + "fingertip_min_top_clearance": 0.013738845493761542, + "object_projection_between_fingers": 0.799851357717688, + "object_to_finger_line_xy": 0.010934180989222704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048600223654465965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9607290673204703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33086044580328766, + 0.09086542296125988, + 1.2378818433171412 + ], + "held_position": [ + 0.3365003355837478, + 0.09536406855060862, + 1.2357471027754134 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007523515538284084, + "max_held_gripper_dist": 0.007528554130663795, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021347405417277976, + "max_held_gripper_z_dist": 0.00214404277050817, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08698069361639688, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3365003355837478, + 0.06966530797101628, + 1.2357471027754134 + ], + "held_grasp_finger_b": [ + 0.32677721793662484, + 0.09536406855060862, + 1.2357471027754134 + ], + "held_grasp_midpoint": [ + 0.3316387767601863, + 0.08251468826081246, + 1.2357471027754134 + ], + "held_grasp_object_position": [ + 0.3365003355837478, + 0.09536406855060862, + 1.2357471027754134 + ], + "held_grasp_finger_gap": 0.02747663210997672, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02487797173418663, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07643337756321443, + -0.9969796939058123, + 0.013763311147824472 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038693766528641173, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03201806837650335, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.290389949829139, + 0.09887432160875831, + 0.7565875348335318 + ], + "target_position": [ + 0.30606752415766125, + 0.09110367749585452, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01749769261233451, + "xy_threshold": 0.08, + "gripper_dist": 0.20256135640563713, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875348335318, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542442988322717, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08834122970400447, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17614986202364064, + "release_required_pad_clearance": 0.05417061485200224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3500561057801836, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 146, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a8753e31ac99fc3bfcb17df3a67d64e1c4949cb866582e5d91d2610ac067588", + "visual_seed": 692352387506389880, + "episode_index": 146, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_147_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_147_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8fbd5f2df71038a1ba4ab2910136ac12cef1a4b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_147_success.json @@ -0,0 +1,684 @@ +{ + "episode": 147, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33429080773971237, + 0.09188137224728693, + 1.0493036719077444 + ], + "current_z": 1.0493036719077444, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19271716449917886, + "gripper_z": 1.0510889809948338, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32928684778601147, + 0.08701274572424204, + 1.0510889809948338 + ], + "object_minus_gripper": [ + 0.005003959953700898, + 0.004868626523044886, + -0.001785309087089404 + ], + "object_to_gripper_xy": 0.006981628709630614, + "object_to_gripper_z": -0.001785309087089404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33429080773971237, + 0.06759690198788908, + 1.0493036719077444 + ], + "finger_b": [ + 0.32230291136439476, + 0.09188137224728693, + 1.0493036719077444 + ], + "finger_midpoint": [ + 0.32829685955205357, + 0.07973913711758801, + 1.0493036719077444 + ], + "object_minus_finger_midpoint": [ + 0.005993948187658804, + 0.01214223512969892, + 0.0 + ], + "finger_gap": 0.027082192586364417, + "fingertip_max_gap": 0.09271311099419347, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013541096293182203, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493036719077444, + "object_top_z": 1.0954152550722696, + "finger_top_clearance": 0.04611158316452513, + "fingertip_min_top_clearance": 0.013833474949357504, + "object_projection_between_fingers": 0.8040621599722422, + "object_to_finger_line_xy": 0.0107494883241366, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048856555497096735, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1268611977231588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3346819458677113, + 0.08917330849560508, + 1.2437327360122665 + ], + "held_position": [ + 0.3400822968306962, + 0.09354285415895162, + 1.241818095973539 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007205731489958621, + "max_held_gripper_dist": 0.0072068825268417815, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019146400387275442, + "max_held_gripper_z_dist": 0.001925354687551728, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08750186737352647, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3400822968306962, + 0.06802525288396499, + 1.241818095973539 + ], + "held_grasp_finger_b": [ + 0.33048409519347793, + 0.09354285415895162, + 1.241818095973539 + ], + "held_grasp_midpoint": [ + 0.33528319601208706, + 0.08078405352145832, + 1.241818095973539 + ], + "held_grasp_object_position": [ + 0.3400822968306962, + 0.09354285415895162, + 1.241818095973539 + ], + "held_grasp_finger_gap": 0.0272630418240133, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02473131993635071, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0740630975166875, + -0.9970448321540428, + 0.020402457233141602 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003850020757947213, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321236924537933, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2905808332915441, + 0.08931732469123171, + 0.7565886496069754 + ], + "target_position": [ + 0.30988689113661005, + 0.08973373196013769, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01931054801217796, + "xy_threshold": 0.08, + "gripper_dist": 0.20113672332629834, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565886496069754, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752248181448659, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0918088795185396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17348162621244725, + "release_required_pad_clearance": 0.0559044397592698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.025586400069579, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 147, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "77ed7321487de942c4eda74fd00dd270aa59937909c1de8fa5781ae4d871cae3", + "visual_seed": 939490480436780009, + "episode_index": 147, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_148_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_148_success.json new file mode 100644 index 0000000000000000000000000000000000000000..110bd8665013b414557e041a52fac6984f0900f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_148_success.json @@ -0,0 +1,684 @@ +{ + "episode": 148, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33444993569347053, + 0.09127104540983194, + 1.0485835285757636 + ], + "current_z": 1.0485835285757636, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19199690195790853, + "gripper_z": 1.0502750228539866, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32937531852967117, + 0.08646168265295379, + 1.0502750228539866 + ], + "object_minus_gripper": [ + 0.0050746171637993664, + 0.004809362756878155, + -0.0016914942782229048 + ], + "object_to_gripper_xy": 0.006991545572073014, + "object_to_gripper_z": -0.0016914942782229048, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33444993569347053, + 0.0667401142513462, + 1.0485835285757636 + ], + "finger_b": [ + 0.32279621950348303, + 0.09127104540983194, + 1.0485835285757636 + ], + "finger_midpoint": [ + 0.32862307759847675, + 0.07900557983058906, + 1.0485835285757636 + ], + "object_minus_finger_midpoint": [ + 0.005826858094993781, + 0.012265465579242879, + 0.0 + ], + "finger_gap": 0.027158344657566, + "fingertip_max_gap": 0.09306374252356556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013579172328783017, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485835285757636, + "object_top_z": 1.0945884670915857, + "finger_top_clearance": 0.0460049385158221, + "fingertip_min_top_clearance": 0.013801481554746664, + "object_projection_between_fingers": 0.8158709622841839, + "object_to_finger_line_xy": 0.010526286237312037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903187126178278, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4562925398537425, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3348088414471306, + 0.08829551702393934, + 1.2423406204964134 + ], + "held_position": [ + 0.3402307949761196, + 0.09265451802881296, + 1.2405084774074473 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071941099608952026, + "max_held_gripper_dist": 0.0071982100265388736, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001832143088966065, + "max_held_gripper_z_dist": 0.0018435099371736374, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08770699531035075, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3402307949761196, + 0.06705828635030807, + 1.2405084774074473 + ], + "held_grasp_finger_b": [ + 0.3307644839977181, + 0.09265451802881296, + 1.2405084774074473 + ], + "held_grasp_midpoint": [ + 0.3354976394869188, + 0.07985640218956051, + 1.2405084774074473 + ], + "held_grasp_object_position": [ + 0.3402307949761196, + 0.09265451802881296, + 1.2405084774074473 + ], + "held_grasp_finger_gap": 0.027290623292250068, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025012385584526075, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.056874882058448525, + -0.9982243177775344, + 0.01770477868864051 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004004154204097132, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215563685312256, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2977767328218865, + 0.09543278947514335, + 0.7565874357795881 + ], + "target_position": [ + 0.3099722190553008, + 0.08906117257940173, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013759628858929961, + "xy_threshold": 0.08, + "gripper_dist": 0.20660690344123614, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874357795881, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757547637741006, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08798991820370787, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17901385170856068, + "release_required_pad_clearance": 0.05399495910185394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.997353968383252, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 148, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1f04b182b1090c66e483c8cc4019c1b023b2ae2b4de2509c086d4525299c9470", + "visual_seed": 2329769862631916192, + "episode_index": 148, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_149_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_149_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd72f7e438ded0c179e0e37d4dbec464dd26b6c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_149_success.json @@ -0,0 +1,684 @@ +{ + "episode": 149, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3317117168396576, + 0.09488024719146998, + 1.0481077387342663 + ], + "current_z": 1.0481077387342663, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19152129093034553, + "gripper_z": 1.0497806384078758, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32658278842816807, + 0.09004281303927926, + 1.0497806384078758 + ], + "object_minus_gripper": [ + 0.005128928411489542, + 0.00483743415219072, + -0.001672899673609507 + ], + "object_to_gripper_xy": 0.007050296151720563, + "object_to_gripper_z": -0.001672899673609507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3317117168396576, + 0.07034546953388215, + 1.0481077387342663 + ], + "finger_b": [ + 0.31997954422475056, + 0.09488024719146998, + 1.0481077387342663 + ], + "finger_midpoint": [ + 0.32584563053220406, + 0.08261285836267607, + 1.0481077387342663 + ], + "object_minus_finger_midpoint": [ + 0.005866086307453555, + 0.012267388828793913, + 0.0 + ], + "finger_gap": 0.027195572966445213, + "fingertip_max_gap": 0.095052982644981, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013597786483222619, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481077387342663, + "object_top_z": 1.0953584428762868, + "finger_top_clearance": 0.04725070414202048, + "fingertip_min_top_clearance": 0.014175211242606178, + "object_projection_between_fingers": 0.8138939626785419, + "object_to_finger_line_xy": 0.010584305280213764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0500264913224905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6852214422519307, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33171876948847717, + 0.0927076131659294, + 1.2397847849776342 + ], + "held_position": [ + 0.33714224035469154, + 0.09715420292652002, + 1.2379699080135855 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007244306394010398, + "max_held_gripper_dist": 0.007246446509762083, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001814876964048695, + "max_held_gripper_z_dist": 0.0018234039469988694, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738941077140136, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33714224035469154, + 0.07165388161213629, + 1.2379699080135855 + ], + "held_grasp_finger_b": [ + 0.3273886062455432, + 0.09715420292652002, + 1.2379699080135855 + ], + "held_grasp_midpoint": [ + 0.3322654233001174, + 0.08440404226932816, + 1.2379699080135855 + ], + "held_grasp_object_position": [ + 0.33714224035469154, + 0.09715420292652002, + 1.2379699080135855 + ], + "held_grasp_finger_gap": 0.027302010282613892, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024960762355868468, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05080966386608318, + -0.9982753124004022, + 0.029407120051019423 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004239622882746392, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222426491731795, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2929757882675594, + 0.09132391290111942, + 0.7565866620050952 + ], + "target_position": [ + 0.3072570561194502, + 0.09091610714935734, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014287089171297998, + "xy_threshold": 0.08, + "gripper_dist": 0.2061058271873685, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866620050952, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538758727023728, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08829340287851149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17776443980942375, + "release_required_pad_clearance": 0.05414670143925575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.308204977427729, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 149, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "57e1e3a6d115b31d1ac7e4aa2fa2e71aa1ebe41910d8e39d196ca72133fab255", + "visual_seed": 8804437939173993689, + "episode_index": 149, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f557ce5cf22e5095c637c4116e8e2653159520a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33559672957630793, + 0.09510123474639827, + 1.0486032381874077 + ], + "current_z": 1.0486032381874077, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19201673077884218, + "gripper_z": 1.0503316275147352, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33042160105880214, + 0.09015451158983713, + 1.0503316275147352 + ], + "object_minus_gripper": [ + 0.005175128517505789, + 0.004946723156561139, + -0.0017283893273274398 + ], + "object_to_gripper_xy": 0.007159051973575822, + "object_to_gripper_z": -0.0017283893273274398, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33559672957630793, + 0.07064536548886685, + 1.0486032381874077 + ], + "finger_b": [ + 0.32355961585745396, + 0.09510123474639827, + 1.0486032381874077 + ], + "finger_midpoint": [ + 0.32957817271688095, + 0.08287330011763255, + 1.0486032381874077 + ], + "object_minus_finger_midpoint": [ + 0.006018556859426982, + 0.012227934628765716, + 0.0 + ], + "finger_gap": 0.027257689700744863, + "fingertip_max_gap": 0.09219338666488888, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013628844850372438, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486032381874077, + "object_top_z": 1.0943359344541805, + "finger_top_clearance": 0.04573269626677279, + "fingertip_min_top_clearance": 0.013719808880031836, + "object_projection_between_fingers": 0.8049856182782635, + "object_to_finger_line_xy": 0.010799817687347335, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859669333244444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0572777509298306, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3358838184452648, + 0.09211859134312822, + 1.2409328437126772 + ], + "held_position": [ + 0.3414433577912852, + 0.09656474327390419, + 1.239045522661989 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007364694527260618, + "max_held_gripper_dist": 0.007368703775650743, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018873210506882288, + "max_held_gripper_z_dist": 0.0018962879780621833, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08763156350186725, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3414433577912852, + 0.0708955653288349, + 1.239045522661989 + ], + "held_grasp_finger_b": [ + 0.33184062315248297, + 0.09656474327390419, + 1.239045522661989 + ], + "held_grasp_midpoint": [ + 0.3366419904718841, + 0.08373015430136954, + 1.239045522661989 + ], + "held_grasp_object_position": [ + 0.3414433577912852, + 0.09656474327390419, + 1.239045522661989 + ], + "held_grasp_finger_gap": 0.027406554123400553, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024913106331309418, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07163052192941115, + -0.9973422320037353, + 0.013324435820240343 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003873563826830054, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03205582290602903, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29546420720724853, + 0.0988585887854215, + 0.7565873718832525 + ], + "target_position": [ + 0.31100417877597764, + 0.09278966425798703, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01668300216617515, + "xy_threshold": 0.08, + "gripper_dist": 0.20491935207766684, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873718832525, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554841189521166, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09049744748050419, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17748817402540173, + "release_required_pad_clearance": 0.055248723740252095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.6010216604479695, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a12a570f75b65ea2c6c1485be164265f832fab79066dd99ee8996cd10770ed65", + "visual_seed": 198662587568750322, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_150_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_150_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23c853a0ade99815faa3e641b22833d7f7e78a29 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_150_success.json @@ -0,0 +1,684 @@ +{ + "episode": 150, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3323287952660601, + 0.09467587026393325, + 1.046196509537521 + ], + "current_z": 1.046196509537521, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.18960982331502108, + "gripper_z": 1.0478711576335036, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3273064448145807, + 0.08988571916585823, + 1.0478711576335036 + ], + "object_minus_gripper": [ + 0.005022350451479363, + 0.004790151098075013, + -0.0016746480959826116 + ], + "object_to_gripper_xy": 0.006940428776369959, + "object_to_gripper_z": -0.0016746480959826116, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3323287952660601, + 0.0701981451950617, + 1.046196509537521 + ], + "finger_b": [ + 0.320679186370998, + 0.09467587026393325, + 1.046196509537521 + ], + "finger_midpoint": [ + 0.32650399081852904, + 0.08243700772949747, + 1.046196509537521 + ], + "object_minus_finger_midpoint": [ + 0.005824804447531029, + 0.012238862534435777, + 0.0 + ], + "finger_gap": 0.02710853024336014, + "fingertip_max_gap": 0.09076532802270962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013554265121680075, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046196509537521, + "object_top_z": 1.0915520374762346, + "finger_top_clearance": 0.04535552793871367, + "fingertip_min_top_clearance": 0.013606658381614133, + "object_projection_between_fingers": 0.8153238777234327, + "object_to_finger_line_xy": 0.01051904773638751, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788266401135481, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.439362885194605, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33283023416268565, + 0.0917764481048514, + 1.2406553829024178 + ], + "held_position": [ + 0.3382150637685448, + 0.0960892746912654, + 1.2388365189489436 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007134783047147589, + "max_held_gripper_dist": 0.007143607249330399, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018188639534741924, + "max_held_gripper_z_dist": 0.001826388217031516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676772114362555, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3382150637685448, + 0.07049399433580858, + 1.2388365189489436 + ], + "held_grasp_finger_b": [ + 0.3288638619265904, + 0.0960892746912654, + 1.2388365189489436 + ], + "held_grasp_midpoint": [ + 0.33353946284756764, + 0.083291634513537, + 1.2388365189489436 + ], + "held_grasp_object_position": [ + 0.3382150637685448, + 0.0960892746912654, + 1.2388365189489436 + ], + "held_grasp_finger_gap": 0.027250015639691025, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024773968449507505, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07903841655826564, + -0.9967881688224224, + 0.012894774275032491 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036533055047004892, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032074136554552206, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29146022123235193, + 0.09602614605930677, + 0.7565865599570024 + ], + "target_position": [ + 0.3078705139947416, + 0.0920010148509104, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01689672719174173, + "xy_threshold": 0.08, + "gripper_dist": 0.20379581426297508, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865599570024, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545981337440495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0875794060169127, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17629592136947272, + "release_required_pad_clearance": 0.053789703008456355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5881416898902874, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 150, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8135ee07fdf5de0ed230373c4919e5b8949cf40ac962253d31088a7d693bdd7e", + "visual_seed": 4382796049140478104, + "episode_index": 150, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_151_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_151_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d85aa41261e241edf51d1e224e82d6088ee0d51 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_151_success.json @@ -0,0 +1,684 @@ +{ + "episode": 151, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3322462532085659, + 0.08883290921224987, + 1.0043553761772208 + ], + "current_z": 1.0043553761772208, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14776892837330002, + "gripper_z": 1.0495639666421288, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32645520147721074, + 0.08515247204374352, + 1.0495639666421288 + ], + "object_minus_gripper": [ + 0.005791051731355135, + 0.0036804371685063564, + -0.045208590464907994 + ], + "object_to_gripper_xy": 0.006861625019378018, + "object_to_gripper_z": -0.045208590464907994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3322462532085659, + 0.0652295075600147, + 1.035988908528937 + ], + "finger_b": [ + 0.31994705372487675, + 0.08883290921224987, + 1.0360912181945126 + ], + "finger_midpoint": [ + 0.32609665346672134, + 0.07703120838613228, + 1.0360400633617248 + ], + "object_minus_finger_midpoint": [ + 0.006149599741844536, + 0.01180170082611759, + -0.03168468718450401 + ], + "finger_gap": 0.026615810052748486, + "fingertip_max_gap": 0.11390843170341466, + "finger_z_skew": 0.00010230966557545074, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013307806707871848, + "object_to_finger_midpoint_z": 0.03168468718450401, + "finger_midpoint_minus_object_z": 0.03168468718450401, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043553761772208, + "object_top_z": 1.0564960502044807, + "finger_top_clearance": 0.020455986842755847, + "fingertip_min_top_clearance": 0.015642202208177972, + "object_projection_between_fingers": 0.786459265999843, + "object_to_finger_line_xy": 0.01090724233478526, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.059454215851707334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 12.01312643099761, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 183, + "max_stable_success_frames": 183, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33498565135649294, + 0.07541589880514306, + 1.199435750203946 + ], + "held_position": [ + 0.33984757188424675, + 0.07527166854858004, + 1.15135469544757 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04832646169616334, + "max_held_gripper_dist": 0.048343733420858556, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04808105475637614, + "max_held_gripper_z_dist": 0.04811654744568172, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09081881909031134, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33984757188424675, + 0.05019224030005359, + 1.1863483610845473 + ], + "held_grasp_finger_b": [ + 0.33941391602356213, + 0.09449785400076302, + 1.1833286642771497 + ], + "held_grasp_midpoint": [ + 0.33963074395390447, + 0.0723450471504083, + 1.1848385126808485 + ], + "held_grasp_object_position": [ + 0.33984757188424675, + 0.07527166854858004, + 1.15135469544757 + ], + "held_grasp_finger_gap": 0.044410517128385306, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.04379787979836029, + "held_grasp_world_z_skew": 0.003019696807397665, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.1521906877745907, + -0.9830858244510082, + 0.10188354292121382 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03301235991834435, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0388786558336328, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30095171792879266, + 0.09081591443289051, + 0.7565868091843756 + ], + "target_position": [ + 0.3054078961743747, + 0.09152093748590824, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004511605264391489, + "xy_threshold": 0.08, + "gripper_dist": 0.21081315265070646, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868091843756, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523442597732218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09360526220755365, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18186878256284228, + "release_required_pad_clearance": 0.05680263110377683, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.061031042451111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 383, + "max_placed_release_frames": 383 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 151, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd77036c3521cfdcdf0129f8ce899850f89ef0f3a29416bfb0aded782bcd902f", + "visual_seed": 1525565822299540531, + "episode_index": 151, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_153_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_153_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0b161ee4caf37af3590a3e8c06381968ec48028e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_153_success.json @@ -0,0 +1,684 @@ +{ + "episode": 153, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3298638142203703, + 0.09679485499225, + 1.0485077443221158 + ], + "current_z": 1.0485077443221158, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19192123691355012, + "gripper_z": 1.0502586427551857, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3249513340134783, + 0.09201135618205537, + 1.0502586427551857 + ], + "object_minus_gripper": [ + 0.004912480206892, + 0.004783498810194631, + -0.0017508984330698585 + ], + "object_to_gripper_xy": 0.006856699107459734, + "object_to_gripper_z": -0.0017508984330698585, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3298638142203703, + 0.07251855373226615, + 1.0485077443221158 + ], + "finger_b": [ + 0.3180646048559405, + 0.09679485499225, + 1.0485077443221158 + ], + "finger_midpoint": [ + 0.3239642095381554, + 0.08465670436225808, + 1.0485077443221158 + ], + "object_minus_finger_midpoint": [ + 0.005899604682214898, + 0.01213815062999192, + 0.0 + ], + "finger_gap": 0.02699185329856291, + "fingertip_max_gap": 0.09281637355279518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013495926649281448, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485077443221158, + "object_top_z": 1.0947821166307874, + "finger_top_clearance": 0.046274372308671596, + "fingertip_min_top_clearance": 0.01388231169260148, + "object_projection_between_fingers": 0.8089089244335673, + "object_to_finger_line_xy": 0.010612133890627304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890818677639759, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0450293864094478, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33041821104908187, + 0.09406431370169445, + 1.2404963857233073 + ], + "held_position": [ + 0.3357056931427674, + 0.0983677387205313, + 1.2385988692271535 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007076545953851496, + "max_held_gripper_dist": 0.007077404972209144, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018975164961538837, + "max_held_gripper_z_dist": 0.0019059259874576462, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08688668195721912, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3357056931427674, + 0.07285376334943833, + 1.2385988692271535 + ], + "held_grasp_finger_b": [ + 0.3263481898911446, + 0.0983677387205313, + 1.2385988692271535 + ], + "held_grasp_midpoint": [ + 0.331026941516956, + 0.0856107510349848, + 1.2385988692271535 + ], + "held_grasp_object_position": [ + 0.3357056931427674, + 0.0983677387205313, + 1.2385988692271535 + ], + "held_grasp_finger_gap": 0.027175831290705155, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024725374751166217, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07578797711664068, + -0.9968874165445087, + 0.021717763692029938 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037091200712882984, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212835134792479, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2833012081957763, + 0.09658310972041709, + 0.7565877866836187 + ], + "target_position": [ + 0.3055175955765056, + 0.09411721772239189, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022352818426242184, + "xy_threshold": 0.08, + "gripper_dist": 0.20011100739514245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565877866836187, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558168829559175, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09041483178877426, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17277199611839172, + "release_required_pad_clearance": 0.05520741589438713, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.511821654516423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 153, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62253e00b989a22ef8013c01582834bbca915dcbe9ac281a5b00f5918ab6f075", + "visual_seed": 4255113438317424210, + "episode_index": 153, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_154_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_154_success.json new file mode 100644 index 0000000000000000000000000000000000000000..add2f1bb91465ccfed534bb5807154b56dc5f569 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_154_success.json @@ -0,0 +1,684 @@ +{ + "episode": 154, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33414452390759797, + 0.09161524595076447, + 1.0043195358399535 + ], + "current_z": 1.0043195358399535, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.14773290922209836, + "gripper_z": 1.0496554472158732, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32844484039409627, + 0.08712652296274419, + 1.0496554472158732 + ], + "object_minus_gripper": [ + 0.0056996835135016966, + 0.004488722988020277, + -0.045335911375919746 + ], + "object_to_gripper_xy": 0.007255000083891435, + "object_to_gripper_z": -0.045335911375919746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33414452390759797, + 0.06711977306790615, + 1.0360796537425718 + ], + "finger_b": [ + 0.32203296512519275, + 0.09161524595076447, + 1.0361817537179516 + ], + "finger_midpoint": [ + 0.32808874451639536, + 0.0793675095093353, + 1.0361307037302616 + ], + "object_minus_finger_midpoint": [ + 0.006055779391202609, + 0.012247736441429166, + -0.031811167890308134 + ], + "finger_gap": 0.027326332946436056, + "fingertip_max_gap": 0.11369564713426392, + "finger_z_skew": 0.00010209997537979909, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013663071103292488, + "object_to_finger_midpoint_z": 0.031811167890308134, + "finger_midpoint_minus_object_z": 0.031811167890308134, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0043195358399535, + "object_top_z": 1.0559403458291041, + "finger_top_clearance": 0.019809642098842506, + "fingertip_min_top_clearance": 0.015486242996745208, + "object_projection_between_fingers": 0.8035538895125497, + "object_to_finger_line_xy": 0.01085694268443274, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05934782356713196, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 11.695410349146654, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 184, + "max_stable_success_frames": 184, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33726649040630874, + 0.07987662244889862, + 1.2003976210868237 + ], + "held_position": [ + 0.34311966871513966, + 0.08131393960399094, + 1.1545502211667753 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04624186043346595, + "max_held_gripper_dist": 0.046256051956066704, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04584739992004838, + "max_held_gripper_z_dist": 0.04587743794944066, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08900256591825106, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34311966871513966, + 0.055739566981987794, + 1.1870710182093873 + ], + "held_grasp_finger_b": [ + 0.3390445666144063, + 0.09425262365596097, + 1.1851460575031199 + ], + "held_grasp_midpoint": [ + 0.341082117664773, + 0.07499609531897439, + 1.1861085378562537 + ], + "held_grasp_object_position": [ + 0.34311966871513966, + 0.08131393960399094, + 1.1545502211667753 + ], + "held_grasp_finger_gap": 0.03877586188887031, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.038245611276146285, + "held_grasp_world_z_skew": 0.0019249607062674645, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05605033081594583, + -0.9946483961384864, + 0.08679244480114447 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03092740784432985, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03606296241095035, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2964617278799756, + 0.09224183348555424, + 0.7565866611061882 + ], + "target_position": [ + 0.3072602881079993, + 0.0914431389081091, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010828056890610432, + "xy_threshold": 0.08, + "gripper_dist": 0.2100721239400691, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866611061882, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553846020601919, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09580578732907617, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18121178072589933, + "release_required_pad_clearance": 0.05790289366453809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.709688407967288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 154, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc1a07b3bf64450103533353e6c5953a63cee838c5b54125e5d553ba2a0822f7", + "visual_seed": 8399070580322637619, + "episode_index": 154, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_155_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_155_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07dfc6979ff7838906262b3453ce2df415d7c74d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_155_success.json @@ -0,0 +1,684 @@ +{ + "episode": 155, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3371178568659982, + 0.09132156287369891, + 1.0473008964715775 + ], + "current_z": 1.0473008964715775, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19071450827230152, + "gripper_z": 1.0489772920393776, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3322439290355089, + 0.08653641935109614, + 1.0489772920393776 + ], + "object_minus_gripper": [ + 0.004873927830489289, + 0.004785143522602772, + -0.001676395567800082 + ], + "object_to_gripper_xy": 0.006830283378361786, + "object_to_gripper_z": -0.001676395567800082, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3371178568659982, + 0.0670993181789135, + 1.0473008964715775 + ], + "finger_b": [ + 0.3252933602782936, + 0.09132156287369891, + 1.0473008964715775 + ], + "finger_midpoint": [ + 0.33120560857214587, + 0.07921044052630621, + 1.0473008964715775 + ], + "object_minus_finger_midpoint": [ + 0.00591224829385234, + 0.0121111223473927, + 0.0 + ], + "finger_gap": 0.026954329106967184, + "fingertip_max_gap": 0.09343850539074403, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013477164553483599, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473008964715775, + "object_top_z": 1.0938478456547132, + "finger_top_clearance": 0.04654694918313562, + "fingertip_min_top_clearance": 0.01396408475494072, + "object_projection_between_fingers": 0.8075542754170194, + "object_to_finger_line_xy": 0.010625968415070056, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049219252695372015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1966659467126182, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3375052048894367, + 0.08879863953550442, + 1.2411111305357132 + ], + "held_position": [ + 0.3427508257444049, + 0.0931274518192462, + 1.2393127422966421 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007034867035017817, + "max_held_gripper_dist": 0.007040921973292154, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017983882390710804, + "max_held_gripper_z_dist": 0.0018088642057569881, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08620433814580278, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3427508257444049, + 0.0677102578345415, + 1.2393127422966421 + ], + "held_grasp_finger_b": [ + 0.33321042137629064, + 0.0931274518192462, + 1.2393127422966421 + ], + "held_grasp_midpoint": [ + 0.33798062356034775, + 0.08041885482689384, + 1.2393127422966421 + ], + "held_grasp_object_position": [ + 0.3427508257444049, + 0.0931274518192462, + 1.2393127422966421 + ], + "held_grasp_finger_gap": 0.027148721250976855, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024666069900637154, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07118876691491972, + -0.9971690635372624, + 0.024207812568517895 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038659796348651087, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218802039265643, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2883581492250084, + 0.09582021312501333, + 0.7565931827732306 + ], + "target_position": [ + 0.31288683389766314, + 0.08815605483025978, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.025698165190098047, + "xy_threshold": 0.08, + "gripper_dist": 0.19712825550039087, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565931827732306, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555016323327828, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08738375501760108, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17146083011664695, + "release_required_pad_clearance": 0.05369187750880054, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3880568528290556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 155, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "61a1254f25c43bf4549c39512d89cc07a6f6cf090ab0c5dc93d124c844ea8969", + "visual_seed": 5936742947685385566, + "episode_index": 155, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_156_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_156_success.json new file mode 100644 index 0000000000000000000000000000000000000000..09bb662818129d398398b1b5affccf69a021e4b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_156_success.json @@ -0,0 +1,684 @@ +{ + "episode": 156, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3357216859369553, + 0.09888663793367528, + 1.0485723620879153 + ], + "current_z": 1.0485723620879153, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1919858546793497, + "gripper_z": 1.0510519066671358, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33039772498277714, + 0.0939886383470426, + 1.0510519066671358 + ], + "object_minus_gripper": [ + 0.005323960954178142, + 0.004897999586632673, + -0.002479544579220505 + ], + "object_to_gripper_xy": 0.0072342905797505306, + "object_to_gripper_z": -0.002479544579220505, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3357216859369553, + 0.07404990524617033, + 1.0485723620879153 + ], + "finger_b": [ + 0.3241187653937165, + 0.09888663793367528, + 1.0485723620879153 + ], + "finger_midpoint": [ + 0.32992022566533585, + 0.0864682715899228, + 1.0485723620879153 + ], + "object_minus_finger_midpoint": [ + 0.00580146027161943, + 0.012418366343752471, + 0.0 + ], + "finger_gap": 0.02741333718691122, + "fingertip_max_gap": 0.09250254528938087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013706668593455621, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485723620879153, + "object_top_z": 1.0940428319879767, + "finger_top_clearance": 0.04547046990006143, + "fingertip_min_top_clearance": 0.013641140970018428, + "object_projection_between_fingers": 0.8208524717527909, + "object_to_finger_line_xy": 0.010512351486501084, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875127264469044, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.232079226594442, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3356098711711283, + 0.09665951836276923, + 1.2429105741902888 + ], + "held_position": [ + 0.3411793350976015, + 0.10119333123414725, + 1.2402964970308707 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007642498739048043, + "max_held_gripper_dist": 0.007648221409389509, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026140771594180823, + "max_held_gripper_z_dist": 0.002624681025150677, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740255439504988, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3411793350976015, + 0.0756061094984997, + 1.2402964970308707 + ], + "held_grasp_finger_b": [ + 0.33126222875432326, + 0.10119333123414725, + 1.2402964970308707 + ], + "held_grasp_midpoint": [ + 0.3362207819259624, + 0.08839972036632349, + 1.2402964970308707 + ], + "held_grasp_object_position": [ + 0.3411793350976015, + 0.10119333123414725, + 1.2402964970308707 + ], + "held_grasp_finger_gap": 0.027441846045284272, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025352999439081574, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02290530038940193, + -0.9997237684945803, + 0.005266300510432309 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004664701656351837, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032296570946483555, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29979467341209354, + 0.09374291522692468, + 0.7565865737130881 + ], + "target_position": [ + 0.31109863000002325, + 0.09541012046032446, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011426242069555287, + "xy_threshold": 0.08, + "gripper_dist": 0.20729282020888282, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865737130881, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592631635136705, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08786179046381075, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17725514432257947, + "release_required_pad_clearance": 0.053930895231905376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8717188886386587, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 245, + "max_placed_release_frames": 245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 156, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c291a082250e4d662643f27b8d4b0473a31780b7a0f447e43a2cb1f85c0e65f", + "visual_seed": 3493739269514658406, + "episode_index": 156, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_157_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_157_success.json new file mode 100644 index 0000000000000000000000000000000000000000..563b3961fe15ba4c6e76d2d34e84137b1b34e831 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_157_success.json @@ -0,0 +1,684 @@ +{ + "episode": 157, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3317186895068712, + 0.09154901053534091, + 1.0491809889396275 + ], + "current_z": 1.0491809889396275, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19259442192641718, + "gripper_z": 1.0509176944533907, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3266159782632053, + 0.08669715305229696, + 1.0509176944533907 + ], + "object_minus_gripper": [ + 0.005102711243665903, + 0.004851857483043953, + -0.0017367055137631482 + ], + "object_to_gripper_xy": 0.007041177676497308, + "object_to_gripper_z": -0.0017367055137631482, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3317186895068712, + 0.06705803623397176, + 1.0491809889396275 + ], + "finger_b": [ + 0.3199266549979517, + 0.09154901053534091, + 1.0491809889396275 + ], + "finger_midpoint": [ + 0.32582267225241146, + 0.07930352338465634, + 1.0491809889396275 + ], + "object_minus_finger_midpoint": [ + 0.005896017254459762, + 0.012245487150684575, + 0.0 + ], + "finger_gap": 0.027181977486744283, + "fingertip_max_gap": 0.09227733328299523, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013590988743372142, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491809889396275, + "object_top_z": 1.0950737483603294, + "finger_top_clearance": 0.04589275942070192, + "fingertip_min_top_clearance": 0.013767827826210543, + "object_projection_between_fingers": 0.8118018343631384, + "object_to_finger_line_xy": 0.01062462855249011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048638666641497616, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9184424497554949, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33206362916328025, + 0.08875995623663908, + 1.2432607208245097 + ], + "held_position": [ + 0.33753062264209394, + 0.09314992032753511, + 1.2413859847482722 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007257715740664834, + "max_held_gripper_dist": 0.007258953818350211, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018747360762374488, + "max_held_gripper_z_dist": 0.001885952338872121, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08709791205712136, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33753062264209394, + 0.0675547343802364, + 1.2413859847482722 + ], + "held_grasp_finger_b": [ + 0.3279670294696919, + 0.09314992032753511, + 1.2413859847482722 + ], + "held_grasp_midpoint": [ + 0.33274882605589295, + 0.08035232735388576, + 1.2413859847482722 + ], + "held_grasp_object_position": [ + 0.33753062264209394, + 0.09314992032753511, + 1.2413859847482722 + ], + "held_grasp_finger_gap": 0.027323540364381983, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02487399138676306, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06872259863581437, + -0.9975011087802159, + 0.01639336509020373 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038968048079826745, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210599429732605, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2965220178425462, + 0.09541817745851602, + 0.7565866191483879 + ], + "target_position": [ + 0.3071962661831809, + 0.08873156538730387, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01259564840047635, + "xy_threshold": 0.08, + "gripper_dist": 0.20658159020569386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866191483879, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553196456223064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747030851945807, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17901396035223743, + "release_required_pad_clearance": 0.05373515425972904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.479400013534083, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 157, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f572f4b629099a740effdab32895cd96d50afac6d89511c3ca34b8385c078ec", + "visual_seed": 4423829560291202123, + "episode_index": 157, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_158_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_158_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10b3e5f146517480e154e3df34a773798c971f1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_158_success.json @@ -0,0 +1,684 @@ +{ + "episode": 158, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3379126229428185, + 0.09167434483359943, + 1.0475600231460525 + ], + "current_z": 1.0475600231460525, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1909735157374869, + "gripper_z": 1.049188716616094, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327786409604808, + 0.08675158241780713, + 1.049188716616094 + ], + "object_minus_gripper": [ + 0.005133981982337665, + 0.0049227624157923006, + -0.0016286934700415756 + ], + "object_to_gripper_xy": 0.007112760420350529, + "object_to_gripper_z": -0.0016286934700415756, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3379126229428185, + 0.06722941686912096, + 1.0475600231460525 + ], + "finger_b": [ + 0.32593599247959526, + 0.09167434483359943, + 1.0475600231460525 + ], + "finger_midpoint": [ + 0.33192430771120685, + 0.0794518808513602, + 1.0475600231460525 + ], + "object_minus_finger_midpoint": [ + 0.005988315231611641, + 0.012222463982239237, + 0.0 + ], + "finger_gap": 0.027221208284004372, + "fingertip_max_gap": 0.09230628188314052, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013610604142002198, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475600231460525, + "object_top_z": 1.0934183427845225, + "finger_top_clearance": 0.04585831963847009, + "fingertip_min_top_clearance": 0.013757495891541027, + "object_projection_between_fingers": 0.8064226669537267, + "object_to_finger_line_xy": 0.010755138635881387, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048653140941570264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9988376944873552, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33824334752430346, + 0.08846734989513141, + 1.2398562393411978 + ], + "held_position": [ + 0.3437879489627131, + 0.0928893041171361, + 1.238069249409725 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007313659635743552, + "max_held_gripper_dist": 0.007315520282627318, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00178698993147286, + "max_held_gripper_z_dist": 0.0017956045168197043, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692421820792226, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3437879489627131, + 0.06720478627566162, + 1.238069249409725 + ], + "held_grasp_finger_b": [ + 0.3342640757355452, + 0.0928893041171361, + 1.238069249409725 + ], + "held_grasp_midpoint": [ + 0.3390260123491291, + 0.08004704519639885, + 1.238069249409725 + ], + "held_grasp_object_position": [ + 0.3437879489627131, + 0.0928893041171361, + 1.238069249409725 + ], + "held_grasp_finger_gap": 0.027393404644114366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024895296135066247, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07499208474258243, + -0.9970796960744296, + 0.014431455300293768 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037901203469264317, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03203836179014826, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3036353575827052, + 0.09660218184707607, + 0.7565865623136211 + ], + "target_position": [ + 0.3133586903446076, + 0.08991545631355212, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01180065669186956, + "xy_threshold": 0.08, + "gripper_dist": 0.20647772056370203, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865623136211, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554211699877532, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08638325360771747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17897818278854083, + "release_required_pad_clearance": 0.053191626803858735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4060866174554463, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 158, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5156df0affc752aa54622c4cf553f47916b21f030a9bcac1b6209333483a94af", + "visual_seed": 7637819162832999694, + "episode_index": 158, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_159_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_159_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e5b9eeb8952a373b073d66f2fd963315672f668 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_159_success.json @@ -0,0 +1,684 @@ +{ + "episode": 159, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3321034409648399, + 0.09484064761074953, + 1.0471089241511733 + ], + "current_z": 1.0471089241511733, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19052241674260773, + "gripper_z": 1.0487820302252697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3270749945064507, + 0.09007063484486297, + 1.0487820302252697 + ], + "object_minus_gripper": [ + 0.00502844645838918, + 0.0047700127658865665, + -0.001673106074096431 + ], + "object_to_gripper_xy": 0.006930966424071573, + "object_to_gripper_z": -0.001673106074096431, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3321034409648399, + 0.07033553128994746, + 1.0471089241511733 + ], + "finger_b": [ + 0.3205164529220581, + 0.09484064761074953, + 1.0471089241511733 + ], + "finger_midpoint": [ + 0.326309946943449, + 0.0825880894503485, + 1.0471089241511733 + ], + "object_minus_finger_midpoint": [ + 0.005793494021390899, + 0.012252558160401036, + 0.0 + ], + "finger_gap": 0.02710643867791578, + "fingertip_max_gap": 0.0959662430000571, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01355321933895789, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471089241511733, + "object_top_z": 1.0945975226150475, + "finger_top_clearance": 0.04748859846387421, + "fingertip_min_top_clearance": 0.014246579539162295, + "object_projection_between_fingers": 0.8172757480328269, + "object_to_finger_line_xy": 0.010475020092825535, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05048312150002855, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0963797110376987, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3323963822640096, + 0.09201105540088284, + 1.23958062073059 + ], + "held_position": [ + 0.337748394424242, + 0.09635997307193936, + 1.2377649935443615 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00713117249491799, + "max_held_gripper_dist": 0.007132439289064441, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001815627186228408, + "max_held_gripper_z_dist": 0.001825045310219986, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875025587157566, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.337748394424242, + 0.07082492224829885, + 1.2377649935443615 + ], + "held_grasp_finger_b": [ + 0.3282785154525872, + 0.09635997307193936, + 1.2377649935443615 + ], + "held_grasp_midpoint": [ + 0.3330134549384146, + 0.08359244766011911, + 1.2377649935443615 + ], + "held_grasp_object_position": [ + 0.337748394424242, + 0.09635997307193936, + 1.2377649935443615 + ], + "held_grasp_finger_gap": 0.027234489683188364, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025020535777000134, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049460415210922426, + -0.9981934282792798, + 0.03411080572518709 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004121158628950346, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222157293137548, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29748354900068097, + 0.10268562973798868, + 0.7565871666886081 + ], + "target_position": [ + 0.3076921744837084, + 0.09234396797017416, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01453155196022068, + "xy_threshold": 0.08, + "gripper_dist": 0.20931306775045683, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565871666886081, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524971637458677, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09333468150415729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1830674761471484, + "release_required_pad_clearance": 0.056667340752078646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.745648421978721, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 159, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed4aa4455f47aafc7e9e9ba43a5fed0488cc012d703ed8152e6f273a38fe5885", + "visual_seed": 7151354366846218896, + "episode_index": 159, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8b25ef0e3674d61168a4be2980b27063e9009b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33135652737664106, + 0.09837472707218137, + 1.0454712285523458 + ], + "current_z": 1.0454712285523458, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18888478074842496, + "gripper_z": 1.0478005664699346, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32600163056596343, + 0.09345340974446054, + 1.0478005664699346 + ], + "object_minus_gripper": [ + 0.005354896810677634, + 0.004921317327720831, + -0.002329337917588825 + ], + "object_to_gripper_xy": 0.007272845666802699, + "object_to_gripper_z": -0.002329337917588825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33135652737664106, + 0.07362888334820927, + 1.0454712285523458 + ], + "finger_b": [ + 0.31957307599697504, + 0.09837472707218137, + 1.0454712285523458 + ], + "finger_midpoint": [ + 0.325464801686808, + 0.08600180521019532, + 1.0454712285523458 + ], + "object_minus_finger_midpoint": [ + 0.005891725689833038, + 0.012372921861986047, + 0.0 + ], + "finger_gap": 0.027408146745597415, + "fingertip_max_gap": 0.09489544032805777, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01370407337279872, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454712285523458, + "object_top_z": 1.0919965553559208, + "finger_top_clearance": 0.04652532680357502, + "fingertip_min_top_clearance": 0.013957598041072522, + "object_projection_between_fingers": 0.8151643723356291, + "object_to_finger_line_xy": 0.010638860375230505, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04994772016402889, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.370770742155037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3309005579270009, + 0.09647008336411968, + 1.2381454278672643 + ], + "held_position": [ + 0.33650016456398485, + 0.10105023967563168, + 1.235691833963719 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007638949493899823, + "max_held_gripper_dist": 0.00764225044931157, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024535939035452703, + "max_held_gripper_z_dist": 0.0024664962501212973, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08687859739171255, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33650016456398485, + 0.07554928083081108, + 1.235691833963719 + ], + "held_grasp_finger_b": [ + 0.32633653634877935, + 0.10105023967563168, + 1.235691833963719 + ], + "held_grasp_midpoint": [ + 0.3314183504563821, + 0.08829976025322138, + 1.235691833963719 + ], + "held_grasp_object_position": [ + 0.33650016456398485, + 0.10105023967563168, + 1.235691833963719 + ], + "held_grasp_finger_gap": 0.02745174385175111, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025298538378030318, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.018952878091858028, + -0.999616074818359, + 0.020211169604260063 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004846151584185006, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03235832577026186, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29886786279932864, + 0.09516881646310557, + 0.7565861745857851 + ], + "target_position": [ + 0.3067466305005329, + 0.09400141609541221, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007964785251846419, + "xy_threshold": 0.08, + "gripper_dist": 0.20869970710980573, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861745857851, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537301258775923, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08796539830269655, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17994612130425686, + "release_required_pad_clearance": 0.053982699151348276, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9750739198048772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "25f74b12729a889eeea12a47df970f77e5e6a5854abaff84294b8c54df826a6d", + "visual_seed": 7864167753317716073, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_160_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_160_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e40f52baf861e72513e1e41a6f776ceec633735 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_160_success.json @@ -0,0 +1,684 @@ +{ + "episode": 160, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3359544240072719, + 0.09594160696186459, + 1.0457700006562636 + ], + "current_z": 1.0457700006562636, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18918343364305323, + "gripper_z": 1.0475739874204086, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33096722431118175, + 0.09107291694695756, + 1.0475739874204086 + ], + "object_minus_gripper": [ + 0.004987199696090128, + 0.004868690014907029, + -0.0018039867641450602 + ], + "object_to_gripper_xy": 0.0069696702411187915, + "object_to_gripper_z": -0.0018039867641450602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3359544240072719, + 0.07168772537163627, + 1.0457700006562636 + ], + "finger_b": [ + 0.32393953330288233, + 0.09594160696186459, + 1.0457700006562636 + ], + "finger_midpoint": [ + 0.3299469786550771, + 0.08381466616675043, + 1.0457700006562636 + ], + "object_minus_finger_midpoint": [ + 0.0060074453521947735, + 0.012126940795114158, + 0.0 + ], + "finger_gap": 0.02706673919834531, + "fingertip_max_gap": 0.09232992603616089, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013533369599172654, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457700006562636, + "object_top_z": 1.0917430911524861, + "finger_top_clearance": 0.04597309049622256, + "fingertip_min_top_clearance": 0.013791927148866784, + "object_projection_between_fingers": 0.8029539322972336, + "object_to_finger_line_xy": 0.010766266831344573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048664963018080445, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0030033513078582, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3363116905094251, + 0.09339874840025203, + 1.2401676650388627 + ], + "held_position": [ + 0.3417024584044494, + 0.0977624594151414, + 1.238234684152853 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007199914404016889, + "max_held_gripper_dist": 0.00720126125748893, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001932980886009572, + "max_held_gripper_z_dist": 0.001942604960891492, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08746047998341788, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3417024584044494, + 0.07225902886791896, + 1.238234684152853 + ], + "held_grasp_finger_b": [ + 0.3321016083844087, + 0.0977624594151414, + 1.238234684152853 + ], + "held_grasp_midpoint": [ + 0.33690203339442903, + 0.08501074414153018, + 1.238234684152853 + ], + "held_grasp_object_position": [ + 0.3417024584044494, + 0.0977624594151414, + 1.238234684152853 + ], + "held_grasp_finger_gap": 0.027250711748215202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024681350551635495, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07719410736698186, + -0.996825880025209, + 0.01947394926003909 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003810081147265573, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211842064273172, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2892192087298539, + 0.10065189363182771, + 0.7565864450011364 + ], + "target_position": [ + 0.31158905589954156, + 0.09207678022739198, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.023957099830616307, + "xy_threshold": 0.08, + "gripper_dist": 0.200331583191145, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864450011364, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526633504360013, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08832220077068124, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17518406742137643, + "release_required_pad_clearance": 0.054161100385340624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.336947889987885, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 160, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8c1b1b3af4c1e608bfec8c1cb5fb0532db12d6343e31c6f5eb8fa740f9fad5af", + "visual_seed": 856788619832470706, + "episode_index": 160, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_161_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_161_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a899fd42afb9c36ed11ea9b9563079019afbb72 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_161_success.json @@ -0,0 +1,684 @@ +{ + "episode": 161, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33424197542105544, + 0.08947937089189612, + 1.0470586760849434 + ], + "current_z": 1.0470586760849434, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19047210907173306, + "gripper_z": 1.0489185180117755, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3292427424768326, + 0.08458340104797173, + 1.0489185180117755 + ], + "object_minus_gripper": [ + 0.004999232944222831, + 0.004895969843924389, + -0.0018598419268320843 + ], + "object_to_gripper_xy": 0.00699734597852785, + "object_to_gripper_z": -0.0018598419268320843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33424197542105544, + 0.06524144276646938, + 1.0470586760849434 + ], + "finger_b": [ + 0.3221587370495095, + 0.08947937089189612, + 1.0470586760849434 + ], + "finger_midpoint": [ + 0.32820035623528243, + 0.07736040682918274, + 1.0470586760849434 + ], + "object_minus_finger_midpoint": [ + 0.006041619185773006, + 0.012118964062713372, + 0.0 + ], + "finger_gap": 0.027082869296973552, + "fingertip_max_gap": 0.09230526321707408, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013541434648486795, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470586760849434, + "object_top_z": 1.0929829743530708, + "finger_top_clearance": 0.045924298268127384, + "fingertip_min_top_clearance": 0.013777289480438215, + "object_projection_between_fingers": 0.8009430531459211, + "object_to_finger_line_xy": 0.010813945153317149, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865263160853704, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0479917155914114, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3346564173469361, + 0.08643645896534356, + 1.2388739355360936 + ], + "held_position": [ + 0.3400701886917041, + 0.0908014963023623, + 1.2368595421590163 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007240183133361457, + "max_held_gripper_dist": 0.007240957546707646, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002014393377077317, + "max_held_gripper_z_dist": 0.002023990248964491, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08764155886692679, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3400701886917041, + 0.06520190200258878, + 1.2368595421590163 + ], + "held_grasp_finger_b": [ + 0.33062339511461036, + 0.0908014963023623, + 1.2368595421590163 + ], + "held_grasp_midpoint": [ + 0.3353467919031572, + 0.07800169915247554, + 1.2368595421590163 + ], + "held_grasp_object_position": [ + 0.3400701886917041, + 0.0908014963023623, + 1.2368595421590163 + ], + "held_grasp_finger_gap": 0.027287014076318714, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024745048319885415, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08112784050554141, + -0.9965566635062788, + 0.017119869045677638 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003676140606365139, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206130284325684, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2909256010432575, + 0.0889613524805002, + 0.7565867078365831 + ], + "target_position": [ + 0.3098056416641761, + 0.08778750814108373, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018916496620165108, + "xy_threshold": 0.08, + "gripper_dist": 0.20319976952061153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867078365831, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576276899600047, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619863773250079, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1751562991951973, + "release_required_pad_clearance": 0.0530993188662504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2245945253861832, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 161, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "160a27a391e72184b7a007daa63dcf309636643540b911f9fe1c3af229fe901e", + "visual_seed": 8690986073935792590, + "episode_index": 161, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_162_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_162_success.json new file mode 100644 index 0000000000000000000000000000000000000000..92bcc6ce06389e5d7237be56758d1740820c81c2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_162_success.json @@ -0,0 +1,684 @@ +{ + "episode": 162, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33143670648890394, + 0.09105539007407569, + 1.0456729111035494 + ], + "current_z": 1.0456729111035494, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18908640369498386, + "gripper_z": 1.048514482318467, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32613500452720645, + 0.08619953088654324, + 1.048514482318467 + ], + "object_minus_gripper": [ + 0.005301701961697491, + 0.004855859187532452, + -0.00284157121491746 + ], + "object_to_gripper_xy": 0.007189395811875317, + "object_to_gripper_z": -0.00284157121491746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33143670648890394, + 0.06625367370095497, + 1.0456729111035494 + ], + "finger_b": [ + 0.3198730076103583, + 0.09105539007407569, + 1.0456729111035494 + ], + "finger_midpoint": [ + 0.32565485704963115, + 0.07865453188751534, + 1.0456729111035494 + ], + "object_minus_finger_midpoint": [ + 0.00578184943927279, + 0.012400858186560351, + 0.0 + ], + "finger_gap": 0.027365019035374374, + "fingertip_max_gap": 0.09447780694780458, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013682509517687168, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456729111035494, + "object_top_z": 1.0920248401354167, + "finger_top_clearance": 0.046351929031867245, + "fingertip_min_top_clearance": 0.013905578709560206, + "object_projection_between_fingers": 0.82143265605284, + "object_to_finger_line_xy": 0.010480518191458989, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04973890347390229, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.171125829911058, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3309522565972983, + 0.08921258401358922, + 1.2383854123636713 + ], + "held_position": [ + 0.3364510833497161, + 0.09377351329154295, + 1.2354172721668497 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00773621533823798, + "max_held_gripper_dist": 0.007739054138941321, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002968140196821567, + "max_held_gripper_z_dist": 0.00298289047539102, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.087254686039667, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3364510833497161, + 0.06829185497369503, + 1.2354172721668497 + ], + "held_grasp_finger_b": [ + 0.32638805380060876, + 0.09377351329154295, + 1.2354172721668497 + ], + "held_grasp_midpoint": [ + 0.3314195685751624, + 0.08103268413261899, + 1.2354172721668497 + ], + "held_grasp_object_position": [ + 0.3364510833497161, + 0.09377351329154295, + 1.2354172721668497 + ], + "held_grasp_finger_gap": 0.02739670553796122, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025326797406105852, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014804774297343407, + -0.9997692445897087, + 0.0155652250394227 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004846421150900224, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032387845381535815, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2928720997617055, + 0.10063082665520488, + 0.7565862849763374 + ], + "target_position": [ + 0.30689662694100744, + 0.08696499098018537, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019581686017797747, + "xy_threshold": 0.08, + "gripper_dist": 0.20652074098862377, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862849763374, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07756049886728299, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09167872049249502, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18082999874436148, + "release_required_pad_clearance": 0.05583936024624751, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.882218554560563, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 162, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "541dcc5a259e27aed01d3adb59cfefb879ec064aaf367c12a2019ddc8bf2916e", + "visual_seed": 6436521843511161352, + "episode_index": 162, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8acfbb98d424749f069960a2e8283ce2b75f092 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3358161996653172, + 0.09878064544277748, + 1.0467132724096448 + ], + "current_z": 1.0467132724096448, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19012676500107928, + "gripper_z": 1.048476200240182, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3306310231141533, + 0.09381755499228367, + 1.048476200240182 + ], + "object_minus_gripper": [ + 0.005185176551163906, + 0.004963090450493812, + -0.0017629278305371088 + ], + "object_to_gripper_xy": 0.007177626535737485, + "object_to_gripper_z": -0.0017629278305371088, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3358161996653172, + 0.07436954358654278, + 1.0467132724096448 + ], + "finger_b": [ + 0.32369260566268343, + 0.09878064544277748, + 1.0467132724096448 + ], + "finger_midpoint": [ + 0.32975440266400036, + 0.08657509451466014, + 1.0467132724096448 + ], + "object_minus_finger_midpoint": [ + 0.006061797001316871, + 0.012205550928117342, + 0.0 + ], + "finger_gap": 0.027255887902913074, + "fingertip_max_gap": 0.09391270786930414, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01362794395145652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467132724096448, + "object_top_z": 1.093326283138425, + "finger_top_clearance": 0.0466130107287801, + "fingertip_min_top_clearance": 0.013983903218634063, + "object_projection_between_fingers": 0.8021472460954784, + "object_to_finger_line_xy": 0.010858214897130486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945635393465207, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4877052208992203, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3358909489866643, + 0.09620341507285014, + 1.2392311067005064 + ], + "held_position": [ + 0.341453455407239, + 0.10068217658533075, + 1.237327538434095 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073908290813346, + "max_held_gripper_dist": 0.007391508391116268, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019035682664114706, + "max_held_gripper_z_dist": 0.0019147228879852207, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0862497471250273, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.341453455407239, + 0.07510737779875355, + 1.237327538434095 + ], + "held_grasp_finger_b": [ + 0.3316256501256691, + 0.10068217658533075, + 1.237327538434095 + ], + "held_grasp_midpoint": [ + 0.33653955276645403, + 0.08789477719204215, + 1.237327538434095 + ], + "held_grasp_object_position": [ + 0.341453455407239, + 0.10068217658533075, + 1.237327538434095 + ], + "held_grasp_finger_gap": 0.02739810375968315, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024877824986535953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06468706926410106, + -0.9976053817826954, + 0.024476219238762864 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004088727900950299, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212558055157979, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3090054512263088, + 0.09483736626199622, + 0.7565863245027928 + ], + "target_position": [ + 0.3112780081251919, + 0.09598715342255656, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002546865794118461, + "xy_threshold": 0.08, + "gripper_dist": 0.21209309567287551, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863245027928, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588397892434268, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535507819556647, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18171037508582358, + "release_required_pad_clearance": 0.052677539097783235, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41116830826540957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 205, + "max_placed_release_frames": 205 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c11bee2d7137fe38858916fd9a4e06fb7a0994306d1f615bcf13009277170c0", + "visual_seed": 6326025500988431318, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d0bcae366f96637cea94ffdc430484c61d43b9e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33603771369424035, + 0.0913188171547104, + 1.0483540017080715 + ], + "current_z": 1.0483540017080715, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19176737509021635, + "gripper_z": 1.0500684698521772, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33091394840868743, + 0.086441948734092, + 1.0500684698521772 + ], + "object_minus_gripper": [ + 0.005123765285552917, + 0.004876868420618394, + -0.0017144681441056964 + ], + "object_to_gripper_xy": 0.007073670637898128, + "object_to_gripper_z": -0.0017144681441056964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33603771369424035, + 0.06684622748835355, + 1.0483540017080715 + ], + "finger_b": [ + 0.3241751148933225, + 0.0913188171547104, + 1.0483540017080715 + ], + "finger_midpoint": [ + 0.3301064142937814, + 0.07908252232153197, + 1.0483540017080715 + ], + "object_minus_finger_midpoint": [ + 0.005931299400458945, + 0.012236294833178424, + 0.0 + ], + "finger_gap": 0.027196119121841875, + "fingertip_max_gap": 0.09508193703489806, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359805956092095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483540017080715, + "object_top_z": 1.0954487610611776, + "finger_top_clearance": 0.04709475935310614, + "fingertip_min_top_clearance": 0.014128427805931841, + "object_projection_between_fingers": 0.809740734565983, + "object_to_finger_line_xy": 0.010674630138618727, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05004096851744903, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8320094109187994, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33612660005510153, + 0.08896996088379265, + 1.2426715285706598 + ], + "held_position": [ + 0.3415867363457587, + 0.09341554722010081, + 1.2408325213584175 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007277243551840244, + "max_held_gripper_dist": 0.007279603004474645, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001839007212242283, + "max_held_gripper_z_dist": 0.0018500094922802024, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08731257696007838, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3415867363457587, + 0.067917959362049, + 1.2408325213584175 + ], + "held_grasp_finger_b": [ + 0.331767691624329, + 0.09341554722010081, + 1.2408325213584175 + ], + "held_grasp_midpoint": [ + 0.33667721398504385, + 0.08066675329107491, + 1.2408325213584175 + ], + "held_grasp_object_position": [ + 0.3415867363457587, + 0.09341554722010081, + 1.2408325213584175 + ], + "held_grasp_finger_gap": 0.027322895633891137, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02494243277515863, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05187829166966725, + -0.9982053276109059, + 0.02991265255107356 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004258976115771857, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032219613312255625, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29064372215467765, + 0.09698824128859702, + 0.7565866546333189 + ], + "target_position": [ + 0.3115840128416362, + 0.0865566188198425, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02339475414243433, + "xy_threshold": 0.08, + "gripper_dist": 0.20066650899748031, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866546333189, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07651054377700879, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085170644923985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17483623696711942, + "release_required_pad_clearance": 0.052585322461992504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23406647716575105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "24829bb6f13a232a9ea5f36204012adf3c15bde7c0ff3ec368662722ac3058cf", + "visual_seed": 8322359611681883795, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..89c75fde6ac65ff0907cc558ab134793dff5cd8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3326382691442447, + 0.09114092027381747, + 1.04753111779815 + ], + "current_z": 1.04753111779815, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.19094455078493977, + "gripper_z": 1.0492831777248723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3275445258172577, + 0.08627076947931951, + 1.0492831777248723 + ], + "object_minus_gripper": [ + 0.0050937433269870325, + 0.004870150794497957, + -0.001752059926722449 + ], + "object_to_gripper_xy": 0.00704731082345415, + "object_to_gripper_z": -0.001752059926722449, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3326382691442447, + 0.06669397593769488, + 1.04753111779815 + ], + "finger_b": [ + 0.3207706320906649, + 0.09114092027381747, + 1.04753111779815 + ], + "finger_midpoint": [ + 0.3267044506174548, + 0.07891744810575618, + 1.04753111779815 + ], + "object_minus_finger_midpoint": [ + 0.005933818526789925, + 0.012223472168061286, + 0.0 + ], + "finger_gap": 0.027175244186740555, + "fingertip_max_gap": 0.09225085883454157, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013587622093370283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04753111779815, + "object_top_z": 1.0932834487014351, + "finger_top_clearance": 0.04575233090328523, + "fingertip_min_top_clearance": 0.01372569927098557, + "object_projection_between_fingers": 0.8092864275761597, + "object_to_finger_line_xy": 0.01067616763464932, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048625429417270785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1299351282777552, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33299424677594325, + 0.08833648435273653, + 1.238504180311009 + ], + "held_position": [ + 0.33844921950885426, + 0.09273182275992851, + 1.236590396077246 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007262113833033728, + "max_held_gripper_dist": 0.0072636518340667335, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001913784233763094, + "max_held_gripper_z_dist": 0.00192491002341022, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678798660325984, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33844921950885426, + 0.0670974889048362, + 1.236590396077246 + ], + "held_grasp_finger_b": [ + 0.3289779564601624, + 0.09273182275992851, + 1.236590396077246 + ], + "held_grasp_midpoint": [ + 0.33371358798450834, + 0.07991465583238236, + 1.236590396077246 + ], + "held_grasp_object_position": [ + 0.33844921950885426, + 0.09273182275992851, + 1.236590396077246 + ], + "held_grasp_finger_gap": 0.027328078892081806, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024935542786280747, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06738746185241777, + -0.9976380626168836, + 0.013312625703439381 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003865012885570376, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209420919528246, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2992327603983072, + 0.09362307166979932, + 0.7565906551191932 + ], + "target_position": [ + 0.3081172160807844, + 0.08723310697600295, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010943728869168199, + "xy_threshold": 0.08, + "gripper_dist": 0.2104633281701983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565906551191932, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546312659099284, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08978021022331499, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18284118597402274, + "release_required_pad_clearance": 0.0548901051116575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.807045540528325, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f525c1a2e85ff407c5a7e88b086f94296b1ea7cf5b3a9501d8ccac9e0147a604", + "visual_seed": 3138060960667909975, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8a702dbc6cd4e83147d91378495506274499020a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_20_success.json @@ -0,0 +1,684 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33012607572729696, + 0.09178720694323587, + 1.0471445530170789 + ], + "current_z": 1.0471445530170789, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19055798600386853, + "gripper_z": 1.049084853888188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32502304137845006, + 0.0868354621289348, + 1.049084853888188 + ], + "object_minus_gripper": [ + 0.005103034348846902, + 0.004951744814301079, + -0.0019403008711091907 + ], + "object_to_gripper_xy": 0.007110607306796583, + "object_to_gripper_z": -0.0019403008711091907, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33012607572729696, + 0.06746102973206101, + 1.0471445530170789 + ], + "finger_b": [ + 0.31798659066728485, + 0.09178720694323587, + 1.0471445530170789 + ], + "finger_midpoint": [ + 0.3240563331972909, + 0.07962411833764844, + 1.0471445530170789 + ], + "object_minus_finger_midpoint": [ + 0.006069742530006084, + 0.01216308860558743, + 0.0 + ], + "finger_gap": 0.027186945308948197, + "fingertip_max_gap": 0.09134424455860615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359347265447411, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471445530170789, + "object_top_z": 1.0926251495710846, + "finger_top_clearance": 0.045480596554005714, + "fingertip_min_top_clearance": 0.013644178966201714, + "object_projection_between_fingers": 0.8006208671371088, + "object_to_finger_line_xy": 0.010862098020444707, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817212227930308, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8254158892230014, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33033609258287877, + 0.08906078781082875, + 1.2388437585745218 + ], + "held_position": [ + 0.3358282484639422, + 0.09350175465028167, + 1.2367485420260544 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073672175939082695, + "max_held_gripper_dist": 0.007371117095341728, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002095216548467338, + "max_held_gripper_z_dist": 0.0021048613935961136, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08663037028635676, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3358282484639422, + 0.06789741127474322, + 1.2367485420260544 + ], + "held_grasp_finger_b": [ + 0.3261888681096663, + 0.09350175465028167, + 1.2367485420260544 + ], + "held_grasp_midpoint": [ + 0.33100855828680426, + 0.08069958296251245, + 1.2367485420260544 + ], + "held_grasp_object_position": [ + 0.3358282484639422, + 0.09350175465028167, + 1.2367485420260544 + ], + "held_grasp_finger_gap": 0.027358729014829622, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02477632925295968, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07769536204127862, + -0.9969115015003562, + 0.011440668406171974 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038133479885847556, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032063125192851885, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29038368471471726, + 0.09290509958891639, + 0.7565866835835087 + ], + "target_position": [ + 0.305620417996193, + 0.08931640458320232, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015653650466739936, + "xy_threshold": 0.08, + "gripper_dist": 0.20630448153956718, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866835835087, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561362946773316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08868978548490596, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17850626044955936, + "release_required_pad_clearance": 0.05434489274245298, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.712291061942574, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ef77aa2411e205c1d6e0b6d0fb8d9f786a142e8972ad1e69385ab96862ed657c", + "visual_seed": 5675150290709161348, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2f7d6cbffee85ea6ba9856b18a9c9ffdf50115 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3321727325632384, + 0.09350633966299586, + 1.0479680756243244 + ], + "current_z": 1.0479680756243244, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1913815682157588, + "gripper_z": 1.0497925013215685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3269781696556072, + 0.08851787119449704, + 1.0497925013215685 + ], + "object_minus_gripper": [ + 0.005194562907631206, + 0.004988468468498819, + -0.0018244256972441697 + ], + "object_to_gripper_xy": 0.007201965111172431, + "object_to_gripper_z": -0.0018244256972441697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3321727325632384, + 0.06908433954066936, + 1.0479680756243244 + ], + "finger_b": [ + 0.32001329721716637, + 0.09350633966299586, + 1.0479680756243244 + ], + "finger_midpoint": [ + 0.32609301489020237, + 0.0812953396018326, + 1.0479680756243244 + ], + "object_minus_finger_midpoint": [ + 0.006079717673036056, + 0.012211000061163255, + 0.0 + ], + "finger_gap": 0.027281604753207275, + "fingertip_max_gap": 0.09190308667374716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013640802376603657, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479680756243244, + "object_top_z": 1.093709641685109, + "finger_top_clearance": 0.04574156606078472, + "fingertip_min_top_clearance": 0.01372246981823545, + "object_projection_between_fingers": 0.8013507223078085, + "object_to_finger_line_xy": 0.010884907035180266, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048451543336873584, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8243815509998438, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33245837716239623, + 0.09055413224439603, + 1.242279517286307 + ], + "held_position": [ + 0.33807453518772534, + 0.09500989187995756, + 1.2403139726855084 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007433598756530842, + "max_held_gripper_dist": 0.007435196029009129, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019655446007986743, + "max_held_gripper_z_dist": 0.001975403953453636, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08717896896199054, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33807453518772534, + 0.06933938147867762, + 1.2403139726855084 + ], + "held_grasp_finger_b": [ + 0.32837821283465185, + 0.09500989187995756, + 1.2403139726855084 + ], + "held_grasp_midpoint": [ + 0.3332263740111886, + 0.0821746366793176, + 1.2403139726855084 + ], + "held_grasp_object_position": [ + 0.33807453518772534, + 0.09500989187995756, + 1.2403139726855084 + ], + "held_grasp_finger_gap": 0.027440731977061667, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024801990143746146, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08062835089558582, + -0.9966217354038603, + 0.015626437612456186 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038029458317788392, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03201743141285738, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30617266056988907, + 0.0950845434731853, + 0.7565900421168086 + ], + "target_position": [ + 0.30753883626310735, + 0.09142035507938051, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003910589803346065, + "xy_threshold": 0.08, + "gripper_dist": 0.21177482406883016, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565900421168086, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535546862864487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08916666765441637, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18310348950799488, + "release_required_pad_clearance": 0.05458333382720819, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.18697881096082, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "592ae04f6f3afc65c8864f051dd168dd5ee9d387285fb835b9d7388441ce7a09", + "visual_seed": 5977417486358990488, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7a79be26421121c9a86cf0341095d176f47aa9e0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3336906705378253, + 0.09857113218865936, + 1.045712399598955 + ], + "current_z": 1.045712399598955, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1891257729810999, + "gripper_z": 1.0476022672057206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32844782097544567, + 0.09359894313576428, + 1.0476022672057206 + ], + "object_minus_gripper": [ + 0.005242849562379637, + 0.004972189052895079, + -0.0018898676067655718 + ], + "object_to_gripper_xy": 0.007225658136908638, + "object_to_gripper_z": -0.0018898676067655718, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3336906705378253, + 0.0740888299706381, + 1.045712399598955 + ], + "finger_b": [ + 0.3215907523207026, + 0.09857113218865936, + 1.045712399598955 + ], + "finger_midpoint": [ + 0.327640711429264, + 0.08632998107964873, + 1.045712399598955 + ], + "object_minus_finger_midpoint": [ + 0.00604995910856132, + 0.012241151109010626, + 0.0 + ], + "finger_gap": 0.02730917689633992, + "fingertip_max_gap": 0.09380062673708131, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654588448169946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045712399598955, + "object_top_z": 1.0924302483690507, + "finger_top_clearance": 0.04671784877009566, + "fingertip_min_top_clearance": 0.014015354631028681, + "object_projection_between_fingers": 0.8036876379087823, + "object_to_finger_line_xy": 0.01084741058763442, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04940031336854066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3125671991565278, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33367590290853455, + 0.09613866512461934, + 1.2370630580904813 + ], + "held_position": [ + 0.33927644567945836, + 0.10063606794482392, + 1.2350189062921817 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007468016338400898, + "max_held_gripper_dist": 0.007468978740902114, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020441517982996427, + "max_held_gripper_z_dist": 0.0020548926971748482, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08748307642460293, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33927644567945836, + 0.07502030926839537, + 1.2350189062921817 + ], + "held_grasp_finger_b": [ + 0.32946267645632343, + 0.10063606794482392, + 1.2350189062921817 + ], + "held_grasp_midpoint": [ + 0.3343695610678909, + 0.08782818860660965, + 1.2350189062921817 + ], + "held_grasp_object_position": [ + 0.33927644567945836, + 0.10063606794482392, + 1.2350189062921817 + ], + "held_grasp_finger_gap": 0.027431317119926545, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02489151255878577, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06708792190897737, + -0.9974288977656168, + 0.025195329646617415 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004049785305203383, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032096083303143494, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3062709999009835, + 0.09778215164245734, + 0.7565862137723034 + ], + "target_position": [ + 0.30909876770754063, + 0.09606192223751714, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003309903317836014, + "xy_threshold": 0.08, + "gripper_dist": 0.2137296992304325, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862137723034, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588331349882724, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528564297699508, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1836301409364882, + "release_required_pad_clearance": 0.05264282148849754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.344916976137663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 210, + "max_placed_release_frames": 210 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c414bec2fb3323526dcba80da1df9383ad5d66602bd667b1796d4741428f4c5d", + "visual_seed": 4750111065471210782, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00ac5a6b6e9101f3086715299cb32a45269ec505 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3390508007327957, + 0.09692239799268725, + 1.0463242748735138 + ], + "current_z": 1.0463242748735138, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1897377674649482, + "gripper_z": 1.0478921834279096, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3340333080125627, + 0.09207636974367968, + 1.0478921834279096 + ], + "object_minus_gripper": [ + 0.005017492720232997, + 0.004846028249007567, + -0.0015679085543958138 + ], + "object_to_gripper_xy": 0.006975616315980292, + "object_to_gripper_z": -0.0015679085543958138, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3390508007327957, + 0.07258293435728363, + 1.0463242748735138 + ], + "finger_b": [ + 0.32714869023180554, + 0.09692239799268725, + 1.0463242748735138 + ], + "finger_midpoint": [ + 0.3330997454823006, + 0.08475266617498545, + 1.0463242748735138 + ], + "object_minus_finger_midpoint": [ + 0.0059510552504951075, + 0.012169731817701798, + 0.0 + ], + "finger_gap": 0.027093721125694692, + "fingertip_max_gap": 0.09206322897594119, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013546860562847353, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463242748735138, + "object_top_z": 1.092228183648143, + "finger_top_clearance": 0.04590390877462913, + "fingertip_min_top_clearance": 0.013771172632388773, + "object_projection_between_fingers": 0.8070207370472282, + "object_to_finger_line_xy": 0.010692181571496037, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048531614487970595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8649215171723228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3393812280608041, + 0.09416929137741932, + 1.2380023567237592 + ], + "held_position": [ + 0.3447702557703677, + 0.09854233049192797, + 1.2362827541684462 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007149973685245668, + "max_held_gripper_dist": 0.007151236751324707, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017196025553130045, + "max_held_gripper_z_dist": 0.001728813658596895, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08749800518485779, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3447702557703677, + 0.07299507331663611, + 1.2362827541684462 + ], + "held_grasp_finger_b": [ + 0.3352560952619526, + 0.09854233049192797, + 1.2362827541684462 + ], + "held_grasp_midpoint": [ + 0.34001317551616017, + 0.08576870190428204, + 1.2362827541684462 + ], + "held_grasp_object_position": [ + 0.3447702557703677, + 0.09854233049192797, + 1.2362827541684462 + ], + "held_grasp_finger_gap": 0.02726135725455331, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024765791627199035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07433322208028878, + -0.9970937254984422, + 0.016693551653253036 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038005676937158555, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211011094623173, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3034440579753259, + 0.09842816670060513, + 0.7565872707963535 + ], + "target_position": [ + 0.31466514256221184, + 0.09452915036004307, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011879186324408701, + "xy_threshold": 0.08, + "gripper_dist": 0.2074614173561703, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872707963535, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577412528549762, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696081396160303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17912025380397759, + "release_required_pad_clearance": 0.05348040698080152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9679409915289923, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad126d55a2fe219e0b9d981dd5d06904eb56b0efc8078d2959192bd3af6c3eef", + "visual_seed": 1822980425934144245, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13a6ccaad662ab702609709b3dc7e0cbe8ab53ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33841112071285284, + 0.09782300286872672, + 1.0466687090819047 + ], + "current_z": 1.0466687090819047, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.19008226127798378, + "gripper_z": 1.048699605575018, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333118518106324, + 0.09290015520676452, + 1.048699605575018 + ], + "object_minus_gripper": [ + 0.005292602606528862, + 0.004922847661962201, + -0.0020308964931132767 + ], + "object_to_gripper_xy": 0.007228144399050341, + "object_to_gripper_z": -0.0020308964931132767, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33841112071285284, + 0.07312548329750032, + 1.0466687090819047 + ], + "finger_b": [ + 0.32661568167968863, + 0.09782300286872672, + 1.0466687090819047 + ], + "finger_midpoint": [ + 0.3325134011962707, + 0.08547424308311352, + 1.0466687090819047 + ], + "object_minus_finger_midpoint": [ + 0.005897719516582134, + 0.0123487597856132, + 0.0 + ], + "finger_gap": 0.0273696886163545, + "fingertip_max_gap": 0.09302569854427414, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013684844308177261, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466687090819047, + "object_top_z": 1.0921310965639903, + "finger_top_clearance": 0.04546238748208564, + "fingertip_min_top_clearance": 0.013638716244625692, + "object_projection_between_fingers": 0.8142672421245789, + "object_to_finger_line_xy": 0.010643821727613917, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049012849272137074, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.348254454236751, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33835343779313654, + 0.09533456112661902, + 1.2404588198283335 + ], + "held_position": [ + 0.34394862813034865, + 0.09984975764981724, + 1.2382972483564614 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007507699100306604, + "max_held_gripper_dist": 0.00750941873421634, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021615714718721257, + "max_held_gripper_z_dist": 0.0021752383509081596, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08734829921731593, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34394862813034865, + 0.07424905649671154, + 1.2382972483564614 + ], + "held_grasp_finger_b": [ + 0.3340575404832195, + 0.09984975764981724, + 1.2382972483564614 + ], + "held_grasp_midpoint": [ + 0.33900308430678405, + 0.08704940707326439, + 1.2382972483564614 + ], + "held_grasp_object_position": [ + 0.34394862813034865, + 0.09984975764981724, + 1.2382972483564614 + ], + "held_grasp_finger_gap": 0.027445027133778138, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025292513324582204, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029872188371154032, + -0.9995031622354096, + 0.010053906869231022 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00456279849886625, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032258499870129034, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2941424047123572, + 0.09817000008142374, + 0.7565870102966598 + ], + "target_position": [ + 0.31380763324867805, + 0.09266705571042573, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02042066625103174, + "xy_threshold": 0.08, + "gripper_dist": 0.20248762879998997, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870102966598, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755565534598599, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08903666091148592, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1754221872066386, + "release_required_pad_clearance": 0.05451833045574296, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.068455792583137, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6795c41738aab63f157d8f7dc1bd071d910d04f6d3e726bf16a4f758b226713", + "visual_seed": 6879484064055717889, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..becea041dab7b8179fb22500fe5eb06e6b211a4d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3375925024839662, + 0.09556239300329399, + 1.0486075869562 + ], + "current_z": 1.0486075869562, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19202113915227914, + "gripper_z": 1.0502148773548161, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33258373972223887, + 0.09068473792562333, + 1.0502148773548161 + ], + "object_minus_gripper": [ + 0.005008762761727348, + 0.004877655077670656, + -0.001607290398616179 + ], + "object_to_gripper_xy": 0.006991367781771526, + "object_to_gripper_z": -0.001607290398616179, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3375925024839662, + 0.07127947968647941, + 1.0486075869562 + ], + "finger_b": [ + 0.32558384082734204, + 0.09556239300329399, + 1.0486075869562 + ], + "finger_midpoint": [ + 0.33158817165565413, + 0.0834209363448867, + 1.0486075869562 + ], + "object_minus_finger_midpoint": [ + 0.006004330828312088, + 0.012141456658407282, + 0.0 + ], + "finger_gap": 0.027089995089242938, + "fingertip_max_gap": 0.09184825501941027, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013544997544621462, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486075869562, + "object_top_z": 1.0943971888354795, + "finger_top_clearance": 0.04578960187927961, + "fingertip_min_top_clearance": 0.013736880563783915, + "object_projection_between_fingers": 0.8034960137031869, + "object_to_finger_line_xy": 0.01076431682981562, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842412750970514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8216908570524604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33806870313438153, + 0.09261117936015331, + 1.2400464175573773 + ], + "held_position": [ + 0.34347963178703084, + 0.09697763875519473, + 1.2382811418548527 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071735845181143875, + "max_held_gripper_dist": 0.007174458810260598, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017652757025246046, + "max_held_gripper_z_dist": 0.001774985218792935, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08758824793905146, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34347963178703084, + 0.07138326165331288, + 1.2382811418548527 + ], + "held_grasp_finger_b": [ + 0.3340382719253192, + 0.09697763875519473, + 1.2382811418548527 + ], + "held_grasp_midpoint": [ + 0.338758951856175, + 0.0841804502042538, + 1.2382811418548527 + ], + "held_grasp_object_position": [ + 0.34347963178703084, + 0.09697763875519473, + 1.2382811418548527 + ], + "held_grasp_finger_gap": 0.02728023854865777, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0247373292606416, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08144188521224076, + -0.9965568337613969, + 0.015546588581936582 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036683330696381704, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032062638189385, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3026130666526859, + 0.08915028938955392, + 0.7565864131404799 + ], + "target_position": [ + 0.31316486115171094, + 0.09189682015926559, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010903384723040283, + "xy_threshold": 0.08, + "gripper_dist": 0.208480749106487, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864131404799, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754871171991036, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08819977700267816, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17918379432770562, + "release_required_pad_clearance": 0.05409988850133908, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.213137458526739, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2706166b32096ed6818ed37352802b54dd18bd823920dcf7a16bf379298a69cd", + "visual_seed": 4838295473783464939, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f67417c697e475717d143343820ae5ea8e904e87 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33117983968950876, + 0.08998610661864863, + 1.0480129814260433 + ], + "current_z": 1.0480129814260433, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.19142647401747792, + "gripper_z": 1.049995123383128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3260200099074163, + 0.08513468764198247, + 1.049995123383128 + ], + "object_minus_gripper": [ + 0.005159829782092451, + 0.004851418976666161, + -0.001982141957084682 + ], + "object_to_gripper_xy": 0.00708238021199969, + "object_to_gripper_z": -0.001982141957084682, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33117983968950876, + 0.06538959975508449, + 1.0480129814260433 + ], + "finger_b": [ + 0.3194781257583081, + 0.08998610661864863, + 1.0480129814260433 + ], + "finger_midpoint": [ + 0.3253289827239084, + 0.07768785318686655, + 1.0480129814260433 + ], + "object_minus_finger_midpoint": [ + 0.005850856965600337, + 0.012298253431782077, + 0.0 + ], + "finger_gap": 0.027238176495812158, + "fingertip_max_gap": 0.09443605159517746, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013619088247906084, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480129814260433, + "object_top_z": 1.0946737944191245, + "finger_top_clearance": 0.046660812993081224, + "fingertip_min_top_clearance": 0.013998243897924367, + "object_projection_between_fingers": 0.8154377422305381, + "object_to_finger_line_xy": 0.010566833909329191, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04971802579758873, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7055508754555484, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3311834476971689, + 0.08750527611660727, + 1.2409878659134834 + ], + "held_position": [ + 0.3366344910330638, + 0.09195975452729728, + 1.238864955128566 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007352754692074698, + "max_held_gripper_dist": 0.007355513470897745, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021229107849174422, + "max_held_gripper_z_dist": 0.002131875617249257, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08625937371698786, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3366344910330638, + 0.06641205221976484, + 1.238864955128566 + ], + "held_grasp_finger_b": [ + 0.32690433099290733, + 0.09195975452729728, + 1.238864955128566 + ], + "held_grasp_midpoint": [ + 0.33176941101298557, + 0.07918590337353107, + 1.238864955128566 + ], + "held_grasp_object_position": [ + 0.3366344910330638, + 0.09195975452729728, + 1.238864955128566 + ], + "held_grasp_finger_gap": 0.027337906057365767, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025085759746194716, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04424095511102973, + -0.9987681480158495, + 0.022470522910115972 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00430493079408488, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032226873519153716, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2878523139597155, + 0.09762889429277559, + 0.7565872841204911 + ], + "target_position": [ + 0.30667665135480265, + 0.08611134295680085, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02206829551961116, + "xy_threshold": 0.08, + "gripper_dist": 0.20175147531102236, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872841204911, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0772019867078097, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08711359375051124, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1756827890742271, + "release_required_pad_clearance": 0.05355679687525562, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.118862305593227, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea2b72879513ff198f3508b94494714d29fd23f8bd0e0e7ce80c501c001f6fa1", + "visual_seed": 46918469504281818, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..512defb8e3f40691e269f0ed29a7009fbdcc2a66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3393517544821333, + 0.08649408287274772, + 1.0054378262778119 + ], + "current_z": 1.0054378262778119, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1488513188692463, + "gripper_z": 1.0490870624843067, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33237559807381245, + 0.08319436177263807, + 1.0490870624843067 + ], + "object_minus_gripper": [ + 0.006976156408320833, + 0.0032997211001096483, + -0.04364923620649486 + ], + "object_to_gripper_xy": 0.007717183266701955, + "object_to_gripper_z": -0.04364923620649486, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3393517544821333, + 0.06300291963742712, + 1.0355087682804553 + ], + "finger_b": [ + 0.32613904314398423, + 0.08649408287274772, + 1.0356102768934696 + ], + "finger_midpoint": [ + 0.33274539881305876, + 0.07474850125508742, + 1.0355595225869625 + ], + "object_minus_finger_midpoint": [ + 0.006606355669074526, + 0.011745581617660303, + -0.030121696309150625 + ], + "finger_gap": 0.02695219462404216, + "fingertip_max_gap": 0.11070715102663467, + "finger_z_skew": 0.00010150861301427838, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013476001735063437, + "object_to_finger_midpoint_z": 0.030121696309150625, + "finger_midpoint_minus_object_z": 0.030121696309150625, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0054378262778119, + "object_top_z": 1.0569681129511097, + "finger_top_clearance": 0.021408590364147217, + "fingertip_min_top_clearance": 0.015459086001989319, + "object_projection_between_fingers": 0.7596734311311872, + "object_to_finger_line_xy": 0.011516099690683597, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05785357551331734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 12.139118056957267, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 189, + "max_stable_success_frames": 189, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3421362248875849, + 0.07484943458667848, + 1.2017520436405584 + ], + "held_position": [ + 0.34904382650218035, + 0.0743943927858469, + 1.1573423533891918 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04494599661069711, + "max_held_gripper_dist": 0.04497276120505554, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04440969025136665, + "max_held_gripper_z_dist": 0.044469075952964454, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0894368219195803, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34904382650218035, + 0.05035708747528712, + 1.188454913922742 + ], + "held_grasp_finger_b": [ + 0.3448550715120896, + 0.09069939755013583, + 1.1862749261819747 + ], + "held_grasp_midpoint": [ + 0.346949449007135, + 0.07052824251271148, + 1.1873649200523584 + ], + "held_grasp_object_position": [ + 0.34904382650218035, + 0.0743943927858469, + 1.1573423533891918 + ], + "held_grasp_finger_gap": 0.04061773008295941, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.039789056911470055, + "held_grasp_world_z_skew": 0.0021799877407673307, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08569013379590021, + -0.9884131329783652, + 0.1252863900267441 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.029333183791204042, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03743798477744084, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31385530663085065, + 0.06997220846092911, + 0.7565976314032408 + ], + "target_position": [ + 0.3105256152306278, + 0.08778433136293463, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01812066685022567, + "xy_threshold": 0.08, + "gripper_dist": 0.21819208157127112, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565976314032408, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518915553421224, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607969442694861, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18509981269440456, + "release_required_pad_clearance": 0.05303984721347431, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.061140971742736, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 509, + "max_placed_release_frames": 509 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0abb8e2cd18ca512db71ec617cc27cfdc32a7ef2edd169c8ae6b5e87a37ef3e9", + "visual_seed": 2492539699395795156, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6fdb584532c31b9b728b7237fee77bff82a714b0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3364738333811835, + 0.09475957014383375, + 0.9995881781337422 + ], + "current_z": 0.9995881781337422, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1430016111205319, + "gripper_z": 1.0475215821019692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3346517574306497, + 0.08932376827995502, + 1.0475215821019692 + ], + "object_minus_gripper": [ + 0.001822075950533797, + 0.005435801863878736, + -0.047933403968226984 + ], + "object_to_gripper_xy": 0.005733053520843948, + "object_to_gripper_z": -0.047933403968226984, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3364738333811835, + 0.06941381535973909, + 1.0339445618331045 + ], + "finger_b": [ + 0.3281135972654675, + 0.09475957014383375, + 1.0340476443634876 + ], + "finger_midpoint": [ + 0.3322937153233255, + 0.08208669275178643, + 1.033996103098296 + ], + "object_minus_finger_midpoint": [ + 0.004180118057857951, + 0.012672877392047324, + -0.034407924964553804 + ], + "finger_gap": 0.02668916370915449, + "fingertip_max_gap": 0.12005134084544841, + "finger_z_skew": 0.0001030825303831584, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013344482319351857, + "object_to_finger_midpoint_z": 0.034407924964553804, + "finger_midpoint_minus_object_z": 0.034407924964553804, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9995881781337422, + "object_top_z": 1.0516853733045555, + "finger_top_clearance": 0.017689270206259433, + "fingertip_min_top_clearance": 0.01562915855124397, + "object_projection_between_fingers": 0.9018763637149426, + "object_to_finger_line_xy": 0.007939479758565845, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.06252567042272421, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 11.962252917700544, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 181, + "max_stable_success_frames": 181, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34313388670896927, + 0.08270438857637666, + 1.1948419475818004 + ], + "held_position": [ + 0.35001150397047914, + 0.08724370327313233, + 1.1460454007954033 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04948747291374902, + "max_held_gripper_dist": 0.04950745256353778, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04879654678639711, + "max_held_gripper_z_dist": 0.04880691960906103, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08912176576711418, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.35001150397047914, + 0.05869985703928948, + 1.1814327423670874 + ], + "held_grasp_finger_b": [ + 0.34459221096443116, + 0.09649926222585337, + 1.1797698132617367 + ], + "held_grasp_midpoint": [ + 0.3473018574674551, + 0.07759955963257142, + 1.1806012778144122 + ], + "held_grasp_object_position": [ + 0.35001150397047914, + 0.08724370327313233, + 1.1460454007954033 + ], + "held_grasp_finger_gap": 0.03822210227542248, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.037389916990972744, + "held_grasp_world_z_skew": 0.0016629291053507078, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06527822132126539, + -0.9976833898048921, + 0.019146997899189052 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03442443821507284, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03473990083791629, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30094804324704977, + 0.10177783768650296, + 0.7565862855742818 + ], + "target_position": [ + 0.31340984852881826, + 0.09454727378791732, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014407555142085804, + "xy_threshold": 0.08, + "gripper_dist": 0.20564789438158435, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862855742818, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536789533132555, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09516557014126324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17859803834035803, + "release_required_pad_clearance": 0.05758278507063162, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.920399744289451, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 359, + "max_placed_release_frames": 359 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "885c6da20b5e6926f34207f5f6758e9a7543022356f5c2f66963ef98c87ebdbd", + "visual_seed": 7295667713701447460, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08fe73ebaecbf8be35e31a1b245f8aa3505bdb00 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33029935162555746, + 0.09225279236942582, + 1.0493658393189167 + ], + "current_z": 1.0493658393189167, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1927793915149959, + "gripper_z": 1.0511808799343592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32521658087676186, + 0.08745336766559388, + 1.0511808799343592 + ], + "object_minus_gripper": [ + 0.005082770748795595, + 0.004799424703831948, + -0.0018150406154424648 + ], + "object_to_gripper_xy": 0.006990639167670187, + "object_to_gripper_z": -0.0018150406154424648, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33029935162555746, + 0.06770656550927774, + 1.0493658393189167 + ], + "finger_b": [ + 0.31866961846298625, + 0.09225279236942582, + 1.0493658393189167 + ], + "finger_midpoint": [ + 0.32448448504427185, + 0.07997967893935179, + 1.0493658393189167 + ], + "object_minus_finger_midpoint": [ + 0.005814866581285605, + 0.012273113430074034, + 0.0 + ], + "finger_gap": 0.027161884074976533, + "fingertip_max_gap": 0.09393050454599197, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358094203748826, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493658393189167, + "object_top_z": 1.0959540985959357, + "finger_top_clearance": 0.04658825927701904, + "fingertip_min_top_clearance": 0.013976477783105712, + "object_projection_between_fingers": 0.8166758340833437, + "object_to_finger_line_xy": 0.010509803655132028, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04946525227299599, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5140677213190432, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33070331451365353, + 0.08946604973281234, + 1.24138931436753 + ], + "held_position": [ + 0.33611439381264363, + 0.09382714375302223, + 1.2394192766176733 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007223570375439731, + "max_held_gripper_dist": 0.007225791703679241, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019700377498568233, + "max_held_gripper_z_dist": 0.0019812698392494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08671420825397674, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33611439381264363, + 0.06821747231027056, + 1.2394192766176733 + ], + "held_grasp_finger_b": [ + 0.32669613095964983, + 0.09382714375302223, + 1.2394192766176733 + ], + "held_grasp_midpoint": [ + 0.33140526238614676, + 0.0810223080316464, + 1.2394192766176733 + ], + "held_grasp_object_position": [ + 0.33611439381264363, + 0.09382714375302223, + 1.2394192766176733 + ], + "held_grasp_finger_gap": 0.027286607458124456, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025021830030236638, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05719056467404793, + -0.9980786304965411, + 0.02383876377693383 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003981075348305567, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215067417988113, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29620898731229817, + 0.09537157439349747, + 0.7565864655641181 + ], + "target_position": [ + 0.30579033540786243, + 0.08718825365103275, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01260035593554509, + "xy_threshold": 0.08, + "gripper_dist": 0.2091236693465245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864655641181, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558745962939818, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09323509448989241, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1818323309737077, + "release_required_pad_clearance": 0.056617547244946206, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.633401485570664, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4528c3435c5448ecc73bec7f84f155e299850199a57c0a9448cf0fe9ae6d43ea", + "visual_seed": 6298730963548112812, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..061971161e19f1899dbf28a36beb5243f68e1fe3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3352833058605865, + 0.09636104942423131, + 1.0474514791096399 + ], + "current_z": 1.0474514791096399, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19086485249178475, + "gripper_z": 1.0492620033635605, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33002589155267803, + 0.09138835802328933, + 1.0492620033635605 + ], + "object_minus_gripper": [ + 0.005257414307908492, + 0.004972691400941975, + -0.0018105242539205868 + ], + "object_to_gripper_xy": 0.007236578264207691, + "object_to_gripper_z": -0.0018105242539205868, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3352833058605865, + 0.07182640577135456, + 1.0474514791096399 + ], + "finger_b": [ + 0.3232352174050944, + 0.09636104942423131, + 1.0474514791096399 + ], + "finger_midpoint": [ + 0.32925926163284047, + 0.08409372759779293, + 1.0474514791096399 + ], + "object_minus_finger_midpoint": [ + 0.00602404422774605, + 0.012267321826438374, + 0.0 + ], + "finger_gap": 0.02733322473849376, + "fingertip_max_gap": 0.09252202147482638, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366661236924688, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474514791096399, + "object_top_z": 1.0933861510931986, + "finger_top_clearance": 0.04593467198355872, + "fingertip_min_top_clearance": 0.013780401595067581, + "object_projection_between_fingers": 0.8057081648402371, + "object_to_finger_line_xy": 0.010814514561743073, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048761010737413193, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0701076782100682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33544814430833575, + 0.09331078654722581, + 1.2418607786482034 + ], + "held_position": [ + 0.34109558545016283, + 0.09777931019386699, + 1.2399099746324043 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007461027498880476, + "max_held_gripper_dist": 0.007464087813449399, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001950804015799168, + "max_held_gripper_z_dist": 0.0019613424791580236, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08755922009922355, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34109558545016283, + 0.07211081863859302, + 1.2399099746324043 + ], + "held_grasp_finger_b": [ + 0.3313405194655578, + 0.09777931019386699, + 1.2399099746324043 + ], + "held_grasp_midpoint": [ + 0.3362180524578603, + 0.08494506441623001, + 1.2399099746324043 + ], + "held_grasp_object_position": [ + 0.34109558545016283, + 0.09777931019386699, + 1.2399099746324043 + ], + "held_grasp_finger_gap": 0.02745965715531002, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02491730581610128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07009731333578632, + -0.9973749208404609, + 0.018155823902792467 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003972910944786387, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032057768140826004, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.300856963711473, + 0.09435924469192881, + 0.756586281359197 + ], + "target_position": [ + 0.31062552147989103, + 0.09325790231157073, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009830446374081524, + "xy_threshold": 0.08, + "gripper_dist": 0.20916456400505987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586281359197, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561387492326486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08722324713350814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18009966432317745, + "release_required_pad_clearance": 0.05361162356675407, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2336009452502688, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c31e912adffabd0594f9e8735d9ee643a55f41c7be857d42774e62e4941990e0", + "visual_seed": 3185341783773125822, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d0d43027e2d3730c2206c88424fc95f54a6e16 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3322826755212587, + 0.09081697825513378, + 1.047908607985639 + ], + "current_z": 1.047908607985639, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.1913219217631391, + "gripper_z": 1.0497796166927507, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32719194402471574, + 0.08589823996777791, + 1.0497796166927507 + ], + "object_minus_gripper": [ + 0.005090731496542933, + 0.004918738287355867, + -0.0018710087071116543 + ], + "object_to_gripper_xy": 0.007078808763442813, + "object_to_gripper_z": -0.0018710087071116543, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3322826755212587, + 0.06646605849838748, + 1.047908607985639 + ], + "finger_b": [ + 0.32022882682691983, + 0.09081697825513378, + 1.047908607985639 + ], + "finger_midpoint": [ + 0.3262557511740892, + 0.07864151837676063, + 1.047908607985639 + ], + "object_minus_finger_midpoint": [ + 0.006026924347169449, + 0.012175459878373152, + 0.0 + ], + "finger_gap": 0.027170987493013787, + "fingertip_max_gap": 0.09117977506648553, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013585493746506905, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047908607985639, + "object_top_z": 1.0933916139655935, + "finger_top_clearance": 0.04548300597995447, + "fingertip_min_top_clearance": 0.013644901793986341, + "object_projection_between_fingers": 0.8031929614835024, + "object_to_finger_line_xy": 0.01080278375569812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808988753324277, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6822967503064131, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3325663798496753, + 0.08789625981539279, + 1.2392644467762923 + ], + "held_position": [ + 0.3380411454629896, + 0.0923132351340222, + 1.2372387083574476 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007320269505127068, + "max_held_gripper_dist": 0.007321634145760098, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020257384188446803, + "max_held_gripper_z_dist": 0.002035607878416057, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697972829074518, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3380411454629896, + 0.06670580679126303, + 1.2372387083574476 + ], + "held_grasp_finger_b": [ + 0.328460899681968, + 0.0923132351340222, + 1.2372387083574476 + ], + "held_grasp_midpoint": [ + 0.3332510225724788, + 0.07950952096264262, + 1.2372387083574476 + ], + "held_grasp_object_position": [ + 0.3380411454629896, + 0.0923132351340222, + 1.2372387083574476 + ], + "held_grasp_finger_gap": 0.027340839335220257, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02476586721978019, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07923844249298845, + -0.9967807244254531, + 0.01222524622061405 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003763867973587965, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0320581676015325, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3059781925116768, + 0.08786425140651692, + 0.7565863534349297 + ], + "target_position": [ + 0.3077871097975523, + 0.0871972266791518, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0019279791840307121, + "xy_threshold": 0.08, + "gripper_dist": 0.2158400077579895, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863534349297, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591738840531445, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08737265459292086, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18555735811903892, + "release_required_pad_clearance": 0.05368632729646043, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3818235622169732, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 210, + "max_placed_release_frames": 210 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9fdaaabe2e6f0fcb99ad0a56154d309a9b4274315e0d7fc3d067325108d374a", + "visual_seed": 2402153377128124555, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5ebc7495a67da31a12af3b7c0616baa7bc7a905b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33708313150458713, + 0.10009849061112346, + 1.0478493228126633 + ], + "current_z": 1.0478493228126633, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19126293461338728, + "gripper_z": 1.0494708032718547, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320296000029645, + 0.0951894124196651, + 1.0494708032718547 + ], + "object_minus_gripper": [ + 0.005053531501622632, + 0.00490907819145836, + -0.0016214804591914156 + ], + "object_to_gripper_xy": 0.007045369353536008, + "object_to_gripper_z": -0.0016214804591914156, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33708313150458713, + 0.07579206068420496, + 1.0478493228126633 + ], + "finger_b": [ + 0.32501298149177715, + 0.10009849061112346, + 1.0478493228126633 + ], + "finger_midpoint": [ + 0.33104805649818214, + 0.08794527564766422, + 1.0478493228126633 + ], + "object_minus_finger_midpoint": [ + 0.0060350750064049885, + 0.012153214963459238, + 0.0 + ], + "finger_gap": 0.02713836872628743, + "fingertip_max_gap": 0.09232081678070622, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013569184363143708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478493228126633, + "object_top_z": 1.0939762775518191, + "finger_top_clearance": 0.046126954739155845, + "fingertip_min_top_clearance": 0.013838086421746753, + "object_projection_between_fingers": 0.8021856206908152, + "object_to_finger_line_xy": 0.010810607610676941, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866040839035311, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8858513170180893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3375738511467964, + 0.09709443385396825, + 1.2421187063983152 + ], + "held_position": [ + 0.3430561498006771, + 0.10146556004523091, + 1.2403552246915563 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007229952312453938, + "max_held_gripper_dist": 0.007231524647744933, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017634817067588848, + "max_held_gripper_z_dist": 0.0017738222877443643, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08784599176973716, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3430561498006771, + 0.0758529851014043, + 1.2403552246915563 + ], + "held_grasp_finger_b": [ + 0.3335436642451635, + 0.10146556004523091, + 1.2403552246915563 + ], + "held_grasp_midpoint": [ + 0.33829990702292034, + 0.0886592725733176, + 1.2403552246915563 + ], + "held_grasp_object_position": [ + 0.3430561498006771, + 0.10146556004523091, + 1.2403552246915563 + ], + "held_grasp_finger_gap": 0.0273219943762711, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02468898996111818, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0863388986287576, + -0.9960063579375459, + 0.02273608434973951 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036448253519533037, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03203443245916668, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.306700732797239, + 0.09950058889389152, + 0.7565869606327017 + ], + "target_position": [ + 0.31260376612427593, + 0.09591591951667422, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006906204239961951, + "xy_threshold": 0.08, + "gripper_dist": 0.21050660189144413, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869606327017, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539920330993828, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08806919537295597, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1821267616714206, + "release_required_pad_clearance": 0.05403459768647799, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0805532315015047, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bcd5fc62bf86912d18f95675144e2415a67d70bcfc720cb68ee383173660c40e", + "visual_seed": 6576001222510343534, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..635964d57de8e1762472297654a8fb37ed5cf1ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33728920871657064, + 0.09094420791917282, + 1.0491226485101366 + ], + "current_z": 1.0491226485101366, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1925362007062158, + "gripper_z": 1.05075240630242, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33211560729552053, + 0.08603391370611134, + 1.05075240630242 + ], + "object_minus_gripper": [ + 0.005173601421050111, + 0.004910294213061481, + -0.0016297577922834705 + ], + "object_to_gripper_xy": 0.007132821385869466, + "object_to_gripper_z": -0.0016297577922834705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33728920871657064, + 0.06644049104971851, + 1.0491226485101366 + ], + "finger_b": [ + 0.3253655859371609, + 0.09094420791917282, + 1.0491226485101366 + ], + "finger_midpoint": [ + 0.3313273973268658, + 0.07869234948444567, + 1.0491226485101366 + ], + "object_minus_finger_midpoint": [ + 0.005961811389704863, + 0.012251858434727148, + 0.0 + ], + "finger_gap": 0.02725077834859104, + "fingertip_max_gap": 0.09599708556289863, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013625389174295514, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491226485101366, + "object_top_z": 1.0966198470619073, + "finger_top_clearance": 0.0474971985517707, + "fingertip_min_top_clearance": 0.01424915956553121, + "object_projection_between_fingers": 0.808548561636227, + "object_to_finger_line_xy": 0.010721641521844412, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050498542781449315, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.13682173429235, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33755960885022707, + 0.0878957296991054, + 1.2409453413370988 + ], + "held_position": [ + 0.3430978181396244, + 0.09233169136309488, + 1.2391547057782384 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007318189237933568, + "max_held_gripper_dist": 0.00731943215532495, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017906355588603873, + "max_held_gripper_z_dist": 0.0018003557848311758, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08765079572466064, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3430978181396244, + 0.0666664189584202, + 1.2391547057782384 + ], + "held_grasp_finger_b": [ + 0.33352354241316384, + 0.09233169136309488, + 1.2391547057782384 + ], + "held_grasp_midpoint": [ + 0.3383106802763941, + 0.07949905516075753, + 1.2391547057782384 + ], + "held_grasp_object_position": [ + 0.3430978181396244, + 0.09233169136309488, + 1.2391547057782384 + ], + "held_grasp_finger_gap": 0.02739293637586975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025066149609343807, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05676116985785418, + -0.9978306988650868, + 0.03334765357233371 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040740417205761565, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032123703070363316, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30894023996116166, + 0.09594962198900217, + 0.7565914419088458 + ], + "target_position": [ + 0.312711731385594, + 0.0867129205397568, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00997701364272187, + "xy_threshold": 0.08, + "gripper_dist": 0.21455880349566933, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565914419088458, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0761056789274894, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09215093174492277, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1862646260404368, + "release_required_pad_clearance": 0.056075465872461386, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.387902924370324, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f5b45830cb52173228875251bc5bbbb4cbc70190945897ede8a9adbfc6f52db", + "visual_seed": 8257544045268922887, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..235ab0b4b0638286b4c84b62db53553536552a69 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33867099116003685, + 0.09369259508903095, + 1.0475535255314736 + ], + "current_z": 1.0475535255314736, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19096707772755284, + "gripper_z": 1.0499982713189435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3331832004759759, + 0.08864001242370897, + 1.0499982713189435 + ], + "object_minus_gripper": [ + 0.005487790684060967, + 0.005052582665321978, + -0.002444745787469893 + ], + "object_to_gripper_xy": 0.007459519969943004, + "object_to_gripper_z": -0.002444745787469893, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33867099116003685, + 0.06888367372210277, + 1.0475535255314736 + ], + "finger_b": [ + 0.32665751801787396, + 0.09369259508903095, + 1.0475535255314736 + ], + "finger_midpoint": [ + 0.33266425458895543, + 0.08128813440556687, + 1.0475535255314736 + ], + "object_minus_finger_midpoint": [ + 0.006006736571081417, + 0.012404460683464083, + 0.0 + ], + "finger_gap": 0.02756458082989645, + "fingertip_max_gap": 0.09355353689475507, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013782290414948205, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475535255314736, + "object_top_z": 1.0933903789472494, + "finger_top_clearance": 0.04583685341577581, + "fingertip_min_top_clearance": 0.013751056024732743, + "object_projection_between_fingers": 0.8100521516791973, + "object_to_finger_line_xy": 0.010812473890564939, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049276768447377536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.124656843819113, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3384150476094194, + 0.09098204943917898, + 1.2407838905791992 + ], + "held_position": [ + 0.34420304508007105, + 0.09560851057647325, + 1.2381958233885717 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007848767365540089, + "max_held_gripper_dist": 0.007850960686401143, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002588067190627541, + "max_held_gripper_z_dist": 0.0026051357672749464, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08624036824517645, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34420304508007105, + 0.06989242093986214, + 1.2381958233885717 + ], + "held_grasp_finger_b": [ + 0.33413124311523645, + 0.09560851057647325, + 1.2381958233885717 + ], + "held_grasp_midpoint": [ + 0.33916714409765375, + 0.08275046575816769, + 1.2381958233885717 + ], + "held_grasp_object_position": [ + 0.34420304508007105, + 0.09560851057647325, + 1.2381958233885717 + ], + "held_grasp_finger_gap": 0.027618082138647193, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025354971320202882, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03415778914567788, + -0.9993355199481007, + 0.012718648149031788 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004596708873028456, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032178708817877495, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3082606728116375, + 0.1005906324731313, + 0.7565864879916164 + ], + "target_position": [ + 0.31386293214429273, + 0.08881332191438214, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01304186925358275, + "xy_threshold": 0.08, + "gripper_dist": 0.2126446179729299, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864879916164, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07733642379043332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09294986924363345, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18540139166969055, + "release_required_pad_clearance": 0.05647493462181673, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.3071043590669, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6e75c2d046668e27cbe191cb01d406c648e3f495d89015185c607505e7484dce", + "visual_seed": 7997057196549591038, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..200b90b3fe3b462429fda5e2cb43dd2121c7cdcc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3422531859960753, + 0.08711678199072766, + 1.0059962231933577 + ], + "current_z": 1.0059962231933577, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1494097753894369, + "gripper_z": 1.0508780569481102, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33587176890167725, + 0.08328833641497749, + 1.0508780569481102 + ], + "object_minus_gripper": [ + 0.006381417094398045, + 0.0038284455757501695, + -0.04488183375475252 + ], + "object_to_gripper_xy": 0.007441739021166802, + "object_to_gripper_z": -0.04488183375475252, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3422531859960753, + 0.06333427575334229, + 1.037298880447674 + ], + "finger_b": [ + 0.3293242941868167, + 0.08711678199072766, + 1.0374027651941113 + ], + "finger_midpoint": [ + 0.335788740091446, + 0.07522552887203497, + 1.0373508228208927 + ], + "object_minus_finger_midpoint": [ + 0.006464445904629301, + 0.011891253118692685, + -0.03135459962753506 + ], + "finger_gap": 0.027069810460868222, + "fingertip_max_gap": 0.11234878440901738, + "finger_z_skew": 0.00010388474643741041, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013534805561466225, + "object_to_finger_midpoint_z": 0.03135459962753506, + "finger_midpoint_minus_object_z": 0.03135459962753506, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0059962231933577, + "object_top_z": 1.0575486519120623, + "finger_top_clearance": 0.020197829091169517, + "fingertip_min_top_clearance": 0.01546572861561139, + "object_projection_between_fingers": 0.7718825181552342, + "object_to_finger_line_xy": 0.011358916413678557, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.058674392204508694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 12.50545939102824, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 188, + "max_stable_success_frames": 188, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34570769888323843, + 0.07351339226459777, + 1.2007989504349457 + ], + "held_position": [ + 0.3531468770101333, + 0.07496518623936001, + 1.152903900893143 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04849108008242918, + "max_held_gripper_dist": 0.04851368499123869, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04789504954180268, + "max_held_gripper_z_dist": 0.04793351569704041, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08847461226959351, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3531468770101333, + 0.04940778456326379, + 1.187316338190139 + ], + "held_grasp_finger_b": [ + 0.347320007719168, + 0.08762089089104275, + 1.185811117668915 + ], + "held_grasp_midpoint": [ + 0.35023344236465065, + 0.06851433772715326, + 1.186563727929527 + ], + "held_grasp_object_position": [ + 0.3531468770101333, + 0.07496518623936001, + 1.152903900893143 + ], + "held_grasp_finger_gap": 0.03868409996070283, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.037996536205815744, + "held_grasp_world_z_skew": 0.0015052205212240377, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.033346203442755615, + -0.9962944380346812, + 0.07928066256731903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03314483858454199, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03600755509874358, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30772325999555394, + 0.0916923400238894, + 0.7565863130612427 + ], + "target_position": [ + 0.3141006429913119, + 0.09031630676259864, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006524146029233352, + "xy_threshold": 0.08, + "gripper_dist": 0.20977949462453907, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863130612427, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515489310439177, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09545404485539936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18125809247015126, + "release_required_pad_clearance": 0.057727022427699684, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.275066578433277, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 374, + "max_placed_release_frames": 374 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d26faacf68d5f3aec56f30d7e363f68f86a1d07a0ec908f043646ee6c9d55cba", + "visual_seed": 5922847482583382629, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42e84a86f5a022ba42d4df4bdc6ff0dd0ef20c9a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33357688157399223, + 0.09011226787504076, + 1.0494602556839492 + ], + "current_z": 1.0494602556839492, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19287362906609407, + "gripper_z": 1.05132330425244, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32864828542798763, + 0.0852628325320325, + 1.05132330425244 + ], + "object_minus_gripper": [ + 0.004928596146004605, + 0.00484943534300826, + -0.0018630485684907327 + ], + "object_to_gripper_xy": 0.006914338950068118, + "object_to_gripper_z": -0.0018630485684907327, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33357688157399223, + 0.06591443750539142, + 1.0494602556839492 + ], + "finger_b": [ + 0.32156815113962967, + 0.09011226787504076, + 1.0494602556839492 + ], + "finger_midpoint": [ + 0.32757251635681095, + 0.07801335269021609, + 1.0494602556839492 + ], + "object_minus_finger_midpoint": [ + 0.0060043652171812845, + 0.012098915184824671, + 0.0 + ], + "finger_gap": 0.027013785392712177, + "fingertip_max_gap": 0.0925486393051487, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013506892696356089, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494602556839492, + "object_top_z": 1.095654966656463, + "finger_top_clearance": 0.04619471097251382, + "fingertip_min_top_clearance": 0.013858413291754112, + "object_projection_between_fingers": 0.8023834552534576, + "object_to_finger_line_xy": 0.010756923466340482, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877431965257435, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0113720394579615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3341183317844122, + 0.08718836306511663, + 1.2432288133468126 + ], + "held_position": [ + 0.33946462467743127, + 0.09150950619901117, + 1.2412264549754262 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007159927704174917, + "max_held_gripper_dist": 0.007161618784513668, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020023583713864035, + "max_held_gripper_z_dist": 0.002010888395609811, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08767425101638249, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33946462467743127, + 0.06596706388784081, + 1.2412264549754262 + ], + "held_grasp_finger_b": [ + 0.3300457672499947, + 0.09150950619901117, + 1.2412264549754262 + ], + "held_grasp_midpoint": [ + 0.33475519596371295, + 0.07873828504342599, + 1.2412264549754262 + ], + "held_grasp_object_position": [ + 0.33946462467743127, + 0.09150950619901117, + 1.2412264549754262 + ], + "held_grasp_finger_gap": 0.027223725580049537, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024648773122430218, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08448064404408721, + -0.996164891128362, + 0.022771264021018808 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036257199122765055, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032080127262966385, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.291840194151554, + 0.09535487108506537, + 0.7565863328889079 + ], + "target_position": [ + 0.3092139027105771, + 0.08621440280145788, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019631452048626118, + "xy_threshold": 0.08, + "gripper_dist": 0.20168021079175866, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863328889079, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752141639125064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636202781349332, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17605138717567453, + "release_required_pad_clearance": 0.05318101390674666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.385337385381396, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "39db6fc5e3f1bf840969d9c298ec141fc1555fe97bf89fd80a33e4c235c46a9b", + "visual_seed": 1069775335299631738, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e41361c2da55c603959e60c470e216fb5105d9f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3389267058531704, + 0.09628102003823616, + 1.047010679101255 + ], + "current_z": 1.047010679101255, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19042417169268933, + "gripper_z": 1.048534504950753, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33395453598234914, + 0.09139488905221785, + 1.048534504950753 + ], + "object_minus_gripper": [ + 0.004972169870821275, + 0.004886130986018311, + -0.0015238258494980617 + ], + "object_to_gripper_xy": 0.0069711368683186194, + "object_to_gripper_z": -0.0015238258494980617, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3389267058531704, + 0.07207497481277429, + 1.047010679101255 + ], + "finger_b": [ + 0.32683961316939514, + 0.09628102003823616, + 1.047010679101255 + ], + "finger_midpoint": [ + 0.3328831595112828, + 0.08417799742550522, + 1.047010679101255 + ], + "object_minus_finger_midpoint": [ + 0.00604354634188764, + 0.01210302261273094, + 0.0 + ], + "finger_gap": 0.027056060966136202, + "fingertip_max_gap": 0.09270126502940121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013528030483068108, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047010679101255, + "object_top_z": 1.0932547485480424, + "finger_top_clearance": 0.046244069446787384, + "fingertip_min_top_clearance": 0.013873220834036215, + "object_projection_between_fingers": 0.8004211265539534, + "object_to_finger_line_xy": 0.010813869488023877, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048850632514700607, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.019790962059703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33943777406077913, + 0.09355414396562055, + 1.2394651416465685 + ], + "held_position": [ + 0.3448319793632555, + 0.09791658802815646, + 1.2377919475999022 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071363819517889174, + "max_held_gripper_dist": 0.007137387553311458, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016731940466663264, + "max_held_gripper_z_dist": 0.0016818836609477916, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869140671053947, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3448319793632555, + 0.07236093546088318, + 1.2377919475999022 + ], + "held_grasp_finger_b": [ + 0.3353401119427292, + 0.09791658802815646, + 1.2377919475999022 + ], + "held_grasp_midpoint": [ + 0.3400860456529924, + 0.08513876174451981, + 1.2377919475999022 + ], + "held_grasp_object_position": [ + 0.3448319793632555, + 0.09791658802815646, + 1.2377919475999022 + ], + "held_grasp_finger_gap": 0.027261454936742268, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024665365903571414, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0836994753977901, + -0.9962504444053542, + 0.021896343079820024 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036707949719646488, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032073077690381646, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.293361051203879, + 0.10715872286383354, + 0.7565870205750426 + ], + "target_position": [ + 0.31454149116535696, + 0.09332424088285476, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02529829892786862, + "xy_threshold": 0.08, + "gripper_dist": 0.20360201681129922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870205750426, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07756397071886953, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670710122927348, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17886306269242003, + "release_required_pad_clearance": 0.053353550614636744, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.721875129609642, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "615b83fc2ebd27a48274f97a2c7ef94362b3015b2df522ca7d511f039019d9c0", + "visual_seed": 4696935883519275427, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9279e6178f37abf7b5e0ecf6f1e8e3321f72e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3351326423250297, + 0.09588354180894347, + 1.0457341329396344 + ], + "current_z": 1.0457341329396344, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18914756592642423, + "gripper_z": 1.0478502585319343, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3298533249213951, + 0.09105771087662794, + 1.0478502585319343 + ], + "object_minus_gripper": [ + 0.005279317403634631, + 0.0048258309323155335, + -0.0021161255922999 + ], + "object_to_gripper_xy": 0.00715261046301369, + "object_to_gripper_z": -0.0021161255922999, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3351326423250297, + 0.07104809584589449, + 1.0457341329396344 + ], + "finger_b": [ + 0.32367920961382635, + 0.09588354180894347, + 1.0457341329396344 + ], + "finger_midpoint": [ + 0.329405925969428, + 0.08346581882741898, + 1.0457341329396344 + ], + "object_minus_finger_midpoint": [ + 0.00572671635560168, + 0.012417722981524493, + 0.0 + ], + "finger_gap": 0.027349232110858053, + "fingertip_max_gap": 0.09256073631015985, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013674616055429027, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457341329396344, + "object_top_z": 1.09118665783433, + "finger_top_clearance": 0.045452524894695756, + "fingertip_min_top_clearance": 0.013635757468408727, + "object_projection_between_fingers": 0.8246195971862826, + "object_to_finger_line_xy": 0.01040069820013619, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048780368155079926, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.034936222518932, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3347231933720068, + 0.09389480178248721, + 1.237207957520364 + ], + "held_position": [ + 0.3401933290883648, + 0.09843350176306226, + 1.234952041396374 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007457301108814512, + "max_held_gripper_dist": 0.007458789639784712, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022559161239901204, + "max_held_gripper_z_dist": 0.002268477462403773, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08728225354682059, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3401933290883648, + 0.07293704257521809, + 1.234952041396374 + ], + "held_grasp_finger_b": [ + 0.3302373840568928, + 0.09843350176306226, + 1.234952041396374 + ], + "held_grasp_midpoint": [ + 0.3352153565726288, + 0.08568527216914018, + 1.234952041396374 + ], + "held_grasp_object_position": [ + 0.3401933290883648, + 0.09843350176306226, + 1.234952041396374 + ], + "held_grasp_finger_gap": 0.02737134035057647, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025345498283918924, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01485331541613883, + -0.9998791160731636, + 0.004596984000181602 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004788430591583634, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032379597032033115, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30323116935876326, + 0.09168291106967756, + 0.7565873368183553 + ], + "target_position": [ + 0.31062297550287543, + 0.0925685585468667, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007444673903267078, + "xy_threshold": 0.08, + "gripper_dist": 0.20946468438449178, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873368183553, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565866678938035, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569277985778455, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17959617506931153, + "release_required_pad_clearance": 0.052846389928892276, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7338149865989908, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 208, + "max_placed_release_frames": 208 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ba65a1a6a416194b54ce0579a4417d319d27306f0e0566e69bc847766e65b73c", + "visual_seed": 3718495444822165265, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d512ba2c8c4f0623bfefb35e549ff03a5e1d39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33851231018249306, + 0.09888875565794904, + 1.0463304271372802 + ], + "current_z": 1.0463304271372802, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18974391972871463, + "gripper_z": 1.0488285126752208, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33314962646601676, + 0.09389329319279557, + 1.0488285126752208 + ], + "object_minus_gripper": [ + 0.005362683716476302, + 0.0049954624651534635, + -0.0024980855379406197 + ], + "object_to_gripper_xy": 0.007328916828817012, + "object_to_gripper_z": -0.0024980855379406197, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33851231018249306, + 0.07420686859289219, + 1.0463304271372802 + ], + "finger_b": [ + 0.32652887564138416, + 0.09888875565794904, + 1.0463304271372802 + ], + "finger_midpoint": [ + 0.3325205929119386, + 0.08654781212542062, + 1.0463304271372802 + ], + "object_minus_finger_midpoint": [ + 0.005991717270554475, + 0.012340943532528417, + 0.0 + ], + "finger_gap": 0.02743716917783725, + "fingertip_max_gap": 0.0939234963856139, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371858458891863, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463304271372802, + "object_top_z": 1.092210741804505, + "finger_top_clearance": 0.045880314667224864, + "fingertip_min_top_clearance": 0.013764094400167492, + "object_projection_between_fingers": 0.8092414495843598, + "object_to_finger_line_xy": 0.010780039882323796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04946174819280695, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.469975447513696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3383256461327731, + 0.09651168515154163, + 1.2374366905928562 + ], + "held_position": [ + 0.34398176507804845, + 0.10109338082728792, + 1.2347859019504066 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007746631346281735, + "max_held_gripper_dist": 0.00774848322794017, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026507886424496085, + "max_held_gripper_z_dist": 0.002662846222679649, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738121709799353, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34398176507804845, + 0.0754476481809631, + 1.2347859019504066 + ], + "held_grasp_finger_b": [ + 0.3340222908445728, + 0.10109338082728792, + 1.2347859019504066 + ], + "held_grasp_midpoint": [ + 0.3390020279613106, + 0.08827051450412551, + 1.2347859019504066 + ], + "held_grasp_object_position": [ + 0.34398176507804845, + 0.10109338082728792, + 1.2347859019504066 + ], + "held_grasp_finger_gap": 0.02751171986579603, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025341881125366478, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029227002712088314, + -0.9995022196986287, + 0.011878347106469291 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004605383888307926, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223819882269477, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3033681455141298, + 0.09937812672389393, + 0.7565983876184155 + ], + "target_position": [ + 0.3138436018134739, + 0.09472671201467223, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011461712065683432, + "xy_threshold": 0.08, + "gripper_dist": 0.20816083561468707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565983876184155, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526279119980461, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0878466899044391, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1805415758067499, + "release_required_pad_clearance": 0.05392334495221955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.787851577619558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb71db825ec103d9c174ed99e33e03f1c0e7e4cc7b82e8b5c18af606458649f1", + "visual_seed": 6388103236946662336, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..786e64faf6ec1be6b339916cb2a12810ec294ed6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_49_success.json @@ -0,0 +1,684 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3395218047365696, + 0.09693633687730022, + 1.049450934131337 + ], + "current_z": 1.049450934131337, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.19286430751348171, + "gripper_z": 1.0509725237821712, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33462384150357694, + 0.09214957231173486, + 1.0509725237821712 + ], + "object_minus_gripper": [ + 0.004897963232992686, + 0.004786764565565357, + -0.0015215896508342652 + ], + "object_to_gripper_xy": 0.006848588090833049, + "object_to_gripper_z": -0.0015215896508342652, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3395218047365696, + 0.07267947645578766, + 1.049450934131337 + ], + "finger_b": [ + 0.32770367621452323, + 0.09693633687730022, + 1.049450934131337 + ], + "finger_midpoint": [ + 0.33361274047554645, + 0.08480790666654395, + 1.049450934131337 + ], + "object_minus_finger_midpoint": [ + 0.005909064261023167, + 0.01212843021075627, + 0.0 + ], + "finger_gap": 0.026982650708785978, + "fingertip_max_gap": 0.09230847530717043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013491325354392972, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049450934131337, + "object_top_z": 1.0955018874445288, + "finger_top_clearance": 0.04605095331319187, + "fingertip_min_top_clearance": 0.01381528599395756, + "object_projection_between_fingers": 0.8081648463172447, + "object_to_finger_line_xy": 0.010624259903028413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865423765358522, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9450706185575506, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3402090194103392, + 0.0937901497709527, + 1.2421187986065538 + ], + "held_position": [ + 0.3455097064482075, + 0.09807214198588192, + 1.2404491393758215 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007015732488408406, + "max_held_gripper_dist": 0.007017333039012454, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0016696592307323677, + "max_held_gripper_z_dist": 0.0016782636861172318, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867395052025619, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3455097064482075, + 0.07251786764408644, + 1.2404491393758215 + ], + "held_grasp_finger_b": [ + 0.33623838601071343, + 0.09807214198588192, + 1.2404491393758215 + ], + "held_grasp_midpoint": [ + 0.3408740462294605, + 0.08529500481498417, + 1.2404491393758215 + ], + "held_grasp_object_position": [ + 0.3455097064482075, + 0.09807214198588192, + 1.2404491393758215 + ], + "held_grasp_finger_gap": 0.027184155675511464, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024708034848489255, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08150932093289738, + -0.9964569347936165, + 0.02073180413683739 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003588859757354709, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209050850855471, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3090945430885215, + 0.1018361559441177, + 0.7565866054768873 + ], + "target_position": [ + 0.31519120686490437, + 0.09250868192106064, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011143207834957715, + "xy_threshold": 0.08, + "gripper_dist": 0.20991902840309917, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866054768873, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559374760911397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08674523091488516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1823486355109639, + "release_required_pad_clearance": 0.05337261545744258, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7609790452555336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a03ee46c1db9ed974170db08e2de2b7093b4a77ab3ca5b848d38b7213e222ffa", + "visual_seed": 2531679160191079606, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e029f71f88a778be3e34af092c306f3224b3650 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3354577501341386, + 0.0904146341389207, + 1.0461138796983478 + ], + "current_z": 1.0461138796983478, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18952737228978245, + "gripper_z": 1.047826232302275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33043041423263, + 0.08550803646153185, + 1.047826232302275 + ], + "object_minus_gripper": [ + 0.005027335901508612, + 0.004906597677388852, + -0.001712352603927103 + ], + "object_to_gripper_xy": 0.007024870606235753, + "object_to_gripper_z": -0.001712352603927103, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3354577501341386, + 0.06615367148025132, + 1.0461138796983478 + ], + "finger_b": [ + 0.3233590881926655, + 0.0904146341389207, + 1.0461138796983478 + ], + "finger_midpoint": [ + 0.329408419163402, + 0.078284152809586, + 1.0461138796983478 + ], + "object_minus_finger_midpoint": [ + 0.006049330970736566, + 0.012130481329334697, + 0.0 + ], + "finger_gap": 0.02711036572787979, + "fingertip_max_gap": 0.09185107068520312, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013555182863939913, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461138796983478, + "object_top_z": 1.091913280780631, + "finger_top_clearance": 0.04579940108228331, + "fingertip_min_top_clearance": 0.013739820324685025, + "object_projection_between_fingers": 0.8008391683828185, + "object_to_finger_line_xy": 0.010827046323469088, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048425535342601564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8319942891299814, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3358495083550098, + 0.08735894581363075, + 1.2384602912627174 + ], + "held_position": [ + 0.34129919474656983, + 0.09173170305936458, + 1.2365974214916275 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007231208161885014, + "max_held_gripper_dist": 0.007232350312484562, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018628697710898479, + "max_held_gripper_z_dist": 0.0018720213235901006, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08767096108215916, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34129919474656983, + 0.06612117418462911, + 1.2365974214916275 + ], + "held_grasp_finger_b": [ + 0.33181558635214237, + 0.09173170305936458, + 1.2365974214916275 + ], + "held_grasp_midpoint": [ + 0.3365573905493561, + 0.07892643862199684, + 1.2365974214916275 + ], + "held_grasp_object_position": [ + 0.34129919474656983, + 0.09173170305936458, + 1.2365974214916275 + ], + "held_grasp_finger_gap": 0.027310035104747016, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024708571616398396, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0849657417601594, + -0.9962446915090243, + 0.016653449109265472 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003643092687483655, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03204015733581617, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2882873070950237, + 0.09079980272878467, + 0.7565867777848969 + ], + "target_position": [ + 0.31099886800369486, + 0.08726085126435876, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02298562977983945, + "xy_threshold": 0.08, + "gripper_dist": 0.20091550070853448, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867777848969, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533386999879958, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086821182309656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17410414214346978, + "release_required_pad_clearance": 0.053410591154828005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8332772181724541, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e5da4156bbbf1e02cff5f6ec536a2cef29474f88604dcd3ca2256703a6ea9e2", + "visual_seed": 1937921965721919555, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3040ab4249a7bd7ba39cb81f8523a03d95438703 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3326178427165466, + 0.09387015685752317, + 1.0479721069456989 + ], + "current_z": 1.0479721069456989, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1913855995371333, + "gripper_z": 1.04985387419519, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3274547423140741, + 0.08889369632075782, + 1.04985387419519 + ], + "object_minus_gripper": [ + 0.005163100402472476, + 0.004976460536765356, + -0.001881767249491073 + ], + "object_to_gripper_xy": 0.007170966827422532, + "object_to_gripper_z": -0.001881767249491073, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3326178427165466, + 0.06945374488677894, + 1.0479721069456989 + ], + "finger_b": [ + 0.32050718716872867, + 0.09387015685752317, + 1.0479721069456989 + ], + "finger_midpoint": [ + 0.32656251494263766, + 0.08166195087215106, + 1.0479721069456989 + ], + "object_minus_finger_midpoint": [ + 0.006055327773908936, + 0.012208205985372117, + 0.0 + ], + "finger_gap": 0.027254892245668398, + "fingertip_max_gap": 0.092190945637562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013627446122834187, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479721069456989, + "object_top_z": 1.0937631413693198, + "finger_top_clearance": 0.04579103442362098, + "fingertip_min_top_clearance": 0.01373731032708626, + "object_projection_between_fingers": 0.8025548976683613, + "object_to_finger_line_xy": 0.010849382651230147, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048595472818781, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9795635760995064, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3326439324210969, + 0.09163357481932018, + 1.2428823856865254 + ], + "held_position": [ + 0.3381766099111952, + 0.09614215481917718, + 1.240874236386096 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007414207809157072, + "max_held_gripper_dist": 0.0074173526705547934, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020081493004293627, + "max_held_gripper_z_dist": 0.002018825385062817, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08732575870130826, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3381766099111952, + 0.07061450026378384, + 1.240874236386096 + ], + "held_grasp_finger_b": [ + 0.3282292924417801, + 0.09614215481917718, + 1.240874236386096 + ], + "held_grasp_midpoint": [ + 0.3332029511764877, + 0.0833783275414805, + 1.240874236386096 + ], + "held_grasp_object_position": [ + 0.3381766099111952, + 0.09614215481917718, + 1.240874236386096 + ], + "held_grasp_finger_gap": 0.02739726759983237, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024803137453095998, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06681021731771829, + -0.9976521673658921, + 0.015051505310004428 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004114396872995792, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032134073797402816, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29459075200728096, + 0.0969054741424628, + 0.7565880747438285 + ], + "target_position": [ + 0.3081113084136258, + 0.08915146322361302, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015586216053513222, + "xy_threshold": 0.08, + "gripper_dist": 0.20805493329126232, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565880747438285, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578191765504576, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08866945571756273, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1805432944687016, + "release_required_pad_clearance": 0.054334727858781365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.679666043007766, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "979ab2ad12f65ef1ad1b85404c092316a924daf471f6bb3d9e5d9bf01dbe6b0b", + "visual_seed": 6176869351238422716, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a889bc832382e4febd7f66a595af3859faf0e1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33352965503106685, + 0.09945662979188191, + 1.0495689783655213 + ], + "current_z": 1.0495689783655213, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19298241135231087, + "gripper_z": 1.0512752267539658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32859153916931527, + 0.09472544196587672, + 1.0512752267539658 + ], + "object_minus_gripper": [ + 0.00493811586175158, + 0.004731187826005193, + -0.0017062483884444646 + ], + "object_to_gripper_xy": 0.006838795691422744, + "object_to_gripper_z": -0.0017062483884444646, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33352965503106685, + 0.07504397419241418, + 1.0495689783655213 + ], + "finger_b": [ + 0.32195996296699103, + 0.09945662979188191, + 1.0495689783655213 + ], + "finger_midpoint": [ + 0.3277448089990289, + 0.08725030199214805, + 1.0495689783655213 + ], + "object_minus_finger_midpoint": [ + 0.005784846032037938, + 0.012206327799733865, + 0.0 + ], + "finger_gap": 0.027015468307541184, + "fingertip_max_gap": 0.0930105024951928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013507734153770604, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495689783655213, + "object_top_z": 1.0962011713284894, + "finger_top_clearance": 0.046632192962968055, + "fingertip_min_top_clearance": 0.013989657888890417, + "object_projection_between_fingers": 0.8165918630364001, + "object_to_finger_line_xy": 0.010455006907036851, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490052512475964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9360932950208753, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3338970253425304, + 0.0972046712781698, + 1.2408423028164113 + ], + "held_position": [ + 0.33914391352644857, + 0.10153238651358663, + 1.2389921047521915 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007048559260603674, + "max_held_gripper_dist": 0.007049811818620484, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018501980642198212, + "max_held_gripper_z_dist": 0.0018587560713489992, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08748204911371998, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33914391352644857, + 0.07608568095324782, + 1.2389921047521915 + ], + "held_grasp_finger_b": [ + 0.3296805386564623, + 0.10153238651358663, + 1.2389921047521915 + ], + "held_grasp_midpoint": [ + 0.33441222609145543, + 0.08880903373341723, + 1.2389921047521915 + ], + "held_grasp_object_position": [ + 0.33914391352644857, + 0.10153238651358663, + 1.2389921047521915 + ], + "held_grasp_finger_gap": 0.027149406767081784, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024716822745648466, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06975583973778263, + -0.9972586960730291, + 0.024682299917116672 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038458114169870805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218168793217722, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30478924689752307, + 0.09470914357637623, + 0.756591934542807 + ], + "target_position": [ + 0.3092359707412838, + 0.09464704142869315, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0044471574763456385, + "xy_threshold": 0.08, + "gripper_dist": 0.21304812064788461, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756591934542807, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514637478203158, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08910878589915809, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18424455837179737, + "release_required_pad_clearance": 0.05455439294957905, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.141685385923947, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 212, + "max_placed_release_frames": 212 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b70917a6742d1ea02426d60e1636916dd1e13d05dc598a3df0c9a1aa98e8472", + "visual_seed": 5488040316606626204, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..120edeaff96919016cf4c45db5c4f0341a007a5b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3386758303900759, + 0.09807540711095729, + 1.0476918096711227 + ], + "current_z": 1.0476918096711227, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19110530226255718, + "gripper_z": 1.0494323859102717, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3335893922504326, + 0.09317977580147113, + 1.0494323859102717 + ], + "object_minus_gripper": [ + 0.005086438139643323, + 0.0048956313094861564, + -0.0017405762391489166 + ], + "object_to_gripper_xy": 0.007059678382677172, + "object_to_gripper_z": -0.0017405762391489166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3386758303900759, + 0.07369714934600609, + 1.0476918096711227 + ], + "finger_b": [ + 0.3266968697265744, + 0.09807540711095729, + 1.0476918096711227 + ], + "finger_midpoint": [ + 0.33268635005832514, + 0.08588627822848169, + 1.0476918096711227 + ], + "object_minus_finger_midpoint": [ + 0.005989480331750785, + 0.0121891288824756, + 0.0 + ], + "finger_gap": 0.027162381159097967, + "fingertip_max_gap": 0.0922017759405038, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013581190579548996, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476918096711227, + "object_top_z": 1.0935757122155954, + "finger_top_clearance": 0.04588390254447261, + "fingertip_min_top_clearance": 0.01376517076334175, + "object_projection_between_fingers": 0.8055076162657782, + "object_to_finger_line_xy": 0.01075112631328487, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486008879702519, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8877187429346319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3388855324623965, + 0.09539872343823107, + 1.2407607467320636 + ], + "held_position": [ + 0.3443406946449951, + 0.09982214607821904, + 1.238878513980295 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072710564859752675, + "max_held_gripper_dist": 0.007272225103367498, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018822327517686865, + "max_held_gripper_z_dist": 0.0018929731721841758, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873717505982208, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3443406946449951, + 0.07427842315580435, + 1.238878513980295 + ], + "held_grasp_finger_b": [ + 0.33466309248219944, + 0.09982214607821904, + 1.238878513980295 + ], + "held_grasp_midpoint": [ + 0.3395018935635973, + 0.0870502846170117, + 1.238878513980295 + ], + "held_grasp_object_position": [ + 0.3443406946449951, + 0.09982214607821904, + 1.238878513980295 + ], + "held_grasp_finger_gap": 0.027315522406837496, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024783339227839016, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07149170654313193, + -0.9973177206423663, + 0.015693947504240024 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003918606500429504, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321166870580275, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31106707197559313, + 0.09428261672595821, + 0.7565862760467272 + ], + "target_position": [ + 0.3142415855695364, + 0.09308318623730306, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0033935482986464415, + "xy_threshold": 0.08, + "gripper_dist": 0.21353721176386536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862760467272, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754270155324475, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09086838400802898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18426463270489457, + "release_required_pad_clearance": 0.05543419200401449, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.000836300891397, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 211, + "max_placed_release_frames": 211 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9a3ad17e119921882ffec057a826c93ab30e307754efaaa230dfabe171f7df09", + "visual_seed": 3339125189756321020, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..346ef1be693400a60df9b2d51826cd2ce6b8f7b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_63_success.json @@ -0,0 +1,684 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3368782336676229, + 0.09161143595628281, + 1.049315290209182 + ], + "current_z": 1.049315290209182, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19272884240526122, + "gripper_z": 1.0509951993583226, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321956823949199, + 0.08690343230883374, + 1.0509951993583226 + ], + "object_minus_gripper": [ + 0.004682551272702951, + 0.004708003647449069, + -0.0016799091491406237 + ], + "object_to_gripper_xy": 0.006640149453580526, + "object_to_gripper_z": -0.0016799091491406237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3368782336676229, + 0.06756631669093782, + 1.049315290209182 + ], + "finger_b": [ + 0.3251028952724761, + 0.09161143595628281, + 1.049315290209182 + ], + "finger_midpoint": [ + 0.3309905644700495, + 0.07958887632361031, + 1.049315290209182 + ], + "object_minus_finger_midpoint": [ + 0.005887669197573386, + 0.0120225596326725, + 0.0 + ], + "finger_gap": 0.02677361303232872, + "fingertip_max_gap": 0.09595957775352545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013386806516164368, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049315290209182, + "object_top_z": 1.0972378349488472, + "finger_top_clearance": 0.047922544739665174, + "fingertip_min_top_clearance": 0.01437676342189955, + "object_projection_between_fingers": 0.8065659927389804, + "object_to_finger_line_xy": 0.010575315918670149, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05047978887676273, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.049846038299939, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33770392582725495, + 0.08873798076102615, + 1.242007458554906 + ], + "held_position": [ + 0.3427919304516169, + 0.09294567211098602, + 1.2401840361101237 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006849622395883649, + "max_held_gripper_dist": 0.006850801593370442, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018234224447821745, + "max_held_gripper_z_dist": 0.0018313827999525412, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08759699392574935, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3427919304516169, + 0.06750589664684101, + 1.2401840361101237 + ], + "held_grasp_finger_b": [ + 0.33366547426392684, + 0.09294567211098602, + 1.2401840361101237 + ], + "held_grasp_midpoint": [ + 0.33822870235777186, + 0.0802257843789135, + 1.2401840361101237 + ], + "held_grasp_object_position": [ + 0.3427919304516169, + 0.09294567211098602, + 1.2401840361101237 + ], + "held_grasp_finger_gap": 0.027027289509159818, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024592315541903886, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08120871780321888, + -0.9958210276933693, + 0.04178067683126773 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035562983381463033, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216291938976927, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30126078063905326, + 0.08872933695537617, + 0.7565888519360451 + ], + "target_position": [ + 0.3127568346046813, + 0.09012915770367483, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011580965197599002, + "xy_threshold": 0.08, + "gripper_dist": 0.20817952187122693, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565888519360451, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539587999900688, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522952719542164, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17926566613002343, + "release_required_pad_clearance": 0.05261476359771082, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2907393388254422, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d00bec6c39b63f42c25abaf097fc67c783f92670396cb0595952c2cbdd740b2f", + "visual_seed": 943248667590421302, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37d7fb50fbbdfc53fd74db977080fedd8c03531d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33273596473132544, + 0.093908074613126, + 1.0460552673227872 + ], + "current_z": 1.0460552673227872, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18946875991422163, + "gripper_z": 1.0477755290872657, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277245041481391, + 0.08916931068125569, + 1.0477755290872657 + ], + "object_minus_gripper": [ + 0.005011460583186356, + 0.00473876393187031, + -0.0017202617644784812 + ], + "object_to_gripper_xy": 0.006897145842942969, + "object_to_gripper_z": -0.0017202617644784812, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33273596473132544, + 0.06937803206365818, + 1.0460552673227872 + ], + "finger_b": [ + 0.32124109808762413, + 0.093908074613126, + 1.0460552673227872 + ], + "finger_midpoint": [ + 0.3269885314094748, + 0.08164305333839209, + 1.0460552673227872 + ], + "object_minus_finger_midpoint": [ + 0.005747433321850626, + 0.012265021274733917, + 0.0 + ], + "finger_gap": 0.027089757227320786, + "fingertip_max_gap": 0.09571604046309687, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013544878613660386, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460552673227872, + "object_top_z": 1.093489554313124, + "finger_top_clearance": 0.047434286990336805, + "fingertip_min_top_clearance": 0.014230286097101023, + "object_projection_between_fingers": 0.81994812494987, + "object_to_finger_line_xy": 0.010408715201998105, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05035802023154844, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9783397994421683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3330764022135352, + 0.09140188616345818, + 1.2400351820242739 + ], + "held_position": [ + 0.3384019289069526, + 0.0957303409451584, + 1.2381798127565824 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007109089286189811, + "max_held_gripper_dist": 0.007110307677372094, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018553692676914757, + "max_held_gripper_z_dist": 0.0018661871060561275, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08755548403598729, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3384019289069526, + 0.07022115816878169, + 1.2381798127565824 + ], + "held_grasp_finger_b": [ + 0.3289419197220673, + 0.0957303409451584, + 1.2381798127565824 + ], + "held_grasp_midpoint": [ + 0.33367192431451, + 0.08297574955697004, + 1.2381798127565824 + ], + "held_grasp_object_position": [ + 0.3384019289069526, + 0.0957303409451584, + 1.2381798127565824 + ], + "held_grasp_finger_gap": 0.027206803922855537, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024992377137306086, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049672142546204584, + -0.99816118318012, + 0.03474090740514024 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004114987246440917, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223413747243771, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3052836873342882, + 0.08975459787875607, + 0.7565862656855409 + ], + "target_position": [ + 0.30834397907490496, + 0.09203678410744558, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003817559366939474, + "xy_threshold": 0.08, + "gripper_dist": 0.2134464331210356, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862656855409, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579064888132486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870633513887648, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1830091092550038, + "release_required_pad_clearance": 0.0535316756943824, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0725523834089277, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 208, + "max_placed_release_frames": 208 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09ae71019a6ae8ba476ada239f4412025ccfbdce9cfb324344ac586e2dbe3de9", + "visual_seed": 4725568673996787548, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad24f7031e7f62678149a96e56267af70301b959 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33421889549788214, + 0.09010854527573747, + 1.046849737155324 + ], + "current_z": 1.046849737155324, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1902631701421137, + "gripper_z": 1.0486089892832349, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32914148235241625, + 0.08519071400283794, + 1.0486089892832349 + ], + "object_minus_gripper": [ + 0.005077413145465892, + 0.004917831272899534, + -0.0017592521279108375 + ], + "object_to_gripper_xy": 0.0070686058511179204, + "object_to_gripper_z": -0.0017592521279108375, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33421889549788214, + 0.06577061816230033, + 1.046849737155324 + ], + "finger_b": [ + 0.32216488504130103, + 0.09010854527573747, + 1.046849737155324 + ], + "finger_midpoint": [ + 0.3281918902695916, + 0.07793958171901891, + 1.046849737155324 + ], + "object_minus_finger_midpoint": [ + 0.006027005228290527, + 0.012168963556718565, + 0.0 + ], + "finger_gap": 0.027159415757087736, + "fingertip_max_gap": 0.0912895354616742, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01357970787854385, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046849737155324, + "object_top_z": 1.0923872586602679, + "finger_top_clearance": 0.045537521504943834, + "fingertip_min_top_clearance": 0.013661256451483117, + "object_projection_between_fingers": 0.8030199328878671, + "object_to_finger_line_xy": 0.010801765050498947, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048144767730837104, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6762017894989696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344441093295293, + 0.08717717576935953, + 1.238057622628276 + ], + "held_position": [ + 0.3399078391075037, + 0.09160142236648991, + 1.2361481825176768 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007285071212754859, + "max_held_gripper_dist": 0.007289734055362042, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019094401105992365, + "max_held_gripper_z_dist": 0.0019187616111790984, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08673517582271298, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3399078391075037, + 0.06601172816199316, + 1.2361481825176768 + ], + "held_grasp_finger_b": [ + 0.3302966531042387, + 0.09160142236648991, + 1.2361481825176768 + ], + "held_grasp_midpoint": [ + 0.33510224610587125, + 0.07880657526424154, + 1.2361481825176768 + ], + "held_grasp_object_position": [ + 0.3399078391075037, + 0.09160142236648991, + 1.2361481825176768 + ], + "held_grasp_finger_gap": 0.027335093668561142, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024751997162868463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07872034743610354, + -0.9968307108506205, + 0.011473482670312896 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003786396521149179, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206763048292651, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2870727728449672, + 0.09141995511336229, + 0.7565878765464191 + ], + "target_position": [ + 0.30975273117425206, + 0.08867893919620945, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02284499240700648, + "xy_threshold": 0.08, + "gripper_dist": 0.19849702653556384, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878765464191, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572248924793046, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874665678912218, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17130056559297938, + "release_required_pad_clearance": 0.0537332839456109, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4749762265021578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29aed5af3c0b0095428a1c7e30fa38b574bef18e3392ef7660ea9f9792e3574f", + "visual_seed": 6102032957064294507, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..57f3d7c28bc7771f5e46100c802357c9380ac110 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33882084669309487, + 0.09497567361515281, + 1.0477404350295734 + ], + "current_z": 1.0477404350295734, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19115398722565258, + "gripper_z": 1.0502489269063837, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33348005241540557, + 0.08998403574476464, + 1.0502489269063837 + ], + "object_minus_gripper": [ + 0.005340794277689298, + 0.004991637870388171, + -0.002508491876810348 + ], + "object_to_gripper_xy": 0.007310303150054183, + "object_to_gripper_z": -0.002508491876810348, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33882084669309487, + 0.07032697065467454, + 1.0477404350295734 + ], + "finger_b": [ + 0.32682049928776513, + 0.09497567361515281, + 1.0477404350295734 + ], + "finger_midpoint": [ + 0.33282067299043, + 0.08265132213491368, + 1.0477404350295734 + ], + "object_minus_finger_midpoint": [ + 0.006000173702664868, + 0.012324351480239137, + 0.0 + ], + "finger_gap": 0.027414720415909675, + "fingertip_max_gap": 0.09403732555028396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013707360207954837, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477404350295734, + "object_top_z": 1.093647521931162, + "finger_top_clearance": 0.045907086901588734, + "fingertip_min_top_clearance": 0.01377212607047662, + "object_projection_between_fingers": 0.8083891950081795, + "object_to_finger_line_xy": 0.010789568309617335, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04951866277514198, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.540472661683517, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33873255897060384, + 0.0924506182558663, + 1.2421386942830546 + ], + "held_position": [ + 0.3443934054256877, + 0.0970034005789014, + 1.2394970519849575 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007729895439142228, + "max_held_gripper_dist": 0.007731406359874221, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026416422980970466, + "max_held_gripper_z_dist": 0.002653078196887204, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873693885919015, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3443934054256877, + 0.07138224683344682, + 1.2394970519849575 + ], + "held_grasp_finger_b": [ + 0.3344043047016422, + 0.0970034005789014, + 1.2394970519849575 + ], + "held_grasp_midpoint": [ + 0.33939885506366496, + 0.08419282370617412, + 1.2394970519849575 + ], + "held_grasp_object_position": [ + 0.3443934054256877, + 0.0970034005789014, + 1.2394970519849575 + ], + "held_grasp_finger_gap": 0.027499557315043235, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025293570710464026, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0312481671415966, + -0.9993972970099335, + 0.01511935116100438 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004595937177913031, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03224129852155955, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30299225391065004, + 0.09719425965166625, + 0.7565862795908198 + ], + "target_position": [ + 0.3141545673311838, + 0.09209859851739598, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012270411700246273, + "xy_threshold": 0.08, + "gripper_dist": 0.20696531273602975, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862795908198, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513922580910716, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08875941326086077, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17984506625131016, + "release_required_pad_clearance": 0.05437970663043039, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7837223624301597, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42f9742b16b6bc2cf6638fab87091104ce1b1d8e1202b2a56d09a32b19acd666", + "visual_seed": 7085389087680640395, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd021bdcd836028f60c8f3d3cb3179f1eff189d3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3333273455089607, + 0.10072673725193602, + 1.0474213362287887 + ], + "current_z": 1.0474213362287887, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1908347692155784, + "gripper_z": 1.0493298876964263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3280993374191385, + 0.09572908971356928, + 1.0493298876964263 + ], + "object_minus_gripper": [ + 0.0052280080898222114, + 0.004997647538366748, + -0.0019085514676375759 + ], + "object_to_gripper_xy": 0.0072324649674222205, + "object_to_gripper_z": -0.0019085514676375759, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3333273455089607, + 0.07629453898289956, + 1.0474213362287887 + ], + "finger_b": [ + 0.3211442196333878, + 0.10072673725193602, + 1.0474213362287887 + ], + "finger_midpoint": [ + 0.32723578257117425, + 0.0885106381174178, + 1.0474213362287887 + ], + "object_minus_finger_midpoint": [ + 0.006091562937786454, + 0.012216099134518224, + 0.0 + ], + "finger_gap": 0.02730129792441309, + "fingertip_max_gap": 0.09406298277170652, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013650648962206538, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474213362287887, + "object_top_z": 1.0942722935260456, + "finger_top_clearance": 0.04685095729725686, + "fingertip_min_top_clearance": 0.014055287189177057, + "object_projection_between_fingers": 0.8008634979360757, + "object_to_finger_line_xy": 0.010902798385363769, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953149138585326, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4016307584310608, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3333471907262225, + 0.09835388051721466, + 1.240640299088092 + ], + "held_position": [ + 0.33895188957147243, + 0.10286345606302769, + 1.2385933922227281 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007479221113512742, + "max_held_gripper_dist": 0.007480362469337276, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020469068653639066, + "max_held_gripper_z_dist": 0.002058097273057724, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08733777101827025, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33895188957147243, + 0.07728380158784288, + 1.2385933922227281 + ], + "held_grasp_finger_b": [ + 0.32903698070216425, + 0.10286345606302769, + 1.2385933922227281 + ], + "held_grasp_midpoint": [ + 0.33399443513681837, + 0.09007362882543529, + 1.2385933922227281 + ], + "held_grasp_object_position": [ + 0.33895188957147243, + 0.10286345606302769, + 1.2385933922227281 + ], + "held_grasp_finger_gap": 0.027433996080712116, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02482789521876931, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06869711515822154, + -0.9972386796660652, + 0.028208547407145727 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004083514653731456, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210515172004798, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29969383618266726, + 0.10086734356101752, + 0.7565864932436441 + ], + "target_position": [ + 0.30874895246407325, + 0.09564660380806278, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01045233248791224, + "xy_threshold": 0.08, + "gripper_dist": 0.2075681627702423, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864932436441, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521990336159648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854964085184151, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18014133668943666, + "release_required_pad_clearance": 0.05427482042592076, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.56886975871488, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1336d16f8d80cd61ac17c1ed450fb20552ddf04b25faea35446355e7be40282d", + "visual_seed": 7273154923985506619, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..abd240d193d63dfdd7ce39733d2c4b36e87f44bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3340896017206463, + 0.09528249713144135, + 1.0453481040658894 + ], + "current_z": 1.0453481040658894, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18876153705267895, + "gripper_z": 1.0476195842571154, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3287290929972023, + 0.09032995508418162, + 1.0476195842571154 + ], + "object_minus_gripper": [ + 0.0053605087234439575, + 0.004952542047259728, + -0.0022714801912260274 + ], + "object_to_gripper_xy": 0.007298131713253355, + "object_to_gripper_z": -0.0022714801912260274, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3340896017206463, + 0.07059450817248629, + 1.0453481040658894 + ], + "finger_b": [ + 0.32218161904306236, + 0.09528249713144135, + 1.0453481040658894 + ], + "finger_midpoint": [ + 0.32813561038185435, + 0.08293850265196381, + 1.0453481040658894 + ], + "object_minus_finger_midpoint": [ + 0.005953991338791931, + 0.012343994479477538, + 0.0 + ], + "finger_gap": 0.02740979478739536, + "fingertip_max_gap": 0.09461470303156175, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013704897393697672, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453481040658894, + "object_top_z": 1.0915460720933372, + "finger_top_clearance": 0.0461979680274478, + "fingertip_min_top_clearance": 0.013859390408234373, + "object_projection_between_fingers": 0.8112596220848705, + "object_to_finger_line_xy": 0.010725514260428238, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049807351515780876, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.648309171269316, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3335962306199883, + 0.09355727283149481, + 1.2385115169349663 + ], + "held_position": [ + 0.3392133915545691, + 0.09815605830147305, + 1.2361191190948926 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007643617742211674, + "max_held_gripper_dist": 0.007646565211450789, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023923978400737234, + "max_held_gripper_z_dist": 0.0024076925481679723, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08688051797723412, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3392133915545691, + 0.07267579143501252, + 1.2361191190948926 + ], + "held_grasp_finger_b": [ + 0.3289630269925564, + 0.09815605830147305, + 1.2361191190948926 + ], + "held_grasp_midpoint": [ + 0.33408820927356275, + 0.08541592486824279, + 1.2361191190948926 + ], + "held_grasp_object_position": [ + 0.3392133915545691, + 0.09815605830147305, + 1.2361191190948926 + ], + "held_grasp_finger_gap": 0.027464776955952355, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0253170082492383, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015292984678659338, + -0.9997449026315633, + 0.016620898947541592 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004934321925158641, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032384962172994095, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.28584212368167994, + 0.09788850143596227, + 0.7565864648431214 + ], + "target_position": [ + 0.3094938938742337, + 0.09044632496700883, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.024795004009606835, + "xy_threshold": 0.08, + "gripper_dist": 0.19900906758957285, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864648431214, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752030616583371, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08872686114472249, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17352693613868994, + "release_required_pad_clearance": 0.054363430572361246, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.749847257474554, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "239128a7c20a18e4f6f3ea688daed0493978d19e559de753c8e99f94fc7e3bd3", + "visual_seed": 3569877840589020832, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd19a4cb56b69a93c0ad54d7970f6509720d9fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3299189954499684, + 0.09304626963120252, + 1.0455271942713962 + ], + "current_z": 1.0455271942713962, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.18894080607212005, + "gripper_z": 1.047592869466492, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3249621725876406, + 0.08823461463812686, + 1.047592869466492 + ], + "object_minus_gripper": [ + 0.004956822862327792, + 0.004811654993075662, + -0.0020656751950958174 + ], + "object_to_gripper_xy": 0.00690811961831043, + "object_to_gripper_z": -0.0020656751950958174, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3299189954499684, + 0.06874676584922887, + 1.0455271942713962 + ], + "finger_b": [ + 0.3180752267350685, + 0.09304626963120252, + 1.0455271942713962 + ], + "finger_midpoint": [ + 0.32399711109251844, + 0.0808965177402157, + 1.0455271942713962 + ], + "object_minus_finger_midpoint": [ + 0.005921884357449947, + 0.012149751890986826, + 0.0 + ], + "finger_gap": 0.027032216731562975, + "fingertip_max_gap": 0.09245479475440652, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013516108365781487, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455271942713962, + "object_top_z": 1.0915670445315915, + "finger_top_clearance": 0.0460398502601953, + "fingertip_min_top_clearance": 0.01381195507805859, + "object_projection_between_fingers": 0.808037448276069, + "object_to_finger_line_xy": 0.010646470673805168, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872739737720326, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8928587866198616, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3301719204158713, + 0.09052408468098215, + 1.2399937048295904 + ], + "held_position": [ + 0.3354938143225243, + 0.0948702840729835, + 1.2378054284296596 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072111412072706806, + "max_held_gripper_dist": 0.007212081945551037, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021882763999307997, + "max_held_gripper_z_dist": 0.002197927296269331, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08620475939696996, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3354938143225243, + 0.06941934598004046, + 1.2378054284296596 + ], + "held_grasp_finger_b": [ + 0.3258992054272898, + 0.0948702840729835, + 1.2378054284296596 + ], + "held_grasp_midpoint": [ + 0.33069650987490706, + 0.08214481502651197, + 1.2378054284296596 + ], + "held_grasp_object_position": [ + 0.3354938143225243, + 0.0948702840729835, + 1.2378054284296596 + ], + "held_grasp_finger_gap": 0.027199389141363668, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024688027423896742, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07214518461308458, + -0.9972218769009201, + 0.018536465880804487 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038741061603199344, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216400642382537, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.28594129876594615, + 0.10323033190303987, + 0.7565863934238678 + ], + "target_position": [ + 0.3055802462227648, + 0.08847191924686677, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.024566216667235807, + "xy_threshold": 0.08, + "gripper_dist": 0.20060395542225287, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863934238678, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0793106365849577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08704795288962945, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1755304699039194, + "release_required_pad_clearance": 0.05352397644481473, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.059292402686003, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69eeae540be506670f022e80dd35bc1a9537bf6ab4ed3b1a0405e9c5e48cd7fd", + "visual_seed": 8206088739328356578, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..184dfa6ffc3f0e565aa2a30c8d9d0a31c96c7009 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3346953570642423, + 0.0973933207695824, + 1.047548740686499 + ], + "current_z": 1.047548740686499, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1909621736732886, + "gripper_z": 1.0492310958152908, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3296197772949355, + 0.09248239684291255, + 1.0492310958152908 + ], + "object_minus_gripper": [ + 0.005075579769306782, + 0.0049109239266698496, + -0.0016823551287918903 + ], + "object_to_gripper_xy": 0.007062484251885784, + "object_to_gripper_z": -0.0016823551287918903, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3346953570642423, + 0.07306347966466413, + 1.047548740686499 + ], + "finger_b": [ + 0.3226386906101357, + 0.0973933207695824, + 1.047548740686499 + ], + "finger_midpoint": [ + 0.32866702383718904, + 0.08522840021712327, + 1.047548740686499 + ], + "object_minus_finger_midpoint": [ + 0.006028333227053262, + 0.01216492055245913, + 0.0 + ], + "finger_gap": 0.02715334922576126, + "fingertip_max_gap": 0.09133176049723948, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013576674612880613, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047548740686499, + "object_top_z": 1.0930315449849446, + "finger_top_clearance": 0.045482804298445645, + "fingertip_min_top_clearance": 0.013644841289533693, + "object_projection_between_fingers": 0.8028450514104096, + "object_to_finger_line_xy": 0.010802968600466898, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048165880248619744, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.75020493209743, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33505459575036334, + 0.09477119473689333, + 1.2399924993863676 + ], + "held_position": [ + 0.3405237579393842, + 0.09918040702707932, + 1.2381579745954203 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072607416479546355, + "max_held_gripper_dist": 0.007261497267174256, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018345247909472562, + "max_held_gripper_z_dist": 0.0018444727237252323, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875158054936282, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3405237579393842, + 0.0735972980765116, + 1.2381579745954203 + ], + "held_grasp_finger_b": [ + 0.33093151413671185, + 0.09918040702707932, + 1.2381579745954203 + ], + "held_grasp_midpoint": [ + 0.335727636038048, + 0.08638885255179546, + 1.2381579745954203 + ], + "held_grasp_object_position": [ + 0.3405237579393842, + 0.09918040702707932, + 1.2381579745954203 + ], + "held_grasp_finger_gap": 0.02732227305233818, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02474837495351883, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07859505148823015, + -0.9968404504063055, + 0.011486266378438859 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037788747482392095, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032072134593492674, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29556175912172516, + 0.0964629084426055, + 0.7565870712048568 + ], + "target_position": [ + 0.310211878387812, + 0.09498063417077478, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014724915331759975, + "xy_threshold": 0.08, + "gripper_dist": 0.20682801431193745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870712048568, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523141301924852, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509601332618565, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17918611478250757, + "release_required_pad_clearance": 0.052548006663092825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16312819833135098, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d2f15e67a0b434828f61c7616dc4638ea241bd4052677f82fda187ec9db1c72", + "visual_seed": 1520933035368060349, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a94325247a621f82071ded7f50a4e5c8249105d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3322652867706961, + 0.08957456610554432, + 1.0472808217547287 + ], + "current_z": 1.0472808217547287, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19069425474151835, + "gripper_z": 1.0499929497180498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32696274900061484, + 0.0846789818208149, + 1.0499929497180498 + ], + "object_minus_gripper": [ + 0.005302537770081273, + 0.004895584284729415, + -0.002712127963321098 + ], + "object_to_gripper_xy": 0.007216900462943083, + "object_to_gripper_z": -0.002712127963321098, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3322652867706961, + 0.06478284334734564, + 1.0472808217547287 + ], + "finger_b": [ + 0.32063211000490033, + 0.08957456610554432, + 1.0472808217547287 + ], + "finger_midpoint": [ + 0.3264486983877982, + 0.07717870472644497, + 1.0472808217547287 + ], + "object_minus_finger_midpoint": [ + 0.0058165883828978915, + 0.012395861379099343, + 0.0 + ], + "finger_gap": 0.027385403392749884, + "fingertip_max_gap": 0.09395310626658751, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013692701696374947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472808217547287, + "object_top_z": 1.0932260051362932, + "finger_top_clearance": 0.0459451833815645, + "fingertip_min_top_clearance": 0.013783555014469318, + "object_projection_between_fingers": 0.8195493838291948, + "object_to_finger_line_xy": 0.010531394737500244, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04947655313329376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.267232385029008, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3318586939009499, + 0.0878434032296535, + 1.2394270683736612 + ], + "held_position": [ + 0.3373645297225349, + 0.09243043277873149, + 1.2365835895205626 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007709762653051143, + "max_held_gripper_dist": 0.007712205712186574, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028434788530986577, + "max_held_gripper_z_dist": 0.002856523219380458, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873081983339746, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3373645297225349, + 0.06692180920810756, + 1.2365835895205626 + ], + "held_grasp_finger_b": [ + 0.32729807730569005, + 0.09243043277873149, + 1.2365835895205626 + ], + "held_grasp_midpoint": [ + 0.33233130351411244, + 0.07967612099341953, + 1.2365835895205626 + ], + "held_grasp_object_position": [ + 0.3373645297225349, + 0.09243043277873149, + 1.2365835895205626 + ], + "held_grasp_finger_gap": 0.02742304397269552, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025360315735020494, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014337302033701416, + -0.999843893305955, + 0.010326218532673903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0048516445301014805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03237574132959234, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29043883607291804, + 0.09136905380371281, + 0.7565882209358337 + ], + "target_position": [ + 0.3077103546921698, + 0.08777953868878756, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017640577489850966, + "xy_threshold": 0.08, + "gripper_dist": 0.2031574482945646, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565882209358337, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575033581542365, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09128611313212863, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1753704062024544, + "release_required_pad_clearance": 0.05564305656606432, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.441386360855411, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "23cfdfa807f74f8f076f53a89d8f9c53ed5ca647ba3f15b73cffdfb0f6d1aa91", + "visual_seed": 1537091046589406811, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..010f395f4ad0336ddc9e73f16d3d8ef4040352e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_73_success.json @@ -0,0 +1,684 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3307290933307805, + 0.08979825191162259, + 1.048287368431587 + ], + "current_z": 1.048287368431587, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19170086102302142, + "gripper_z": 1.0503139837332576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3255753224006612, + 0.0849744533535587, + 1.0503139837332576 + ], + "object_minus_gripper": [ + 0.005153770930119261, + 0.004823798558063891, + -0.002026615301670587 + ], + "object_to_gripper_xy": 0.007059064196401788, + "object_to_gripper_z": -0.002026615301670587, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3307290933307805, + 0.06519152237161152, + 1.048287368431587 + ], + "finger_b": [ + 0.31907140364061065, + 0.08979825191162259, + 1.048287368431587 + ], + "finger_midpoint": [ + 0.32490024848569554, + 0.07749488714161706, + 1.048287368431587 + ], + "object_minus_finger_midpoint": [ + 0.005828844845084946, + 0.012303364770005529, + 0.0 + ], + "finger_gap": 0.027228530396764816, + "fingertip_max_gap": 0.09307719215773755, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013614265198382415, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048287368431587, + "object_top_z": 1.0944603683934169, + "finger_top_clearance": 0.046172999961829886, + "fingertip_min_top_clearance": 0.013851899988548999, + "object_projection_between_fingers": 0.8166940432564782, + "object_to_finger_line_xy": 0.010535185450238928, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049038596078868776, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4092986730007062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3311673224578734, + 0.0866487840435864, + 1.2429633723803504 + ], + "held_position": [ + 0.33666942824851587, + 0.09100316537088067, + 1.240791017785954 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007345265778629482, + "max_held_gripper_dist": 0.0073478069177127965, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002172354594396353, + "max_held_gripper_z_dist": 0.002182356629307547, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08679002558732808, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33666942824851587, + 0.06533476330603305, + 1.240791017785954 + ], + "held_grasp_finger_b": [ + 0.3272489312388652, + 0.09100316537088067, + 1.240791017785954 + ], + "held_grasp_midpoint": [ + 0.33195917974369055, + 0.07816896433845685, + 1.240791017785954 + ], + "held_grasp_object_position": [ + 0.33666942824851587, + 0.09100316537088067, + 1.240791017785954 + ], + "held_grasp_finger_gap": 0.0273425058923192, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02504198523669005, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.060769950519332656, + -0.9978988294293768, + 0.022470855287627378 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003932435601290751, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032106749210321764, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2872884813943739, + 0.09844528082765164, + 0.7565866867701803 + ], + "target_position": [ + 0.30612068515532725, + 0.08619646417347634, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022465204381925116, + "xy_threshold": 0.08, + "gripper_dist": 0.20205748805430365, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866867701803, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07609589071258231, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814147093312534, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770687969025509, + "release_required_pad_clearance": 0.05407073546656267, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1536305047279005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1938329e3358c61eda018640a60ed124e8cbdfedffdbed645d66e37cdc29c364", + "visual_seed": 6666634878883848306, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8297cb246853e4eaccce327e257c7885fb6926df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33841431449304893, + 0.0965425793832178, + 1.0467495467653423 + ], + "current_z": 1.0467495467653423, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19016315856606625, + "gripper_z": 1.0483446505080154, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3336092267847564, + 0.09181127398905349, + 1.0483446505080154 + ], + "object_minus_gripper": [ + 0.004805087708292521, + 0.0047313053941643035, + -0.0015951037426731318 + ], + "object_to_gripper_xy": 0.0067434500529945434, + "object_to_gripper_z": -0.0015951037426731318, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33841431449304893, + 0.07233388222587944, + 1.0467495467653423 + ], + "finger_b": [ + 0.32671078623937044, + 0.0965425793832178, + 1.0467495467653423 + ], + "finger_midpoint": [ + 0.3325625503662097, + 0.08443823080454863, + 1.0467495467653423 + ], + "object_minus_finger_midpoint": [ + 0.005851764126839243, + 0.012104348578669169, + 0.0 + ], + "finger_gap": 0.026889283955516045, + "fingertip_max_gap": 0.0928371123324889, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013444641977758015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467495467653423, + "object_top_z": 1.0928982644278307, + "finger_top_clearance": 0.0461487176624884, + "fingertip_min_top_clearance": 0.01384461529874652, + "object_projection_between_fingers": 0.8105584924845665, + "object_to_finger_line_xy": 0.010536806098458171, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891855616624445, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0854449304562659, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.338981065906638, + 0.09413576057489959, + 1.2410278456508486 + ], + "held_position": [ + 0.34415751195546973, + 0.0984080571712726, + 1.2393047528905388 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006929441576669651, + "max_held_gripper_dist": 0.0069308214045823, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017230927603097967, + "max_held_gripper_z_dist": 0.0017322619437498687, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08739534305772098, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34415751195546973, + 0.07300291543573581, + 1.2393047528905388 + ], + "held_grasp_finger_b": [ + 0.3347714378129259, + 0.0984080571712726, + 1.2393047528905388 + ], + "held_grasp_midpoint": [ + 0.33946447488419784, + 0.0857054863035042, + 1.2393047528905388 + ], + "held_grasp_object_position": [ + 0.34415751195546973, + 0.0984080571712726, + 1.2393047528905388 + ], + "held_grasp_finger_gap": 0.027083567239417395, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024671996408425725, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07079642757388444, + -0.9972979954376979, + 0.019610561917632552 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037903741992874203, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321997262433622, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29063590463818295, + 0.09313630898736285, + 0.7565866537159827 + ], + "target_position": [ + 0.3142434420845095, + 0.09170758765320075, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.023650730832902395, + "xy_threshold": 0.08, + "gripper_dist": 0.1997481939026449, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866537159827, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572414793663496, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09031431631289975, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17231520872362582, + "release_required_pad_clearance": 0.05515715815644988, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.4068383110940585, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "18ebb6906fb471c5778e478494d8806c4e350eb2188e5e5adafe29c6392f7b40", + "visual_seed": 5679339591463290342, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7bfff602964fd5c8091a0863b21e136f9a6cb74f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_77_success.json @@ -0,0 +1,684 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33346574528828143, + 0.09554855436116273, + 1.0454854732118186 + ], + "current_z": 1.0454854732118186, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18889902540789782, + "gripper_z": 1.0480510908299872, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32814677639088613, + 0.0906446743312922, + 1.0480510908299872 + ], + "object_minus_gripper": [ + 0.005318968897395304, + 0.004903880029870536, + -0.0025656176181685364 + ], + "object_to_gripper_xy": 0.0072346022336284435, + "object_to_gripper_z": -0.0025656176181685364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33346574528828143, + 0.07072740482190362, + 1.0454854732118186 + ], + "finger_b": [ + 0.3218382664986331, + 0.09554855436116273, + 1.0454854732118186 + ], + "finger_midpoint": [ + 0.3276520058934573, + 0.08313797959153318, + 1.0454854732118186 + ], + "object_minus_finger_midpoint": [ + 0.005813739394824158, + 0.012410574769629548, + 0.0 + ], + "finger_gap": 0.02740962837132208, + "fingertip_max_gap": 0.0926658603448485, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013704814185661033, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454854732118186, + "object_top_z": 1.0909735557064275, + "finger_top_clearance": 0.045488082494608895, + "fingertip_min_top_clearance": 0.013646424748382667, + "object_projection_between_fingers": 0.820044627293606, + "object_to_finger_line_xy": 0.010529416374881815, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883293017242425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.305960444032111, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33325272760116803, + 0.09333632681996495, + 1.2389062817198158 + ], + "held_position": [ + 0.3388211902503061, + 0.09787706464979835, + 1.2362073989339513 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007675287916812088, + "max_held_gripper_dist": 0.007676746351343685, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002698882785864498, + "max_held_gripper_z_dist": 0.002712047245188476, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873549797237146, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3388211902503061, + 0.07228169212803065, + 1.2362073989339513 + ], + "held_grasp_finger_b": [ + 0.32890673187214625, + 0.09787706464979835, + 1.2362073989339513 + ], + "held_grasp_midpoint": [ + 0.3338639610612262, + 0.0850793783889145, + 1.2362073989339513 + ], + "held_grasp_object_position": [ + 0.3388211902503061, + 0.09787706464979835, + 1.2362073989339513 + ], + "held_grasp_finger_gap": 0.02744848956610045, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025370463114663705, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.022036058162377796, + -0.9997486332488843, + 0.004133092988595322 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004674316735216567, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229651782700932, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.305780495643036, + 0.08624144959236772, + 0.7565866298856152 + ], + "target_position": [ + 0.30885055462467514, + 0.09079177993405607, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005489150058910104, + "xy_threshold": 0.08, + "gripper_dist": 0.21210649327752493, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866298856152, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547620965022424, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09253049958154756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18172078772644815, + "release_required_pad_clearance": 0.05626524979077378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.830733317693933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c5606db0233c64be1fe8bfa36cc12945daa0eec1c5e2c679c53166287640ff77", + "visual_seed": 2069553962844245483, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d188813b7834f3b7c1d7cd26717610bc400ac022 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3377610989238396, + 0.09095237043064086, + 1.0471399583294227 + ], + "current_z": 1.0471399583294227, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19055345092085718, + "gripper_z": 1.0488421016355605, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327623715669614, + 0.08608670407439142, + 1.0488421016355605 + ], + "object_minus_gripper": [ + 0.004998727356878174, + 0.004865666356249437, + -0.0017021433061377156 + ], + "object_to_gripper_xy": 0.0069758142376886685, + "object_to_gripper_z": -0.0017021433061377156, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3377610989238396, + 0.066675306912242, + 1.0471399583294227 + ], + "finger_b": [ + 0.3257697376024116, + 0.09095237043064086, + 1.0471399583294227 + ], + "finger_midpoint": [ + 0.3317654182631256, + 0.07881383867144143, + 1.0471399583294227 + ], + "object_minus_finger_midpoint": [ + 0.005995680660713987, + 0.012138531759199434, + 0.0 + ], + "finger_gap": 0.02707708550448907, + "fingertip_max_gap": 0.09198140563692872, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013538542752244535, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471399583294227, + "object_top_z": 1.0929230579814284, + "finger_top_clearance": 0.045783099652005665, + "fingertip_min_top_clearance": 0.013734929895601733, + "object_projection_between_fingers": 0.8038749145826727, + "object_to_finger_line_xy": 0.010751343250148346, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849070281846436, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9141403051036401, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3381886216802661, + 0.0882864701173749, + 1.2399453421054276 + ], + "held_position": [ + 0.3435793810621401, + 0.09265503407980663, + 1.238095117758452 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007181084036638271, + "max_held_gripper_dist": 0.007181888369157963, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018502243469755708, + "max_held_gripper_z_dist": 0.0018582038428966996, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869539680394686, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3435793810621401, + 0.06710533702954385, + 1.238095117758452 + ], + "held_grasp_finger_b": [ + 0.3340653295614882, + 0.09265503407980663, + 1.238095117758452 + ], + "held_grasp_midpoint": [ + 0.33882235531181415, + 0.07988018555467524, + 1.238095117758452 + ], + "held_grasp_object_position": [ + 0.3435793810621401, + 0.09265503407980663, + 1.238095117758452 + ], + "held_grasp_finger_gap": 0.027263605691787405, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0247376201338779, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07705770653379883, + -0.9969101031708951, + 0.015243229957791479 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003763667016291476, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032098283910387146, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29569935660813684, + 0.10216662980540495, + 0.7565877843971092 + ], + "target_position": [ + 0.31335813507784627, + 0.08866341747719951, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022229916783984425, + "xy_threshold": 0.08, + "gripper_dist": 0.20378876286481679, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565877843971092, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07696398396570792, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642697826809263, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17876696772761544, + "release_required_pad_clearance": 0.05321348913404632, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4483147191484425, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f9d2d83ec11f1fe50b7bbec3a4bac4b3c89938b1cbdc8408a8dea2b71b5485e", + "visual_seed": 3519406441932906590, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ed1c8724e43ab792eeeeebc4b1bbaa558744a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3347759411752551, + 0.09439968924898205, + 1.0490566058124766 + ], + "current_z": 1.0490566058124766, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1924699791946215, + "gripper_z": 1.050832921246757, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3295584629628766, + 0.08941613773546395, + 1.050832921246757 + ], + "object_minus_gripper": [ + 0.005217478212378501, + 0.004983551513518106, + -0.0017763154342804732 + ], + "object_to_gripper_xy": 0.00721511362242709, + "object_to_gripper_z": -0.0017763154342804732, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3347759411752551, + 0.06993197713909849, + 1.0490566058124766 + ], + "finger_b": [ + 0.322661408287499, + 0.09439968924898205, + 1.0490566058124766 + ], + "finger_midpoint": [ + 0.32871867473137706, + 0.08216583319404028, + 1.0490566058124766 + ], + "object_minus_finger_midpoint": [ + 0.006057266443878051, + 0.012233856054941775, + 0.0 + ], + "finger_gap": 0.027302579419913185, + "fingertip_max_gap": 0.0917712904774208, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013651289709956587, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490566058124766, + "object_top_z": 1.0948181124012626, + "finger_top_clearance": 0.04576150658878597, + "fingertip_min_top_clearance": 0.013728451976635825, + "object_projection_between_fingers": 0.8031180109187801, + "object_to_finger_line_xy": 0.010856662972552021, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048385645238710404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6602551947746106, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3350539235486581, + 0.09127508667597765, + 1.241897574866167 + ], + "held_position": [ + 0.34067542895708586, + 0.09573493854200645, + 1.2399691817583014 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007430363497324093, + "max_held_gripper_dist": 0.007432150266853656, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019283931078655225, + "max_held_gripper_z_dist": 0.0019407628336154392, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08768496909127607, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34067542895708586, + 0.07003884980685916, + 1.2399691817583014 + ], + "held_grasp_finger_b": [ + 0.33102022243842255, + 0.09573493854200645, + 1.2399691817583014 + ], + "held_grasp_midpoint": [ + 0.3358478256977542, + 0.0828868941744328, + 1.2399691817583014 + ], + "held_grasp_object_position": [ + 0.34067542895708586, + 0.09573493854200645, + 1.2399691817583014 + ], + "held_grasp_finger_gap": 0.02745017284467625, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02481672414641807, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08183254279257762, + -0.9965265340947613, + 0.015437026435933587 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037654122719276333, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03200175279199205, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30414888188021744, + 0.09180987630233849, + 0.756586508343513 + ], + "target_position": [ + 0.31013017656839037, + 0.09013037069268347, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006212618227416556, + "xy_threshold": 0.08, + "gripper_dist": 0.21149376285076749, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586508343513, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543980797313088, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569685058670305, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18249175412262741, + "release_required_pad_clearance": 0.05284842529335153, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7401887075105811, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 209, + "max_placed_release_frames": 209 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e5ad5447b3e6270c38df7028ab2bc665a096f8e7959a1b5bd93145d15c5d780", + "visual_seed": 4861408514279953309, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c31eaf2102c170dcd648d15ac891a1c243a78adf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33095556704504775, + 0.09978819834512212, + 1.0468183713681618 + ], + "current_z": 1.0468183713681618, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19023180435495146, + "gripper_z": 1.048571081142627, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32585711504041315, + 0.09497898582269135, + 1.048571081142627 + ], + "object_minus_gripper": [ + 0.005098452004634602, + 0.0048092125224307725, + -0.0017527097744651776 + ], + "object_to_gripper_xy": 0.007008761511812735, + "object_to_gripper_z": -0.0017527097744651776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33095556704504775, + 0.0752340189369843, + 1.0468183713681618 + ], + "finger_b": [ + 0.3193107300468378, + 0.09978819834512212, + 1.0468183713681618 + ], + "finger_midpoint": [ + 0.3251331485459428, + 0.08751110864105321, + 1.0468183713681618 + ], + "object_minus_finger_midpoint": [ + 0.0058224184991049754, + 0.012277089704068905, + 0.0 + ], + "finger_gap": 0.027175539647298616, + "fingertip_max_gap": 0.09577298382280594, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013587769823649301, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468183713681618, + "object_top_z": 1.094320409389681, + "finger_top_clearance": 0.0475020380215192, + "fingertip_min_top_clearance": 0.01425061140645576, + "object_projection_between_fingers": 0.8163840205884607, + "object_to_finger_line_xy": 0.010521572728399944, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05038649191140297, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.970130116602457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3312324792967246, + 0.09704891321622297, + 1.2415510385387343 + ], + "held_position": [ + 0.3366694547557584, + 0.1014178465870299, + 1.2396652543837918 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007225265588178601, + "max_held_gripper_dist": 0.007227966582895187, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018857841549424492, + "max_held_gripper_z_dist": 0.0018951315218758147, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08747326310902762, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3366694547557584, + 0.07585740665723326, + 1.2396652543837918 + ], + "held_grasp_finger_b": [ + 0.32711291220769007, + 0.1014178465870299, + 1.2396652543837918 + ], + "held_grasp_midpoint": [ + 0.3318911834817242, + 0.08863762662213158, + 1.2396652543837918 + ], + "held_grasp_object_position": [ + 0.3366694547557584, + 0.1014178465870299, + 1.2396652543837918 + ], + "held_grasp_finger_gap": 0.02728852496705864, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02498537752530971, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05440850242535076, + -0.9978441202016184, + 0.03669913681394598 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041032846102030274, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032187579034751376, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2867078302267308, + 0.10206897808188756, + 0.7565869144618189 + ], + "target_position": [ + 0.30646903328645375, + 0.0955342029021087, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020813659769916906, + "xy_threshold": 0.08, + "gripper_dist": 0.201538612161717, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869144618189, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571183704249136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08850630348998438, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1748498067073206, + "release_required_pad_clearance": 0.05425315174499219, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.524506048676757, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1003f62c701eaba6eb674d5a91f5115d98ca0ac1dc330b19422f71627c372b9b", + "visual_seed": 5835925378079124926, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b2c4a0b213c0e08c1c8f230b79fb83aec3963d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3319610512002887, + 0.09064016836552895, + 1.0465252865017458 + ], + "current_z": 1.0465252865017458, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1899388386978249, + "gripper_z": 1.0482409942714626, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.326971937985748, + 0.08587288282916174, + 1.0482409942714626 + ], + "object_minus_gripper": [ + 0.004989113214540708, + 0.004767285536367211, + -0.0017157077697167455 + ], + "object_to_gripper_xy": 0.006900598673503678, + "object_to_gripper_z": -0.0017157077697167455, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3319610512002887, + 0.0662141405983216, + 1.0465252865017458 + ], + "finger_b": [ + 0.3203108597613124, + 0.09064016836552895, + 1.0465252865017458 + ], + "finger_midpoint": [ + 0.32613595548080054, + 0.07842715448192528, + 1.0465252865017458 + ], + "object_minus_finger_midpoint": [ + 0.005825095719488138, + 0.012213013883603671, + 0.0 + ], + "finger_gap": 0.027062109914956375, + "fingertip_max_gap": 0.0940791418757386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013531054957478188, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465252865017458, + "object_top_z": 1.0934051005257621, + "finger_top_clearance": 0.04687981402401631, + "fingertip_min_top_clearance": 0.014063944207204908, + "object_projection_between_fingers": 0.8146712414983728, + "object_to_finger_line_xy": 0.010515362640828092, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495395709378693, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3846642874894781, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3323191048320858, + 0.08808326481023522, + 1.239987051028321 + ], + "held_position": [ + 0.3376489676400709, + 0.09241206587312255, + 1.238133065394266 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007112188054690342, + "max_held_gripper_dist": 0.007114005286790205, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018539856340551442, + "max_held_gripper_z_dist": 0.0018627625166875994, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08758757066753056, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3376489676400709, + 0.06689837167208414, + 1.238133065394266 + ], + "held_grasp_finger_b": [ + 0.3281925677274048, + 0.09241206587312255, + 1.238133065394266 + ], + "held_grasp_midpoint": [ + 0.33292076768373785, + 0.07965521877260334, + 1.238133065394266 + ], + "held_grasp_object_position": [ + 0.3376489676400709, + 0.09241206587312255, + 1.238133065394266 + ], + "held_grasp_finger_gap": 0.027209779328255728, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024836830615617218, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06483330125039176, + -0.9975004026999532, + 0.02809963811879234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003908056035676786, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216872003372011, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2914211128443742, + 0.0897660170972077, + 0.7565864368001555 + ], + "target_position": [ + 0.3075774411932513, + 0.08696946518866416, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016396574285316677, + "xy_threshold": 0.08, + "gripper_dist": 0.2027977702268673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864368001555, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514416659847141, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087700354736284, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17564365255969086, + "release_required_pad_clearance": 0.053850177368142, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7095939646390623, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46e72a1107fffaa52f2457ab66faa8445858a1e37ed3644591474b5e3f2794e3", + "visual_seed": 3285767170021420340, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc3ee45b0bf4832adb668694afb2002298a89cb4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_83_success.json @@ -0,0 +1,684 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3301706174584316, + 0.08961979995604115, + 1.0460076989085778 + ], + "current_z": 1.0460076989085778, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1894210722907227, + "gripper_z": 1.0487558323780957, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32484229424427813, + 0.08468890226253348, + 1.0487558323780957 + ], + "object_minus_gripper": [ + 0.005328323214153496, + 0.0049308976935076715, + -0.002748133469517855 + ], + "object_to_gripper_xy": 0.007259805805827475, + "object_to_gripper_z": -0.002748133469517855, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3301706174584316, + 0.06482282698157213, + 1.0460076989085778 + ], + "finger_b": [ + 0.31846230209558163, + 0.08961979995604115, + 1.0460076989085778 + ], + "finger_midpoint": [ + 0.3243164597770066, + 0.07722131346880665, + 1.0460076989085778 + ], + "object_minus_finger_midpoint": [ + 0.0058541576814249985, + 0.012398486487234503, + 0.0 + ], + "finger_gap": 0.0274221537690331, + "fingertip_max_gap": 0.09305648935074787, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013711076884516542, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460076989085778, + "object_top_z": 1.0915736126740254, + "finger_top_clearance": 0.04556591376544761, + "fingertip_min_top_clearance": 0.013669774129634282, + "object_projection_between_fingers": 0.8177004067608115, + "object_to_finger_line_xy": 0.010587453563075423, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049028244675373936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.361907811128333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32999318369925307, + 0.08704676077280761, + 1.2381170133829167 + ], + "held_position": [ + 0.3355835397679368, + 0.09158577859080282, + 1.2352166854209279 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007763160826225439, + "max_held_gripper_dist": 0.007764307012713927, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029003279619888023, + "max_held_gripper_z_dist": 0.0029116568324800696, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08768016608986556, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3355835397679368, + 0.06590744599905149, + 1.2352166854209279 + ], + "held_grasp_finger_b": [ + 0.32579606464725186, + 0.09158577859080282, + 1.2352166854209279 + ], + "held_grasp_midpoint": [ + 0.33068980220759436, + 0.07874661229492716, + 1.2352166854209279 + ], + "held_grasp_object_position": [ + 0.3355835397679368, + 0.09158577859080282, + 1.2352166854209279 + ], + "held_grasp_finger_gap": 0.02748038271077434, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025410478404212077, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026430339004858076, + -0.9996429712846356, + 0.003920094554143993 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0045529654551705505, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223629947826342, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2912804895938652, + 0.08871326354040569, + 0.7565865193676053 + ], + "target_position": [ + 0.3054992325517163, + 0.08620490956553131, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01443829944850528, + "xy_threshold": 0.08, + "gripper_dist": 0.20536724854016467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865193676053, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547483120193928, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09285883047640552, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1774688677904758, + "release_required_pad_clearance": 0.05642941523820276, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.20166795620765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f1d9f9d9784171620be6e1328bc797af27d8ba7184b8308bb25414835ed31b9", + "visual_seed": 206473469285663167, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d612101280b0aebed911554a02f5f7b26a806ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3370744280101629, + 0.09381697820999699, + 1.0478246098430726 + ], + "current_z": 1.0478246098430726, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19123798322521746, + "gripper_z": 1.0494785583399826, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33210659685362337, + 0.08898687647399041, + 1.0494785583399826 + ], + "object_minus_gripper": [ + 0.004967831156539537, + 0.0048301017360065784, + -0.0016539484969100293 + ], + "object_to_gripper_xy": 0.006928869256960959, + "object_to_gripper_z": -0.0016539484969100293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3370744280101629, + 0.06953264078939962, + 1.0478246098430726 + ], + "finger_b": [ + 0.32517552335263844, + 0.09381697820999699, + 1.0478246098430726 + ], + "finger_midpoint": [ + 0.33112497568140065, + 0.0816748094996983, + 1.0478246098430726 + ], + "object_minus_finger_midpoint": [ + 0.005949452328762261, + 0.01214216871029869, + 0.0 + ], + "finger_gap": 0.027042798967678677, + "fingertip_max_gap": 0.09217713314812645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013521399483839357, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478246098430726, + "object_top_z": 1.0937404189519004, + "finger_top_clearance": 0.045915809108827865, + "fingertip_min_top_clearance": 0.01377474273264836, + "object_projection_between_fingers": 0.8063976208626153, + "object_to_finger_line_xy": 0.010685174119150948, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858856657406323, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8508313947916804, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3373744237566373, + 0.09133733690086458, + 1.2414942856025828 + ], + "held_position": [ + 0.3427123447427621, + 0.0957080591581711, + 1.2397146025859034 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007124877903829872, + "max_held_gripper_dist": 0.007126254494445901, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001779683016679412, + "max_held_gripper_z_dist": 0.0017892394034677572, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08615520133007568, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3427123447427621, + 0.07025816663994647, + 1.2397146025859034 + ], + "held_grasp_finger_b": [ + 0.33306483553469113, + 0.0957080591581711, + 1.2397146025859034 + ], + "held_grasp_midpoint": [ + 0.33788859013872663, + 0.08298311289905878, + 1.2397146025859034 + ], + "held_grasp_object_position": [ + 0.3427123447427621, + 0.0957080591581711, + 1.2397146025859034 + ], + "held_grasp_finger_gap": 0.02721711709768321, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024683367402231586, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0722023448288333, + -0.9972513703402688, + 0.01662906358380378 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038982988005405524, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321619684781145, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2995942919220192, + 0.09152379218705692, + 0.7565974938870554 + ], + "target_position": [ + 0.3127514853347955, + 0.09234428240605853, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013182751712016806, + "xy_threshold": 0.08, + "gripper_dist": 0.20780561418001448, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565974938870554, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534771688769093, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09110446501748364, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17908074670258586, + "release_required_pad_clearance": 0.05555223250874182, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.238948688015748, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "662f5a097df8e4d8f99dfd71b743ce5523277263563077cad1c4aa4bf9d4f088", + "visual_seed": 2546140530703894928, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc95f352553039a03ca7d0d9f9f4c5cbf7d6ad13 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_89_success.json @@ -0,0 +1,684 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3300952454350478, + 0.09626416429153581, + 1.0462460492273153 + ], + "current_z": 1.0462460492273153, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18965954181874978, + "gripper_z": 1.0480347706232473, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32510473603657364, + 0.09148408545192166, + 1.0480347706232473 + ], + "object_minus_gripper": [ + 0.004990509398474174, + 0.004780078839614149, + -0.0017887213959320025 + ], + "object_to_gripper_xy": 0.0069104513433773645, + "object_to_gripper_z": -0.0017887213959320025, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3300952454350478, + 0.07186052780924974, + 1.0462460492273153 + ], + "finger_b": [ + 0.3183957017604786, + 0.09626416429153581, + 1.0462460492273153 + ], + "finger_midpoint": [ + 0.32424547359776323, + 0.08406234605039278, + 1.0462460492273153 + ], + "object_minus_finger_midpoint": [ + 0.005849771837284579, + 0.012201818241143025, + 0.0 + ], + "finger_gap": 0.027063200027947838, + "fingertip_max_gap": 0.09211196418382603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013531600013973901, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462460492273153, + "object_top_z": 1.0922901039173638, + "finger_top_clearance": 0.046044054690048464, + "fingertip_min_top_clearance": 0.013813216407014538, + "object_projection_between_fingers": 0.8131128027280157, + "object_to_finger_line_xy": 0.010549802334830025, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048555982091913016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7104613038382608, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3303204184499489, + 0.09373389389268874, + 1.2397483512443646 + ], + "held_position": [ + 0.3356453799169692, + 0.09808330962382752, + 1.2378250477093962 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007139448740284513, + "max_held_gripper_dist": 0.007140451866660453, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019233035349683902, + "max_held_gripper_z_dist": 0.0019316675058511645, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08611962425151351, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3356453799169692, + 0.07260795385761856, + 1.2378250477093962 + ], + "held_grasp_finger_b": [ + 0.3260956653425644, + 0.09808330962382752, + 1.2378250477093962 + ], + "held_grasp_midpoint": [ + 0.3308705226297668, + 0.08534563174072304, + 1.2378250477093962 + ], + "held_grasp_object_position": [ + 0.3356453799169692, + 0.09808330962382752, + 1.2378250477093962 + ], + "held_grasp_finger_gap": 0.02720644776275498, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024733431495208933, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0705824424308845, + -0.997335381988629, + 0.018445992900529288 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003871218498341976, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215946703902701, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2895633038370073, + 0.08839671683946619, + 0.756587245586368 + ], + "target_position": [ + 0.30573978623696213, + 0.09315690856757355, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016862325110268465, + "xy_threshold": 0.08, + "gripper_dist": 0.20613605849519892, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587245586368, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555026968480717, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08519485316868146, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17670538978347144, + "release_required_pad_clearance": 0.05259742658434073, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2501694994221035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8ff6593ac83334cf9fdfa182a2a15d7058bb2a91284e99b909e24659c00294df", + "visual_seed": 7397980619363103777, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3f0875b192da2fe459aae323cf966ef9965ed4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3332749864004875, + 0.08946683457527685, + 1.0478778410590295 + ], + "current_z": 1.0478778410590295, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.19129127404581936, + "gripper_z": 1.0497030708309083, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3280652315278937, + 0.08458694808534026, + 1.0497030708309083 + ], + "object_minus_gripper": [ + 0.005209754872593841, + 0.004879886489936591, + -0.0018252297718788224 + ], + "object_to_gripper_xy": 0.007138265754872183, + "object_to_gripper_z": -0.0018252297718788224, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3332749864004875, + 0.06486524692763396, + 1.0478778410590295 + ], + "finger_b": [ + 0.3214910775866018, + 0.08946683457527685, + 1.0478778410590295 + ], + "finger_midpoint": [ + 0.3273830319935447, + 0.0771660407514554, + 1.0478778410590295 + ], + "object_minus_finger_midpoint": [ + 0.005891954406942845, + 0.012300793823821446, + 0.0 + ], + "finger_gap": 0.027278171157880608, + "fingertip_max_gap": 0.09409195553693464, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013639085578940292, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478778410590295, + "object_top_z": 1.0943108355732512, + "finger_top_clearance": 0.04643299451422167, + "fingertip_min_top_clearance": 0.013929898354266534, + "object_projection_between_fingers": 0.8133842707392054, + "object_to_finger_line_xy": 0.010627650359649906, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04954597776846732, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7502117527318615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33340422410391013, + 0.08693592620047336, + 1.242278127727809 + ], + "held_position": [ + 0.338939076696921, + 0.0913956311216983, + 1.2403174285919034 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073734593178709715, + "max_held_gripper_dist": 0.007374112139026635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019606991359055748, + "max_held_gripper_z_dist": 0.00197142014798235, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08760680797834466, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.338939076696921, + 0.0657870232120288, + 1.2403174285919034 + ], + "held_grasp_finger_b": [ + 0.32920647026942984, + 0.0913956311216983, + 1.2403174285919034 + ], + "held_grasp_midpoint": [ + 0.33407277348317543, + 0.07859132716686354, + 1.2403174285919034 + ], + "held_grasp_object_position": [ + 0.338939076696921, + 0.0913956311216983, + 1.2403174285919034 + ], + "held_grasp_finger_gap": 0.027395700884329095, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02510546806454105, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048032978729202674, + -0.9986077428440145, + 0.02180387319681676 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004254994127932292, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032180004856028864, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.298634045335399, + 0.09130547558679934, + 0.756586795040056 + ], + "target_position": [ + 0.3086920562406454, + 0.08646896952460717, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01116043790626859, + "xy_threshold": 0.08, + "gripper_dist": 0.20746470121600782, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586795040056, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565276532785759, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09381492018033454, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17920536477834806, + "release_required_pad_clearance": 0.05690746009016727, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.305390329507178, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20324207f6e1cc9e8d20bb464ae54c195535d62c434fbf4cab00dad14579f440", + "visual_seed": 8987333636620348103, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5caac3be9f9a1265c22800915a42a7376d771f27 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33489220183627827, + 0.09481458604945166, + 1.048980184062659 + ], + "current_z": 1.048980184062659, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19239361704944857, + "gripper_z": 1.0508465150980117, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3296778530606186, + 0.08985999195750864, + 1.0508465150980117 + ], + "object_minus_gripper": [ + 0.005214348775659683, + 0.004954594091943015, + -0.0018663310353528306 + ], + "object_to_gripper_xy": 0.0071928739576152916, + "object_to_gripper_z": -0.0018663310353528306, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33489220183627827, + 0.07034907924130963, + 1.048980184062659 + ], + "finger_b": [ + 0.3228195320242343, + 0.09481458604945166, + 1.048980184062659 + ], + "finger_midpoint": [ + 0.32885586693025626, + 0.08258183264538065, + 1.048980184062659 + ], + "object_minus_finger_midpoint": [ + 0.006036334906022012, + 0.012232753404071012, + 0.0 + ], + "finger_gap": 0.02728205233793604, + "fingertip_max_gap": 0.09400062634944475, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013641026168968033, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048980184062659, + "object_top_z": 1.0957688762788362, + "finger_top_clearance": 0.04678869221617732, + "fingertip_min_top_clearance": 0.014036607664853162, + "object_projection_between_fingers": 0.8041820182116779, + "object_to_finger_line_xy": 0.010826311078815177, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04950031317472238, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3923780602461466, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3350550760547455, + 0.09213019788226055, + 1.2424948578821857 + ], + "held_position": [ + 0.34064556307627125, + 0.09659713584838629, + 1.240488993386067 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00743172741076078, + "max_held_gripper_dist": 0.007432874399287575, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020058644961187255, + "max_held_gripper_z_dist": 0.00201571339924822, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08747558706490235, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34064556307627125, + 0.07098922507057698, + 1.240488993386067 + ], + "held_grasp_finger_b": [ + 0.33085590299329043, + 0.09659713584838629, + 1.240488993386067 + ], + "held_grasp_midpoint": [ + 0.33575073303478087, + 0.08379318045948164, + 1.240488993386067 + ], + "held_grasp_object_position": [ + 0.34064556307627125, + 0.09659713584838629, + 1.240488993386067 + ], + "held_grasp_finger_gap": 0.02741537048709265, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02486723467560775, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06852286666671521, + -0.9972719160797942, + 0.027447078939510487 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00402174997152029, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209579205542834, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30081152736602007, + 0.09293716735823244, + 0.7565867718751855 + ], + "target_position": [ + 0.31029153815801286, + 0.09087920639490425, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009700814808194331, + "xy_threshold": 0.08, + "gripper_dist": 0.21000405580771403, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867718751855, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538214895232337, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09284991375332012, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18162294182445857, + "release_required_pad_clearance": 0.05642495687666006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.192685055839494, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "90cb065599cf696513b0427578a5f9d0a92de9aa37dc67794f57dc7014a9b42e", + "visual_seed": 6652989075136926811, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f0fecca826540d3309160570befa33a99302aed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_96_success.json @@ -0,0 +1,684 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33697063718747333, + 0.09041066597023109, + 1.047129079403833 + ], + "current_z": 1.047129079403833, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.19054269120455725, + "gripper_z": 1.0487883317963191, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320763028041057, + 0.0855873304818369, + 1.0487883317963191 + ], + "object_minus_gripper": [ + 0.004894334383367616, + 0.004823335488394184, + -0.0016592523924860991 + ], + "object_to_gripper_xy": 0.006871613659819448, + "object_to_gripper_z": -0.0016592523924860991, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33697063718747333, + 0.06622934759730775, + 1.047129079403833 + ], + "finger_b": [ + 0.3250181799226852, + 0.09041066597023109, + 1.047129079403833 + ], + "finger_midpoint": [ + 0.3309944085550793, + 0.07832000678376942, + 1.047129079403833 + ], + "object_minus_finger_midpoint": [ + 0.005976228632394054, + 0.01209065918646167, + 0.0 + ], + "finger_gap": 0.026974013289076317, + "fingertip_max_gap": 0.09399826218758103, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013487006644538158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047129079403833, + "object_top_z": 1.0936852802553676, + "finger_top_clearance": 0.04655620085153456, + "fingertip_min_top_clearance": 0.013966860255460367, + "object_projection_between_fingers": 0.8036534544284193, + "object_to_finger_line_xy": 0.010714985988964752, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04949913109379052, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.585863946906763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33747034381205776, + 0.08788416703609969, + 1.2396768812400336 + ], + "held_position": [ + 0.34276693563387034, + 0.09220957864801653, + 1.237878449806504 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007070885811587118, + "max_held_gripper_dist": 0.007072040841572191, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017984314335295348, + "max_held_gripper_z_dist": 0.0018077874299808894, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875680129277392, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34276693563387034, + 0.0667229111508953, + 1.237878449806504 + ], + "held_grasp_finger_b": [ + 0.333310190817936, + 0.09220957864801653, + 1.237878449806504 + ], + "held_grasp_midpoint": [ + 0.3380385632259032, + 0.07946624489945592, + 1.237878449806504 + ], + "held_grasp_object_position": [ + 0.34276693563387034, + 0.09220957864801653, + 1.237878449806504 + ], + "held_grasp_finger_gap": 0.027184558900642777, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02475836184243585, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06973411537486379, + -0.9972986691717095, + 0.023076343324326728 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003839786800408413, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216158631052784, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2895159206348614, + 0.0913851749155756, + 0.7565864043705106 + ], + "target_position": [ + 0.31267834945254813, + 0.08709439123440343, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02355650511712247, + "xy_threshold": 0.08, + "gripper_dist": 0.1997758052868838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864043705106, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588339986348942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0882481623304303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17270788263231654, + "release_required_pad_clearance": 0.05412408116521515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.26101746681108, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a73a7c445692138bbbacd1436b1a67d7a60f1d350e2d1e4d58f2d6ea79f1b72", + "visual_seed": 2600439372362727628, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..28c61fd5422628ef6108d55b11ea3c666130cbbc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_97_success.json @@ -0,0 +1,684 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33443610670973, + 0.0925870183285878, + 1.0469882843370475 + ], + "current_z": 1.0469882843370475, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19040177692848181, + "gripper_z": 1.0485968411319213, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32941717868631637, + 0.08781481248003771, + 1.0485968411319213 + ], + "object_minus_gripper": [ + 0.005018928023413638, + 0.004772205848550093, + -0.0016085567948738166 + ], + "object_to_gripper_xy": 0.006925574861709491, + "object_to_gripper_z": -0.0016085567948738166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33443610670973, + 0.06811124409686851, + 1.0469882843370475 + ], + "finger_b": [ + 0.32281965008676855, + 0.0925870183285878, + 1.0469882843370475 + ], + "finger_midpoint": [ + 0.32862787839824925, + 0.08034913121272816, + 1.0469882843370475 + ], + "object_minus_finger_midpoint": [ + 0.0058082283114807565, + 0.012237887115859644, + 0.0 + ], + "finger_gap": 0.02709253750971361, + "fingertip_max_gap": 0.09581621848034425, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013546268754856818, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469882843370475, + "object_top_z": 1.094494070218273, + "finger_top_clearance": 0.04750578588122556, + "fingertip_min_top_clearance": 0.014251735764367683, + "object_projection_between_fingers": 0.8161566253067093, + "object_to_finger_line_xy": 0.010494468064286172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050408109240172125, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.978200447340419, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33460941184185433, + 0.0902187317778235, + 1.2409744341100075 + ], + "held_position": [ + 0.33993689437915975, + 0.09459063214275186, + 1.2392406363964388 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007106450414780301, + "max_held_gripper_dist": 0.007110168463722003, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001733797713568741, + "max_held_gripper_z_dist": 0.0017436802018873099, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613469246028096, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33993689437915975, + 0.06914061227030655, + 1.2392406363964388 + ], + "held_grasp_finger_b": [ + 0.33029578437373397, + 0.09459063214275186, + 1.2392406363964388 + ], + "held_grasp_midpoint": [ + 0.33511633937644686, + 0.08186562220652921, + 1.2392406363964388 + ], + "held_grasp_object_position": [ + 0.33993689437915975, + 0.09459063214275186, + 1.2392406363964388 + ], + "held_grasp_finger_gap": 0.02721496855858155, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02493477028143909, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04871406756354178, + -0.9982085708756661, + 0.034735984969123 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004218595898821579, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226318214089938, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2950967763093939, + 0.09283196977491469, + 0.7565870128616469 + ], + "target_position": [ + 0.31008216441516023, + 0.09044987642422937, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015173537010592557, + "xy_threshold": 0.08, + "gripper_dist": 0.2044572934936355, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870128616469, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756930692673261, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761873847310674, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17633884374823272, + "release_required_pad_clearance": 0.05380936923655337, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.62448049159233, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be5a73dc09f723c29a57143bf6f6c917e845a5f6b0497c429630d2cdd26bcf6c", + "visual_seed": 7402120375532646226, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb2dd7ab465c75e223d94baf76ec5f4696766775 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3374065511586462, + 0.09079544604517402, + 1.0449400263311486 + ], + "current_z": 1.0449400263311486, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18835363813187256, + "gripper_z": 1.0474948691488961, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33205160447776094, + 0.08583710379164897, + 1.0474948691488961 + ], + "object_minus_gripper": [ + 0.005354946680885264, + 0.004958342253525053, + -0.002554842817747538 + ], + "object_to_gripper_xy": 0.007297986835985387, + "object_to_gripper_z": -0.002554842817747538, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3374065511586462, + 0.0660642070213367, + 1.0449400263311486 + ], + "finger_b": [ + 0.32555554238934975, + 0.09079544604517402, + 1.0449400263311486 + ], + "finger_midpoint": [ + 0.331481046773998, + 0.07842982653325536, + 1.0449400263311486 + ], + "object_minus_finger_midpoint": [ + 0.005925504384648228, + 0.012365619511918655, + 0.0 + ], + "finger_gap": 0.02742408781535159, + "fingertip_max_gap": 0.09448305647563329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013712043907675789, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449400263311486, + "object_top_z": 1.091054322523159, + "finger_top_clearance": 0.04611429619201046, + "fingertip_min_top_clearance": 0.013834288857603155, + "object_projection_between_fingers": 0.813256171945199, + "object_to_finger_line_xy": 0.010687324680421856, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04974152823781665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5496257278014025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33689697986350803, + 0.08900162203288806, + 1.2377130650517336 + ], + "held_position": [ + 0.3424903182817089, + 0.09362052629082954, + 1.235034245052334 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077327736158338016, + "max_held_gripper_dist": 0.007734955421896582, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002678819999399673, + "max_held_gripper_z_dist": 0.0026954802732159777, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692427439955351, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3424903182817089, + 0.06811933607951978, + 1.235034245052334 + ], + "held_grasp_finger_b": [ + 0.33226471009989955, + 0.09362052629082954, + 1.235034245052334 + ], + "held_grasp_midpoint": [ + 0.3373775141908042, + 0.08086993118517466, + 1.235034245052334 + ], + "held_grasp_object_position": [ + 0.3424903182817089, + 0.09362052629082954, + 1.235034245052334 + ], + "held_grasp_finger_gap": 0.027474966148865163, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025349627178254168, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014333955429340536, + -0.9998043377152875, + 0.01363172796989598 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004932593292559837, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03237883796476774, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2998136907787365, + 0.09778240700867273, + 0.7565863384044507 + ], + "target_position": [ + 0.31282522666306195, + 0.08680538135635277, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017023370942348046, + "xy_threshold": 0.08, + "gripper_dist": 0.2079714452341688, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863384044507, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07693783376255893, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09275855317179486, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1812777199441192, + "release_required_pad_clearance": 0.056379276585897434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.088665251391586, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2bf86c810adf75dbdfc02f4ce1e8c40638fa9e05a86e46784c14f3fc4ac6eae2", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a732997a6fe4d9164af98e4de1d3618a512b53eb55401ed34c5d3d6e89e34dd", + "visual_seed": 5758072081994862662, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "0f660a6762384d656f89bc89e0f2998f07da1e11d65d2ab919958e9b6e686669" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..74f4f9c5cac5d2eed47992c0ac00dbdf24494234 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_poo_00017", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..51bec8104aad3ae203d9ec29757b3299e62ba491 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72d970b006c064323df8c5e9fd5903951f9a595ea6cb0706a907ee641f8bdd30 +size 4853878 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9357ea8debdceaac83518529bac3dfabe0f9f4f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb570e86c8cb86faa01137d57960d546443d4f8df98b56edacc58342e0cb09e2 +size 6497290 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..edcb2aeecf105e2ffffea6ea71d380c898fdab35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:432701e6c6d4d3af82fd6ffd39504f05494b7c52134afda223e323e3f8319917 +size 4921295 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..782cd395b0f64d4f2363b9472aca98973cbfcf1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36d63046b0dccf827064bb3be8f4b1e908a014cf161f72958013ad45ffca59db +size 5459879 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d64a46ea73603c5eeda2d0c78efb5c7000766cf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:513c7bd942cd31b7180ee0ddc99b0b4cf8e8443aab9acab61792ac03a08c0882 +size 3908243 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f4199e08deedea55a2ba61d1469ff40a32e6a4a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77384f3869dd9c05b48d0a6aa16766f23448a9d5cc73d1fc867d435d056700d3 +size 3779852 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..754a52674ee26727acd46614cd86d0d57d3c5f8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbfc76657c6eaea6f1e07adcef74fa8ffd53c9019cc87d3db972443509de8f12 +size 3926300 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42754086e072ec1ff6ed0e7a3af81fecdd2539a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5b1c948571e084701cd91ab64b7750da405335c9fcb11d741bbf26e3aa4de09 +size 5019479 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2defb56797e1ebe5a1d02225c9b777d3bd0a6267 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe357922b00f692b781b4971ebceb38437b9a98e47e461fb589f97c9642c5656 +size 5173004 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e929e17cc7dd39e6def5aa720add91ba5ea28afa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a076db927e52af38f8cb7591361e36977b4b6cd5b4dfd48e4e15dccdf8c95e2 +size 3834139 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a75d180128da51ef4780f6559791e704abbe529 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66de5029808d9c138159e10cf48c380d9763b3cf94bd2c8e686072aec3168edb +size 4366869 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..467b7611af165be1392a45bdf9a3c51ffea44837 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a8bfc1e444f217e474f783570e390a2feb10b478a567f70779cc3a941fd3036 +size 5207962 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..095a43a4a291802ca8300da9cd9a46ee0ab8ae61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45a099ee85d1b443912055e95c9d341336d90c420d172562cd3deb902a9e4800 +size 4086221 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2ca12a0fd43157d7c093092d1cb2c733fc79cf9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf2809d37be8b269f1e44d73e5b5ea33e2ad3c4fd09558a2c9727904478a77c0 +size 4861752 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99d77768874c25cbf9a27bc50fee03516aafcb0e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a17065c0bf764f6a381ba32445091138ac7912557c87ff7b0e2d39f41cb3ca5 +size 4539331 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4dd74030e4ba220e4515575dcad062f9d6510163 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7ca8de990e3d57089fafe954305e5be74f1b8f0400c8ade5271a1634c00335e +size 5005149 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..033b4ea4a7023e8e6787830300f7b364f7e9b6d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77c446cfb0934d2e9f62246281d44f7eb3757545dc9b92074c549540b7ea81ca +size 4113692 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..075c10e6ccc4e31f78ccf2adff12c8181c5f71a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f28ae45466ab5096c9bc2175894082fe0bc0340576d415ad420fc4b42d537a8b +size 5165705 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38d869d9e7d9f63b654e857a4ce04233cdb68085 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07d7870b48ac8c43fd9946d159da3e0acfd0fd91bd1b1185d0556da4b2e7bd6a +size 5220873 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6251704d4b12cc9a0988651933cf99d876ad4ede --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48db5672279870fbe05e152eb6a9cf7f086bae36b66bb7a9416b48a11f7d9f0d +size 3992585 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81519a18ae69c023e5766c18bb3ecd3651ce92ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dbf42185237a4fb360f95002ed279481221f1d65ff5c2df4e41464285453180 +size 6318590 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c84010c5715fb0c9b62846075f91fe3326ea9afd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f04fbbb5e7f59c1488dc1405446b055da1aa99a35d5768ecf3697c9a88b810e4 +size 4855736 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ca7199852eb33daa6dac19e8544a0f72e18f04f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b972210e70113699c5e2e53ba30f20156c0dc5d6bd682c9f08588138254824d3 +size 4042419 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..448d68776168890eea5790fe238dd17191daf8ee --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cccf64f1d7e54178e38135c74f227a18f7c2055f79227bd7fd387102830e3080 +size 3926014 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3eea60fd2b4d7f6a3055d9449012d14824bac74c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e74f47baf22d2536b0ccd9ed69dbd0c5bde311fb21da2430ca1ac6a93576069 +size 4020646 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9547bacac16abfe179e604535cf36db4cf622463 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1db045ae9512392086dd275b88b25cceb2c8df118c625a4115352c5b8564ebe +size 4466739 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5ac8db72d641adae4dd5f9acb20f56eaece05cd4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8d23ee6e573d60fffa739beb0b1890093310ce2f4b2a4ede6597662459f7cf +size 5137269 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2c13ee442e82357a680fda03a61aae3de1159bb7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0f5d44976eb6faf33219fc8473aa7ae9823943c6ee82af27cc08f21856dbad1 +size 5873511 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c857d00ad90aa70e4b9596ddb368e181c5701a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab825c20ed1ff18dac6ea470c347ded04cedf4908c4a4f5ec280567d4048c3b1 +size 4789626 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b7339d30ca45fc826b5e78823466b67a3b3523a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55beaf2d8ed119285dadf40b2451805b0d7a5ab691cb4803aebdd306d60c08d5 +size 4615963 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bac419ca6a9d93d79fadc99b83dcde9c542fe801 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:099baecc675fba72df332f51c966b5971a241fe232e6ee70d52e74f3af973775 +size 5127306 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5497dd62625b91b8faeff7deffd4b139b39ece0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eed7e3a263d56f8466b10b166e2dfe81c6d35be1869050b10697ee24093ec01a +size 5038765 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..736b578f52cc5ac6defb2c629f42072580c96627 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdf68a6e20e76b3c56794ab5b01a0d53f0e05eb41e532a1020ce0c3b60fc82c8 +size 6847556 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3683e6e852a83e49453ded52e2b53b9ab7dfbb0b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5fb865ee3d31dbc43e56e716749e41063132c33b053111f995360346a896689 +size 4390550 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..30916e1948e75bb4bce1c269c5393827f59e9e91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fa505eab3c11b68ee3947f07a2b0b3f4c192174e32ad7df280fbeaa02c73af9 +size 4500265 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50d4de0f6f53d492b7db322d413107f45f570068 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47feb9de35bd64e9e6e208784f1ab399299b24beb73149b5c7d4e2310caa42a6 +size 4228144 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d84258a799c63eac21459eeca276d0a7b2c0887b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbc9bc5215c542dd02f92c674cef381e78a7f34a029b8df05a5a55ec3225082c +size 4370402 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44c2ea604c29908395e33c973244efafbfa57ac3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b8bfcab6604474ee868714ed8684f14fde0a7fe335b17c3f4d097646dc8810c +size 4179189 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fd2094dd5eea8f448947c8c7792bc0c7bfa703f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a66a73d28c1a5eefd939501b71fb778f56a160f189e18bd6903cdce8eac8d88 +size 5866301 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..beba48bdb0b1ce765346bf21b0a4efaadaa6688c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d76bd505675fe6a83fdff89fb299d4e3427ae56762d2e12d441d46bdc202841 +size 5266276 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..edc4dc00842c7cffffa4b10210c22eff5cd90240 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67ac784eed00bc11735510e58708e329668db1d9215e68b5dd3716521edd6f22 +size 4955140 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ecd3c43fd94cc3216c2339f019936251fe15eb1c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4a14541a77b642cd99e555ba8a12a2053e4c2e654fb818e7d1339377e088d00 +size 3765445 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5118e88766ded21c514c338708719735b61cf2a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a27237b55b5bc8043b45b2de0ed260e443d4c14b4d515d7dfd69038dd3f8c71f +size 7260649 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13933d1d5104098aad5605c76ac88640dd5500b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73db9dc3c064c2f9559b63783bfded6e9a48f0ae26ef1b96afac6294227fa245 +size 4772694 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b20e714983fa0de766bfc4db4d6f85b71e26c9f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:febc0829422e76fefc5bc9301b73963878dc2807c641cad3c38e85551a892062 +size 4927951 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..14d53bb7e06a101a64ea8139cb5d0e1abd9b7cca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8084b47d614c8ff3f9a172e4bd8bc29d245e44f700b3a0460dcec1de5ac3236d +size 4783526 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce4139e0c24869d5622bd18a8dde6c5ac73f8e83 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75f97870db725230e5438807c71c39aef9d0f78343eb4d6350a879ccead1198a +size 5198628 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c759910280beaebb44f0682b4d317e6f9a466b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1bf7f6d886ad938de70605fa72ea128e28e5258b77815a6fd243d3306c69732 +size 3594404 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..33bf7a556b4c176990e86b5179df791564d3b5e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:925adfc48cd6910bbc739a3030158dc21b2560e5a3bc84673b8e17c6942fef68 +size 4296638 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1c453499052b9fb8277c6ce885ef60a4d2bdc442 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11b12f583e9859ca17d97eef3258b1b368527f4a4f5c6269f87b8275d0edac80 +size 7261963 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0033adf44b01a0ce03c802760e8167774a439049 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5376e21da9c2d3f089e807095458d432d8438d3ad4085a8e6d260401ad61827c +size 6449127 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0000c2345ef94232881d8d384068fc65559023c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00c10f339aa27441a4a6341e7688e857027ca8faf2637f5160d1a8d4a01d05d2 +size 4841551 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49647a9f8572d2c9658fced19d7f3df9b53673ab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20ab5e9b0afc288e8f69f9f6e1a9e0914ae88c2de73859038bbaa94456cdb857 +size 5760187 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..acd82873ca75bd5789fd2022eb217b033ac1e03d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fb18b40e16d76891356117c7417e31896980378deea79beb22580d894ad166f +size 3666390 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4787a64b618b6d3db73cf68a3b8f6f026e94d8dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e7e318ddeba15615d7c8f25d5acd775f1cb995f5cdb1b76953cd373c2e0b2d4 +size 5182140 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8f97a8dfb620ab88ff6d8192599e51bd53b9d645 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dc11a452588b29635c979ad42b27aefbd17a56b997801016b7da779a96e282d +size 4128960 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..530b64213629894ddad90c27528b634d3d729098 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:993757d69cc2d78ee9b262f559fcc93f27c688b7272723373abc9a669b27b09f +size 3961015 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..31fdc260d109fc9dd5bdcd625f9ff7e5cd75d072 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b565b6d90184b7436a31c37379ad4bfb71e3c1a22fe6ab6a29061145b198182e +size 4789676 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45eac56330ab49521512aa5f68788f0322b9b61d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c68a360ac22220a28a3f5eb0f3079bd6cf5f65d7ddbdbd7c70fa0ad8acc74382 +size 5065717 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e7bc97fb411516fd5254752001ac9f29a7c3388 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1675e1a85666a2d2a811f380db49e4865e58a28332aa60a1131d592231887e6 +size 4004435 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b08756fc48d65641653a4fb42165a4110788098b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e057396e15f976e56437af69ff4e5c1ad6bedd1e4afc3d289a047001a5f479e6 +size 4816408 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c020a375e417acdd59fc55eae36a7e8d68cac53 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9aeaaf2ab4ff45c06f250ccb7264beb06d20730df0535b25524aa58a43b5b677 +size 4800552 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ee8e4fb9c066ee8d4279ad05f5ab844a1b6e45f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:377089947ec543be66c02a0331277e2b3a5562c4e2c34d37fe713b3d0ff80662 +size 6394606 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55240aa18863fa9251c23d3d696e6571fba6b11c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01dde63f0f005b712c6ba9eb901e921e10abdf9f1181834c6c62def38858d6e7 +size 4612206 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a10bb5a57b451c17913c5725763bb26e3fabeae8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cb04ff658398c4d9fd191c3bb9157250db89143421ded39dba5fda671b02f7f +size 4133307 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3dc8559e8ce8019d4790a3ebdcc97a092dc40b97 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a70c15e0b4d1170eb9c1b4cea69490e1e473b85b2277324df5b68f5086d5081 +size 4771042 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..436b281384ddf0a981d3b21470d4bd06f302ca1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e68f3b6312481188409700d5d82745150026871bc003721669eb754328611866 +size 3931314 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17f062a68b7c723132dcd45f1ab44c06e987fc20 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51c1b14bf3516cc4d1d88b1e313a091194a342b5f5cd8674ba997b29e9a88993 +size 4131868 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17ceb722527408a5c9c9a3929a3f0132f8ae1188 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ce7ca9bd5a5c9dba72cf1eb1111b95609af7c014923ac866e16647b0ef3082c +size 4098538 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca763b58f4239e19262beca1a86021c8c994f025 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce986c496e2b5169d6ea9f8816c7c5f6355b3347b4df52835b953011cac9b0a9 +size 4314858 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf245ed45d3a8d0ceab14c93fecb17f63b952349 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be9b74ce153cc1bcf7993a256bc511bfde4efa65613da86540014ba706240e25 +size 4316727 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bf3703886d5e53ebf7d69261075c71741bc60d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82715174e7341c8583c10f3c5bd71155a1d5ed0c4ec574f70b65c0bc7568651d +size 4108968 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f0f412276f37113674a72dad98160dbfe674281 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:797ec5a96204cb7dcbbe627be03eb25ec175913fa91dce0d502322362912f6ed +size 4597776 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..574cd10890f4b0a9fa6d022ac652fcb911e46960 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36e6dfa5caa66127d2c953e27c07409de8153102f75bd67d61c8489993229b0c +size 4440817 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90d4c0ac4557b29e5f9c4f38474a4a1cf691e3d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fae233927d776936528a36e1f1999892b8ac65a511ce6a718b580c70fcf4fbdb +size 4664160 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..12c327aa73616116deabfd27a5b8513a8b6240e3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64a4f6540e49e1e83191a1f122fdf3eb12b406d70c91c4452f36d172111ab128 +size 4562220 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39c6ca716356f6c8686b43180205a17bfe50b6ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cebdcbca5b2108a25bf0df144882e52cfd2d9307d32e6d6b5af71de8fa4353d6 +size 4344745 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8b823fc0f170959f6df6468477c3441e2bef53df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd2a10260013f5db61c88699338b256b80dee6f2a49f613c16afaa3c3e88a51e +size 4375183 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..23c6bab550dfc1516a3e2cc15374948164abefb8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc9bdab1f575377177366ee64b8739d26d8e538fc0659cdda07e19ea0b54110e +size 3637157 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c5323913f48ade4946fc3441f25ba7e333618dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc95070d771c4fd48ed5268a0b14bccf6db306fdfb51f574efe469d1299f59d1 +size 5138271 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6e56d4ec40c3206b53177fa412705dcfcca5504 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:592bcd360033fa5cf8d0ccf1991a96a175c3f53dfb38a37608b33c946d0934ed +size 3857671 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aa7b8bdbae392dd21abd89fc7292c3883f328a65 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:216b9e0018f39c46afc98e708709aa9342508ad6f4b8b3ba3f83668ccd8699c2 +size 4287208 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fa4baf56a4a4b277b1b08f990f40e41c7351a1b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:529eb1adf9a976a0f7d87e62f8a812644142dc6ed062c25d2a516b647dfdf1c5 +size 5872070 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5c1b4797824aaa08f81eeb69e2e9b37b6baaf60c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46da92c29d2adfd1afc5b1e2ee98296a7f68e64851d05289a03a6150b5880592 +size 4533149 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b71e42510c8b0426b164a855d061acceda48c901 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cebd20c7be3aef697db6a9aaeceddb4be72952731acfa5f142fed60c94101e4 +size 5111513 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fbc20619d46a715ffd42d6e3cd464c46aaf3f55 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e7bd10836c77208300356079676ceed41cad043532d199dadc2a381b8155d3c +size 4183593 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fdfa34f1fb2bbf70f32a5305a6aa1abb765b87f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:635cf3d2a49592b7a75ec6da532924eddbc4a62397380da1e97c0d9b93a99974 +size 4409577 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..12caab25f2146dc0ab1a6ab35e2ca60756a5b256 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1335107811014fbe0443cf27d3f7f42ce96c77c3cdfea237ad34bb90da02d541 +size 4185982 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..921592e2d56a631e74f458434381f2707f4ada6c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4a93a0d48829cbbe2fd38386ca7f1dd2459d76ba129470acb45ba28eb95c09b +size 5427138 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0113.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f10b21990d0d7ae92a06616a9fd6fccf363cb029 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0113.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6819c708b2e9e3bf57a5c190412992b112ba3e7fa1b6ff01cfbd798b3e451ce3 +size 4389129 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0115.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0115.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3fd7172c6b931e6144246d74c86115e0fc33f8b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0115.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:240dd47b19c14156219b4e7c1995f5b8d5dd52561aaafe51e67159d950b08e54 +size 4257734 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0117.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e9653609ea74d2e6e87eeb31d8af76b87ace88be --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0117.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f98873515f04074946336027759fdcc521c0b3fdbcdd2c0a414c4edd3a519018 +size 4806921 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8520a8c579f5803b6155f7de74cc3d295697739b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b51bd553e39946eb2284f30bd4175d69e19e47ba782e810a650a641db9a1e33 +size 4637603 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0119.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0119.h5 new file mode 100644 index 0000000000000000000000000000000000000000..50d5ebf715b4f0c718c4be7fa7383446b1a32767 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0119.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:251a3bce1a3b41a54fb82bc8ad6d9480537703580f13a7b672d48556c188cda6 +size 6277096 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0120.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0120.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a357b85129d030664c3b70d671b67a918aba32b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0120.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c584c9a0345f11f0b3da066ab7e4a45a87efaad415f2c62e0e6cddffb3ec74e +size 4464846 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0121.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0121.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0a16a036b3562907e66993126e172721e87cd1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0121.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e64a0c2fe66e3eb8b034f0caad3113a8057900e03b50dfd24ab071b82cdbb9b7 +size 4269196 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0122.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0122.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62b0492f90a715a6f7374bd94badab58c5ece191 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0122.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a6c80997a841d2b48fd9fa22ce0f2493c1e96b101b0629dc2b9997a06e75292 +size 4319192 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0123.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0123.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a923fe0a549b146c6cd0fc375b4015e21a19c1e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0123.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99ae003e3d80c4897d379108a027c73985cad5b7b8325d157502559e131b8d76 +size 4884661 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0124.h5 new file mode 100644 index 0000000000000000000000000000000000000000..109aa7bd7520bfdc21d959047bdb909bd6cadb04 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0124.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a7e82bb5bd1ca36f601a378c42cc9926b3c244553200d4ea4cf4004630b3617 +size 5446736 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0125.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0125.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13c3e4e1e561b95f0e78cc0c6bb268fe43d12a35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0125.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2c8d4eba7fc4bdb3fe6f335e25472912bfe316ab24e7eb51b36e0a6215a49e2 +size 4588683 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47212faf607468ff602d4d4d57675d658bbadc33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":867,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":867,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":851,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":982,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":867,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":867,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":113,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":115,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":117,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":119,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":120,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":121,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":122,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":123,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":124,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":125,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":860,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acdc95b07a6fca01cdfe271ef1f8d2db2cd215cd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T07:11:48","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.6410837446789527,-1.494080879773471,0.71338606911949],"aabb_xy":[[-0.6623617528224249,-1.5590808820995439],[-0.6198057365354804,-1.4290808774473978]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.5414759572218792,-2.214270936908884,0.71338606911949],"aabb_xy":[[0.4864837065863683,-2.2692709386521974],[0.5964682078573902,-2.159270935165572]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.4937824722479478,0.29882910675161867,0.71338606911949],"aabb_xy":[[0.47944804712178435,0.2867688911970798],[0.5081168973741113,0.3108893223061575]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.2960179607317831,-0.5841592133965121,0.71338606911949],"aabb_xy":[[0.2260179580951967,-0.6042640783923776],[0.3660179633683694,-0.5640543484006466]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.33398410387661426,-1.6890083395674482,0.71338606911949],"aabb_xy":[[-0.3838668007543105,-1.739008338813723],[-0.28410140699891806,-1.6390083403211735]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.49992513942585703,1.2582429896646095,0.71338606911949],"aabb_xy":[[0.41992513915225005,1.1852934418388925],[0.579925139699464,1.331192537490326]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.3804785567146622,-2.23198546579547,0.71338606911949],"aabb_xy":[[-0.46047855367770135,-2.3090611074392435],[-0.300478559751623,-2.1549098241516966]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.18653492520656612,0.6071270535351259,0.71338606911949],"aabb_xy":[[-0.25053492450073434,0.5431409131662717],[-0.1225349259123979,0.67111319390398]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.5778058735356241,0.5705100909532321,0.71338606911949],"aabb_xy":[[-0.6003058737791395,0.5583054562934602],[-0.5553058732921087,0.5827147256130041]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.4029286307658161,-1.1657258532709063,0.71338606911949],"aabb_xy":[[-0.4068425039612386,-1.174474868677463],[-0.39901475757039356,-1.1569768378643495]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.47743352624318214,0.8843725459147058,0.71338606911949],"aabb_xy":[[0.4429710482300943,0.8777088687317831],[0.5118960042562699,0.8910362230976288]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.6718547501292964,-2.551000321720499,0.71338606911949],"aabb_xy":[[0.6665222354746834,-2.5563246499657346],[0.6771872647839094,-2.545675993475263]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.4730057322970039,-1.5142912825254542,0.71338606911949],"aabb_xy":[[-0.49087484005145937,-1.528124190502665],[-0.4551366245425484,-1.500458374548243]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.10169153766306904,0.99457025333425,0.71338606911949],"aabb_xy":[[0.07919153765292074,0.9804740336946468],[0.12419153767321732,1.0086664729738533]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.3671386259105791,-1.266637095692138,0.71338606911949],"aabb_xy":[[0.3496386924765957,-1.2841370956123725],[0.3846385593445624,-1.2491370957719035]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.014473918386884166,0.9132543138025615,0.71338606911949],"aabb_xy":[[-0.059473919853113025,0.868254456941081],[0.030526083079344686,0.9582541706640424]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.13550626643555508,-0.04411546083564044,0.71338606911949],"aabb_xy":[[-0.15300626556992222,-0.05399508787322826],[-0.11800626730118789,-0.03423583379805261]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.5315777488317854,-0.19282991374535152,0.71338606911949],"aabb_xy":[[0.5016101919219598,-0.2228299140432373],[0.5615453057416111,-0.1628299134474658]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.21441195112821987,-2.2672514415363416,0.71338606911949],"aabb_xy":[[0.15041195384257122,-2.308758160489185],[0.2784119484138685,-2.225744722583497]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.5592145674900502,-0.5113983351812608,0.71338606911949],"aabb_xy":[[0.5092316173025707,-0.5613983348238211],[0.6091975176775294,-0.4613983355387003]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.45102795528856654,-0.30226868815239705,0.71338606911949],"aabb_xy":[[-0.4665837246988319,-0.31781912139680424],[-0.4354721858783014,-0.28671825490798986]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.14894930664144357,0.4274001937032166,0.71338606911949],"aabb_xy":[[-0.19894930766057886,0.3909339779653887],[-0.0989493056223083,0.46386640944104457]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.35742964546507827,1.728587063937479,0.71338606911949],"aabb_xy":[[0.29342964508754465,1.6788417970866667],[0.4214296458426119,1.7783323307882912]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100135303435983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3585.png","name":"3585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3585.png","name":"3585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5187.png","name":"5187"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/224.png","name":"224"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7845.png","name":"7845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7624.png","name":"7624"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":669.8035620141349,"rotation_z_degrees":351.6800229136653,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009345843051982012,0.009697447485917984,-0.0012261150905524716]},{"name":"camera_2","offset_m":[0.012387204902966884,0.003189106679885874,0.0037250893503902975]},{"name":"camera_3","offset_m":[0.0172617164021547,-0.01528484064135046,0.01677764373424655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015390274545206365,0.0010045683919119009,0.001371946239615764],"end_effector_yaw_offset_degrees":0.5935354144420026},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00017732957497769517,2.963352695623065e-06,-0.0008325387149206694],"end_effector_yaw_offset_degrees":-0.11061894104183234},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0003346361601482672,-0.0005158347236580503,0.0016703717164291095],"end_effector_yaw_offset_degrees":0.48965103179178326}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035121648682690876,-0.0006569073970095719],"position_m":[0.23788783513173092,0.22234309260299043,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002633927651180266,0.0010766366644152283],"position_m":[0.16886607234881976,-0.11512336333558477,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005845646398327164,-0.0008018394505277405],"position_m":[0.3380845646398327,0.06909816054947227,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004852550097175492,0.00044810861658859617],"position_m":[0.2581852550097175,-0.4077518913834114,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b9c644db83cce7832f57f3143bbb09600f619e7529668057e3a2b8b786804405","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3585/tex_ceiling_textures_7624/tex_floor_textures_7845/tex_table_textures_5187/tex_wall_textures_224","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5772913893805826671,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5772913893805826671,"visual_seed":5772913893805826671,"scene_id":"lab_003","finished_at":"2026-09-03T07:14:18"} +{"episode_id":"ep_000001","started_at":"2026-09-03T07:14:23","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.34734884671658195,1.218690469751662,0.71338606911949],"aabb_xy":[[0.30984884829318154,1.2055262557838313],[0.38484884513998224,1.2318546837194928]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.0383605255331404,-0.3009688553327554,0.71338606911949],"aabb_xy":[[-0.07336052542915926,-0.30934309084469536],[-0.003360525637121525,-0.29259461982081547]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.08513806852421912,-1.4906544893377132,0.71338606911949],"aabb_xy":[[0.07190712298953782,-1.5038819083597124],[0.0983690140589004,-1.4774270703157135]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.386373910402129,-2.0990520696628487,0.71338606911949],"aabb_xy":[[-0.3924685382902473,-2.1076214642145175],[-0.38027928251401066,-2.09048267511118]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.6053792528115769,-0.6692804262382575,0.71338606911949],"aabb_xy":[[0.550379253189831,-0.7242641190257303],[0.6603792524333227,-0.6142967334507848]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.04566181287776516,-1.7372920383961317,0.71338606911949],"aabb_xy":[[0.03766782430006176,-1.7452921184912216],[0.05365580145546855,-1.7292919583010409]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[-0.4863112035344276,-0.0029732477973429816,0.71338606911949],"aabb_xy":[[-0.5284956176952584,-0.06697324807455418],[-0.4441267893735969,0.06102675247986822]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.25764646603246216,0.6736234662181873,0.71338606911949],"aabb_xy":[[-0.3376464663060691,0.6006739183924704],[-0.17764646575885515,0.7465730140439039]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.47474515792320626,-0.9532761304267907,0.71338606911949],"aabb_xy":[[0.4522451581093039,-0.9577507467972715],[0.49724515773710865,-0.94880151405631]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.5687561335935092,-1.1466042070217055,0.71338606911949],"aabb_xy":[[0.5613436780521206,-1.1524554174433337],[0.5761685891348975,-1.1407529966000778]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.5978757709928475,-2.343129314202782,0.71338606911949],"aabb_xy":[[0.593240655840614,-2.34699664927993],[0.6025108861450807,-2.3392619791256326]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.5430364656725506,0.11488195108274546,0.71338606911949],"aabb_xy":[[0.4530364691716788,0.0689703086642872],[0.6330364621734222,0.16079359350120367]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.20069376056389165,-1.888442204706442,0.71338606911949],"aabb_xy":[[0.15938921750015564,-1.9524422042745588],[0.24199830362762761,-1.8244422051383247]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[0.6078120163101544,-1.9147004105030156,0.71338606911949],"aabb_xy":[[0.517812012633236,-1.9761328170801196],[0.6978120199870723,-1.8532680039259108]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.5970500987941958,0.31388377940517387,0.71338606911949],"aabb_xy":[[-0.6610500990681739,0.26381767920788585],[-0.5330500985202175,0.3639498796024618]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.13935735400982918,-1.4340913290117148,0.71338606911949],"aabb_xy":[[-0.1472806342485775,-1.4565913292497181],[-0.13143407377108085,-1.4115913287737114]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.4379243308684275,1.3604218878765089,0.71338606911949],"aabb_xy":[[0.3579243334648341,1.280429316678326],[0.517924328272021,1.4404144590746917]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.04327992085257393,0.9506970119176708,0.71338606911949],"aabb_xy":[[0.004734228027372896,0.9121512408614821],[0.08182561367777497,0.9892427829738594]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.06810832437442305,-1.9279584080714198,0.71338606911949],"aabb_xy":[[0.051098227084372394,-1.944092896569694],[0.0851184216644737,-1.9118239195731461]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.05884281649220169,-1.5965221850157205,0.71338606911949],"aabb_xy":[[-0.0697485925797644,-1.6765221814145497],[-0.04793704040463897,-1.5165221886168914]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.14745074442071415,-2.461106107912863,0.71338606911949],"aabb_xy":[[0.09964457680694547,-2.526106110619922],[0.19525691203448275,-2.396106105205804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7101543848484588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4736.png","name":"4736"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4736.png","name":"4736"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6989.png","name":"6989"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8878.png","name":"8878"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4400.png","name":"4400"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8476.png","name":"8476"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":515.7563259009805,"rotation_z_degrees":157.74396307168396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003717277484410749,0.017987860828686874,0.00518404213984542]},{"name":"camera_2","offset_m":[-0.007499798020793192,-0.012054743669793404,-0.0010506351264281295]},{"name":"camera_3","offset_m":[-0.007159788041545259,0.01880683761323577,-0.01701202133797791]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00028709863859886645,0.001849289567746356,3.65852287925756e-05],"end_effector_yaw_offset_degrees":0.9456623886703053},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013586319599635742,0.0015779564912303074,-0.0017202370772399394],"end_effector_yaw_offset_degrees":0.32864939079683864},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001980067188962935,0.0009916951000720582,-0.0007244599506631105],"end_effector_yaw_offset_degrees":0.8607872284531264}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00437130006839976,0.003424480959244083],"position_m":[0.23702869993160025,0.22642448095924408,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0042260230477969216,0.0030087939704797955],"position_m":[0.16727397695220309,-0.11319120602952021,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025011714163036738,0.0030587609951327364],"position_m":[0.33499882858369634,0.07295876099513274,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018121628092933172,-0.0030506001082759695],"position_m":[0.2558878371907067,-0.41125060010827597,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3fe351f6e06d40ecde0e3caf5701c15a5e2bead66625cb19e181969db31f967a","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4736/tex_ceiling_textures_8476/tex_floor_textures_4400/tex_table_textures_6989/tex_wall_textures_8878","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3365680135330541108,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3365680135330541108,"visual_seed":3365680135330541108,"scene_id":"lab_003","finished_at":"2026-09-03T07:17:06"} +{"episode_id":"ep_000002","started_at":"2026-09-03T07:17:09","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.06326623195171133,-1.8236102069809697,0.71338606911949],"aabb_xy":[[-0.14326623338183853,-1.903127361993579],[0.016733769478415872,-1.74409305196836]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.42738412834119033,0.43732813866928844,0.71338606911949],"aabb_xy":[[0.3473841296843043,0.4228232797450257],[0.5073841269980763,0.4518329975935513]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.5548494021263695,0.710102538032694,0.71338606911949],"aabb_xy":[[0.5495118264603649,0.6851025371035543],[0.560186977792374,0.7351025389618339]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.10059763735877914,-0.8667795836024199,0.71338606911949],"aabb_xy":[[0.0505976359978919,-0.9167574881778356],[0.15059763871966633,-0.8168016790270044]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.31882889995574915,1.2794444952384239,0.71338606911949],"aabb_xy":[[0.29382890040401066,1.269302011373289],[0.34382889950748763,1.2895869791035584]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.4345165295308724,0.7449898462576336,0.71338606911949],"aabb_xy":[[0.3845165308849512,0.6950703025981713],[0.4845165281767936,0.794909389917096]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.6971440752301312,-1.463503499187487,0.71338606911949],"aabb_xy":[[0.674647653796267,-1.4860034989942341],[0.7196404966639952,-1.4410034993807392]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.4383834765271187,-1.3920067886707066,0.71338606911949],"aabb_xy":[[-0.5033834746830377,-1.4183030332206186],[-0.3733834783711996,-1.3657105441207942]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[-0.01077137183420851,0.7677117847826924,0.71338606911949],"aabb_xy":[[-0.06576458317134527,0.7127117844438989],[0.04422183950292825,0.8227117851214862]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.08501584969807907,-1.2505236460769207,0.71338606911949],"aabb_xy":[[0.07493414261950558,-1.3305236439690349],[0.09509755677665253,-1.1705236481848056]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.39921747986404893,-2.1598910087016456,0.71338606911949],"aabb_xy":[[-0.4632174771496976,-2.2013977276544896],[-0.3352174825784003,-2.1183842897488017]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_11","position":[-0.3864786423688072,-0.2959578779606522,0.71338606911949],"aabb_xy":[[-0.42106972522285235,-0.3609578782456832],[-0.3518875595147619,-0.23095787767562112]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.38756960785977235,-1.866204543661303,0.71338606911949],"aabb_xy":[[0.3235696105574259,-1.9105709706291596],[0.4515696051621187,-1.821838116693446]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.46396820028532004,-2.379196788975035,0.71338606911949],"aabb_xy":[[-0.5061526144461508,-2.443196789252246],[-0.42178378612448936,-2.3151967886978237]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.09240574029365767,0.48360770463212743,0.71338606911949],"aabb_xy":[[-0.17240574355150062,0.40361119684014346],[-0.012405737035814726,0.5636042124241114]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.20471702961147953,-0.4109209444987951,0.71338606911949],"aabb_xy":[[-0.27471703142022497,-0.4322747132629825],[-0.13471702780273406,-0.38956717573460775]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.6211080778482014,-1.408549430819483,0.71338606911949],"aabb_xy":[[-0.628149528798949,-1.4155761825572775],[-0.6140666268974538,-1.4015226790816886]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.3723960469349313,0.49765789890657874,0.71338606911949],"aabb_xy":[[-0.3817430545172265,0.48335427668893477],[-0.36304903935263605,0.5119615211242228]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.2931973376313368,-0.625675093165545,0.71338606911949],"aabb_xy":[[0.22919733737086603,-0.670683892518473],[0.35719733789180763,-0.580666293812617]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[-0.44277106287822954,-1.950276938917592,0.71338606911949],"aabb_xy":[[-0.45240269909865916,-1.959914251697301],[-0.4331394266577999,-1.940639626137883]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.40455143639278796,1.0582166023801172,0.71338606911949],"aabb_xy":[[-0.41333266354002424,1.049436855091587],[-0.3957702092455518,1.0669963496686474]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.6971479763211221,1.1738426463101326,0.71338606911949],"aabb_xy":[[0.6883459210121494,1.1660313201552035],[0.7059500316300948,1.1816539724650617]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.461150194680878,-1.0330938953953748,0.71338606911949],"aabb_xy":[[-0.48361496465228304,-1.0555938962742353],[-0.4386854247094728,-1.0105938945165143]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[0.61539385557668,1.4293612523966082,0.71338606911949],"aabb_xy":[[0.5453938539744007,1.4159284591949508],[0.6853938571789596,1.442794045598266]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.4019819320709861,0.8622636052501411,0.71338606911949],"aabb_xy":[[0.38733852651695305,0.8476048855933568],[0.416625337625019,0.8769223249069252]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[-0.5299268766462425,1.2087332923407712,0.71338606911949],"aabb_xy":[[-0.5939268788666495,1.1643602082154827],[-0.46592687442583547,1.2531063764660593]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.1382784588528071,-0.7975707234192384,0.71338606911949],"aabb_xy":[[-0.19827845936066,-0.8544174571051596],[-0.07827845834495416,-0.740723989733317]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_27","position":[-0.2643013542176796,-1.1751639299627006,0.71338606911949],"aabb_xy":[[-0.27515296046655513,-1.1860232206903516],[-0.25344974796880393,-1.1643046392350496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7117325273418789,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8327.png","name":"8327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2001.png","name":"2001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1814.png","name":"1814"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7229.png","name":"7229"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":758.2329479930063,"rotation_z_degrees":354.04681285262484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01671715373131132,0.019484101536002118,-0.002151047857801666]},{"name":"camera_2","offset_m":[-0.006612020644102223,0.011846449075606846,0.018050063394424696]},{"name":"camera_3","offset_m":[0.005242744044901694,-0.0007546244126693039,-0.013957945160725722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00043804861923053677,-0.0008010246914090095,7.561570006589004e-05],"end_effector_yaw_offset_degrees":-0.8980333575545911},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005744776399324351,0.0014568587707807653,0.0008321417323691356],"end_effector_yaw_offset_degrees":-0.11327178263930548},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001430765673442554,6.695317840002936e-05,0.001759075957087694],"end_effector_yaw_offset_degrees":0.5988392574839938}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004875767484937502,-0.001478196063081204],"position_m":[0.2365242325150625,0.2215218039369188,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035487623738753036,0.0027266608633788785],"position_m":[0.17504876237387532,-0.11347333913662112,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003250471713279736,0.002645056318570505],"position_m":[0.34075047171327977,0.07254505631857051,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.4507397614602242e-05,-0.003203144493574346],"position_m":[0.2577145073976146,-0.41140314449357435,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bdf579c84f4c5612ed1464590891fa70a37fe5ba31221d3d9ef1c2b9341a414f","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3943/tex_ceiling_textures_7229/tex_floor_textures_1814/tex_table_textures_8327/tex_wall_textures_2001","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4089228343308001199,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4089228343308001199,"visual_seed":4089228343308001199,"scene_id":"lab_003","finished_at":"2026-09-03T07:20:04"} +{"episode_id":"ep_000003","started_at":"2026-09-03T07:20:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.5701549950231628,-2.4636775871433354,0.71338606911949],"aabb_xy":[[0.5605233588027332,-2.4733148999230443],[0.5797866312435924,-2.4540402743636265]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.47573031735835114,-1.6288108332238571,0.71338606911949],"aabb_xy":[[0.46139589223218763,-1.640871048778396],[0.49006474248451454,-1.6167506176693183]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.065414372250156,1.5019686246751713,0.71338606911949],"aabb_xy":[[0.015414371231020744,1.4655024089373434],[0.1154143732692913,1.5384348404129995]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.03510630450170582,-2.0072012876766943,0.71338606911949],"aabb_xy":[[-0.02889369466806412,-2.053967974795657],[0.09910630367147577,-1.9604346005577324]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.26133383836500607,-1.2471404672644855,0.71338606911949],"aabb_xy":[[-0.3025826493949208,-1.302140466776703],[-0.22008502733509136,-1.192140467752268]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.5526205143427951,1.6224591454397284,0.71338606911949],"aabb_xy":[[-0.6066361106246951,1.5584591425474712],[-0.49860491806089513,1.6864591483319855]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.29592050693158245,0.3786934846150296,0.71338606911949],"aabb_xy":[[-0.3509205061081719,0.32370380984007197],[-0.2409205077549929,0.43368315938998725]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.4840794686794816,-0.8915298107770506,0.71338606911949],"aabb_xy":[[-0.5640794697526019,-0.9013078571144351],[-0.40407946760636126,-0.8817517644396662]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[0.18956344182208718,1.1835992485845952,0.71338606911949],"aabb_xy":[[0.12556343960168015,1.1392261644593071],[0.2535634440424942,1.2279723327098837]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.43224806498414126,-1.416410139640553,0.71338606911949],"aabb_xy":[[-0.469282174412201,-1.4507873469742625],[-0.3952139555560815,-1.3820329323068437]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.627480626913255,-1.7490082872004598,0.71338606911949],"aabb_xy":[[-0.632324221674485,-1.753859939679444],[-0.622637032152025,-1.7441566347214759]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[0.6365904755009384,1.6621280175735325,0.71338606911949],"aabb_xy":[[0.5865904742170983,1.6121491631829101],[0.6865904767847782,1.7121068719641543]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.008987703848376216,-1.4960551981006764,0.71338606911949],"aabb_xy":[[-0.04631898037361884,-1.530708252895529],[0.028343572676866408,-1.4614021433058244]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.5692387376702555,0.21106022085898735,0.71338606911949],"aabb_xy":[[-0.6067387374872889,0.20642200954784545],[-0.5317387378532218,0.21569843217012918]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.5843097721240869,-1.2182949070526197,0.71338606911949],"aabb_xy":[[-0.6543097755156487,-1.2536106807560505],[-0.5143097687325248,-1.1829791333491888]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.5520168193657953,0.7744873474406702,0.71338606911949],"aabb_xy":[[0.5385702927317519,0.7610174957875789],[0.5654633459998386,0.7879571990937614]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.5246274677239544,-0.8182497133129112,0.71338606911949],"aabb_xy":[[0.4696537456876215,-0.8732497128771444],[0.5796011897602873,-0.763249713748678]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.22255818404463834,0.15046765234567472,0.71338606911949],"aabb_xy":[[-0.2530424341716685,0.10046765256417878],[-0.19207393391760821,0.20046765212717066]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.23574263228644798,-2.006378127569594,0.71338606911949],"aabb_xy":[[-0.24373662086415135,-2.0143782076646843],[-0.22774864370874456,-1.9983780474745039]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.3240489703622187,1.2724290395336841,0.71338606911949],"aabb_xy":[[0.29904897119658563,1.2654767938283278],[0.34904896952785186,1.279381285239041]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.5129358283878465,-1.29560860782992,0.71338606911949],"aabb_xy":[[0.4629358280272802,-1.345588595039523],[0.5629358287484123,-1.245628620620317]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.35135325014857743,-0.41048963479681966,0.71338606911949],"aabb_xy":[[-0.3688532494266643,-0.4278277348631656],[-0.33385325087049056,-0.3931515347304737]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[-0.4784964020553689,0.7050054654036777,0.71338606911949],"aabb_xy":[[-0.5284964014955644,0.6550375409193613],[-0.42849640261517324,0.7549733898879939]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.6292834360576586,-0.9317591373060861,0.71338606911949],"aabb_xy":[[-0.6468617382466054,-0.949333626880191],[-0.6117051338687117,-0.9141846477319812]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7091015954154559,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8328.png","name":"8328"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8328.png","name":"8328"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3363.png","name":"3363"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5926.png","name":"5926"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/879.png","name":"879"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1984.png","name":"1984"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.6510258408623,"rotation_z_degrees":357.0415159340593,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003203286981249231,0.007952407839130232,-0.002613162519516536]},{"name":"camera_2","offset_m":[0.005574210782332455,0.01863648421624518,0.013281693196707082]},{"name":"camera_3","offset_m":[0.019741301188782614,-0.017473079714628748,0.011836256441892515]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019445027606018687,-0.001669061154145523,-0.0016124342223636874],"end_effector_yaw_offset_degrees":-0.47172883354533046},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019337375213563128,0.001511133425514974,-0.00016134050968950094],"end_effector_yaw_offset_degrees":-0.6335585909321297},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007379149638182844,-0.0013263101859244545,-0.0005540527632588743],"end_effector_yaw_offset_degrees":-0.3153265753797003}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031612069290587836,-0.0011617656526529117],"position_m":[0.24456120692905878,0.2218382343473471,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015304615829173462,0.004800177948038859],"position_m":[0.16996953841708268,-0.11139982205196114,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029775507932249413,0.0035698659066751284],"position_m":[0.3345224492067751,0.07346986590667513,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004295582462799191,-0.004719178515125766],"position_m":[0.2534044175372008,-0.4129191785151258,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"484490ce0ae1170306f64ac6561e711b91dcf4b9129b2d361b09d45cc9fde314","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8328/tex_ceiling_textures_1984/tex_floor_textures_879/tex_table_textures_3363/tex_wall_textures_5926","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2854104736783479984,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2854104736783479984,"visual_seed":2854104736783479984,"scene_id":"lab_003","finished_at":"2026-09-03T07:22:50"} +{"episode_id":"ep_000004","started_at":"2026-09-03T07:22:53","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.3644256992887074,-2.3311521062546348,0.71338606911949],"aabb_xy":[[0.3518230001516309,-2.3437475024795003],[0.37702839842578384,-2.3185567100297693]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.4105105800739021,0.4750506257646654,0.71338606911949],"aabb_xy":[[-0.44047813698372784,0.44505062546677965],[-0.3805430231640765,0.5050506260625511]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[0.25290484267060087,-2.196516838988067,0.71338606911949],"aabb_xy":[[0.24374496372672422,-2.203048057031604],[0.2620647216144774,-2.18998562094453]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.25145639752908144,1.685494697840698,0.71338606911949],"aabb_xy":[[0.2264563982571192,1.6691493342445356],[0.2764563968010437,1.7018400614368603]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.4693152711807982,-0.7185473747634123,0.71338606911949],"aabb_xy":[[0.4053152697728075,-0.7703363262873371],[0.5333152725887889,-0.6667584232394876]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.46536835337570204,1.7174664492122562,0.71338606911949],"aabb_xy":[[-0.529368352545472,1.6706997620932937],[-0.4013683542059321,1.7642331363312187]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[0.03951560876237348,1.6420571918229823,0.71338606911949],"aabb_xy":[[0.0030197881350947364,1.6055732493962245],[0.07601142938965222,1.6785411342497396]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.29207621879956713,-0.5716219535427425,0.71338606911949],"aabb_xy":[[0.22807621674983514,-0.6117164366320504],[0.35607622084929913,-0.5315274704534345]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.38483363467130527,-1.0064505972344326,0.71338606911949],"aabb_xy":[[0.33483363331041804,-1.056428501809848],[0.4348336360321925,-0.9564726926590169]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.18502868428822805,0.3590983581565319,0.71338606911949],"aabb_xy":[[-0.22002868426472388,0.3496337421089153],[-0.15002868431173222,0.3685629742041485]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[-0.11396420169780297,1.1252515004370869,0.71338606911949],"aabb_xy":[[-0.17159467058507377,1.065251501510376],[-0.05633373281053208,1.1852514993637973]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.050379402633975,0.8567581862200337,0.71338606911949],"aabb_xy":[[-0.05741971256751201,0.7767581868203625],[-0.043339092700438016,0.9367581856197053]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.3849135209183849,-1.4077819952087511,0.71338606911949],"aabb_xy":[[-0.4199135191885047,-1.4148561229037393],[-0.3499135226482649,-1.400707867513763]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.09249600965055338,-1.768370502896916,0.71338606911949],"aabb_xy":[[-0.1564960089447216,-1.8323566432657703],[-0.02849601035638516,-1.704384362528062]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.6038447688135822,0.16429132295253757,0.71338606911949],"aabb_xy":[[0.5793311447165763,0.14002672965050114],[0.628358392910588,0.18855591625457405]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[0.38377112028815175,0.7831165354513963,0.71338606911949],"aabb_xy":[[0.31977111861015445,0.7345991439720819],[0.44777112196614915,0.8316339269307104]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.4375117677556666,-1.9300594328490326,0.71338606911949],"aabb_xy":[[0.36751177134570473,-1.950497368500714],[0.5075117641656283,-1.9096214971973506]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.05903530455629724,-2.3697208952887028,0.71338606911949],"aabb_xy":[[0.03653530454614895,-2.3838171149283065],[0.08153530456644553,-2.3556246756491]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.4636610657922974,0.6091934029361168,0.71338606911949],"aabb_xy":[[-0.4699731653286358,0.603426463682898],[-0.45734896625595894,0.6149603421893356]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.5229742823454839,-0.5497132255702901,0.71338606911949],"aabb_xy":[[-0.5338800584330466,-0.6297132219691193],[-0.5120685062579212,-0.46971322917146097]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[0.3566348374636019,-1.7055703082373022,0.71338606911949],"aabb_xy":[[0.27663484006000844,-1.7855628794354848],[0.4366348348671953,-1.6255777370391191]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.1865911092510013,-2.425178464329868,0.71338606911949],"aabb_xy":[[0.1541294083690738,-2.45531129644477],[0.2190528101329287,-2.3950456322149645]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.48804573618376745,-0.15344688879294122,0.71338606911949],"aabb_xy":[[-0.5071580435417462,-0.17258166767018326],[-0.46893342882578853,-0.13431210991569922]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.5658963435323742,0.38968191673197516,0.71338606911949],"aabb_xy":[[-0.6158792937198534,0.33968191708941464],[-0.5159133933448947,0.43968191637453546]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.5192716623721702,0.1830452713985249,0.71338606911949],"aabb_xy":[[-0.5693691263532438,0.11904527088871308],[-0.46917419839109653,0.2470452719083367]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.2805952334087227,0.5623722701864313,0.71338606911949],"aabb_xy":[[0.26358513611867207,0.5462377816881573],[0.2976053306987734,0.5785067586847051]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.02615867437951891,1.5038144537387699,0.71338606911949],"aabb_xy":[[-0.023841326571013902,1.4722653067352485],[0.07615867533005172,1.5353636007422913]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.4767019573416167,1.6099630961584945,0.71338606911949],"aabb_xy":[[-0.4918648303185538,1.594797638863376],[-0.46153908436467966,1.6251285534536135]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[0.2585684776217485,0.893910753281661,0.71338606911949],"aabb_xy":[[0.25052511769579333,0.8089107521862945],[0.2666118375477037,0.9789107543770273]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[-0.6379018925727169,-1.3012586216174458,0.71338606911949],"aabb_xy":[[-0.6878749581052325,-1.3512586214299789],[-0.5879288270402016,-1.251258621804913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7074771903447528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/983.png","name":"983"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/983.png","name":"983"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9285.png","name":"9285"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5292.png","name":"5292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4333.png","name":"4333"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.5040623813434,"rotation_z_degrees":231.15793603047086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007005121055108102,-0.00824281406107318,-0.006153637022061651]},{"name":"camera_2","offset_m":[0.01099880286766947,-0.008550249514490944,0.011154157785159349]},{"name":"camera_3","offset_m":[0.010033530655233009,-0.018404399835732905,0.016840755221987868]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018740502261921114,-0.0003980237584981117,0.0009613375298723596],"end_effector_yaw_offset_degrees":-0.023061735922345505},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019902891992266995,-0.0010145601348614352,-0.0010578225557954291],"end_effector_yaw_offset_degrees":0.22931780303562754},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009154037628396918,-0.0004619600263425926,-0.00108185159366804],"end_effector_yaw_offset_degrees":0.3169154018702032}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007164012628892939,-0.003001516543602436],"position_m":[0.2421164012628893,0.21999848345639758,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0047266469675311526,0.003087567080548327],"position_m":[0.17622664696753115,-0.11311243291945167,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028164182590159842,0.0029981439813826566],"position_m":[0.340316418259016,0.07289814398138265,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002812967803417995,0.00016854773588513214],"position_m":[0.254887032196582,-0.40803145226411486,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d811ae13c916348e6a9fcb442ac8d68129311d538a7a4be7fe029ec3f73abef7","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_983/tex_ceiling_textures_4333/tex_floor_textures_5292/tex_table_textures_2979/tex_wall_textures_9285","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1969920285331254726,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1969920285331254726,"visual_seed":1969920285331254726,"scene_id":"lab_003","finished_at":"2026-09-03T07:25:45"} +{"episode_id":"ep_000005","started_at":"2026-09-03T07:25:48","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.6169984725347775,1.615963339503605,0.71338606911949],"aabb_xy":[[0.5529984704850454,1.5758688564142969],[0.6809984745845094,1.6560578225929128]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.043054334714601294,0.7253288256607986,0.71338606911949],"aabb_xy":[[0.00028762783518110346,0.6613288222389961],[0.08582104159402149,0.789328829082601]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.390302533817821,-2.3824570455937577,0.71338606911949],"aabb_xy":[[0.30030253148380187,-2.4599394001788704],[0.48030253615184,-2.304974691008645]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.007217199981279121,1.3287107948937602,0.71338606911949],"aabb_xy":[[-0.09721719939965001,1.2953352980495703],[0.08278279943709177,1.3620862917379497]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.4590041409608403,-0.6141926572878933,0.71338606911949],"aabb_xy":[[0.45486828462814016,-0.6516926567322503],[0.46313999729354055,-0.5766926578435363]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.18673916936056612,-1.290628877385579,0.71338606911949],"aabb_xy":[[-0.19283379724868444,-1.299198271937248],[-0.1806445414724478,-1.2820594828339105]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.4325085422022641,1.2491805612922504,0.71338606911949],"aabb_xy":[[0.37750854302567455,1.1941908865172925],[0.4875085413788535,1.3041702360672078]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.25037529032309314,-1.8703901255217112,0.71338606911949],"aabb_xy":[[0.21287529003091832,-1.8744316009223148],[0.28787529061526795,-1.8663486501211077]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.26826428050078843,0.6005223098918258,0.71338606911949],"aabb_xy":[[0.2589172729184932,0.5862186876741817],[0.27761128808308366,0.6148259321094698]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.6200519315390338,1.1579765142317213,0.71338606911949],"aabb_xy":[[0.6136381178958488,1.1515666939840528],[0.6264657451822186,1.1643863344793894]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.3740838277102073,1.3719617530608876,0.71338606911949],"aabb_xy":[[-0.45908382612763055,1.2870874575986024],[-0.2890838292927841,1.4568360485231724]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.24882371597878022,0.23516317146181143,0.71338606911949],"aabb_xy":[[-0.31382371861657377,0.18368357276236447],[-0.1838237133409868,0.2866427701612584]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.21145060603947385,1.5511773542231908,0.71338606911949],"aabb_xy":[[0.14745060873712743,1.5068109272553338],[0.27545060334182025,1.5955437811910473]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.1332161286663328,-1.1992393117916205,0.71338606911949],"aabb_xy":[[-0.2132161291365488,-1.2075500194059687],[-0.05321612819611689,-1.1909286041772722]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.31065535656085963,0.6715535558874204,0.71338606911949],"aabb_xy":[[-0.37065535706871255,0.614706822201499],[-0.2506553560530067,0.7284002895733416]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.5995521012411291,-2.3945778627326204,0.71338606911949],"aabb_xy":[[-0.6096338083197026,-2.4745778606247346],[-0.5894703941625556,-2.3145778648405053]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.549246525014635,0.9629839219627372,0.71338606911949],"aabb_xy":[[-0.5742465242865973,0.9466385583665748],[-0.5242465257426727,0.9793292855588995]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.3128521326507366,-1.5756927715626725,0.71338606911949],"aabb_xy":[[-0.36282954951599017,-1.6256927730519206],[-0.262874715785483,-1.5256927700734235]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[-0.1238288778358948,-0.07635019734167647,0.71338606911949],"aabb_xy":[[-0.14600140481254564,-0.09852586449779963],[-0.10165635085924395,-0.05417453018555328]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.01606873900155703,-0.9209754163746808,0.71338606911949],"aabb_xy":[[-0.03890498303477585,-0.9759754159389139],[0.07104246103788991,-0.8659754168104475]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7119816624847141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8940.png","name":"8940"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8940.png","name":"8940"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3825.png","name":"3825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2015.png","name":"2015"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6086.png","name":"6086"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.7358260125966,"rotation_z_degrees":84.2365432579145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010302378408750902,-0.0016749718716430363,0.0056014518707225396]},{"name":"camera_2","offset_m":[-0.015037459904030923,-0.0017311483024983025,0.002246854167369902]},{"name":"camera_3","offset_m":[0.0067166110537742185,0.003890293839840041,0.013161976568415518]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[4.3624614946886735e-05,3.70482650409688e-05,-0.00043462828027606066],"end_effector_yaw_offset_degrees":-0.5519461122405549},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005920924060287111,0.0010901158292047778,-0.0018725693864422132],"end_effector_yaw_offset_degrees":0.09191070741463525},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014988995065658263,0.0007037229960279879,-0.0005843662267506087],"end_effector_yaw_offset_degrees":0.7180285749643278}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004316498068227428,-0.000458405870118298],"position_m":[0.24571649806822743,0.2225415941298817,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008547519334788835,0.003582630951986511],"position_m":[0.17064524806652112,-0.11261736904801349,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00215257984062762,0.003049456609883841],"position_m":[0.3353474201593724,0.07294945660988385,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002164536735521732,-0.0005851259195682364],"position_m":[0.25986453673552173,-0.4087851259195682,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b808de4d37254ab7ea93d07aedb257071317db1b96a6b4bb4ad0542834eb96dd","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8940/tex_ceiling_textures_6086/tex_floor_textures_4163/tex_table_textures_3825/tex_wall_textures_2015","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2378196169056119680,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2378196169056119680,"visual_seed":2378196169056119680,"scene_id":"lab_003","finished_at":"2026-09-03T07:28:16"} +{"episode_id":"ep_000006","started_at":"2026-09-03T07:28:19","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.10618030674013978,-2.199120085228662,0.71338606911949],"aabb_xy":[[-0.1436803068457327,-2.205942247081643],[-0.06868030663454681,-2.1922979233756803]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.6708580168041702,1.3366562646253723,0.71338606911949],"aabb_xy":[[0.6604464581236864,1.3313105312894737],[0.6812695754846538,1.3420019979612705]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[0.17891748606946745,1.608451153492107,0.71338606911949],"aabb_xy":[[0.11891748581806624,1.5541698284556422],[0.2389174863208686,1.6627324785285715]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.14704713662186308,-1.0508347713767945,0.71338606911949],"aabb_xy":[[0.0820471355159198,-1.0758001444449228],[0.21204713772780637,-1.0258693983086662]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.1902296289584654,-0.16347708580838427,0.71338606911949],"aabb_xy":[[-0.22772962930669313,-0.1752684813894678],[-0.15272962861023762,-0.1516856902273007]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.24266093264333422,1.1541940927520202,0.71338606911949],"aabb_xy":[[0.22832650751717073,1.1421338771974812],[0.25699535776949767,1.1662543083065589]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.671868819193975,-0.10348075654423061,0.71338606911949],"aabb_xy":[[0.6247394401921392,-0.16748075758863257],[0.7189981981958106,-0.03948075549982866]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.43120055663446205,-0.6532275141395385,0.71338606911949],"aabb_xy":[[-0.4762005581006909,-0.6982273710010193],[-0.3862005551682332,-0.6082276572780579]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.43137173559160125,-2.461410380279209,0.71338606911949],"aabb_xy":[[-0.4376838351279397,-2.4671773195324276],[-0.4250596360552628,-2.45564344102599]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[-0.23569893491063054,-2.056897184772888,0.71338606911949],"aabb_xy":[[-0.2582126267340877,-2.126897185373895],[-0.2131852430871733,-1.9868971841718799]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.4606319937703767,-1.8766114255999522,0.71338606911949],"aabb_xy":[[-0.49813199406255154,-1.8806529010005557],[-0.4231319934782019,-1.8725699501993487]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.44983091079303206,-0.18872677638394642,0.71338606911949],"aabb_xy":[[-0.4873309115850275,-0.1950946173421365],[-0.4123309100010366,-0.18235893542575632]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.5878528959710605,1.0093575860853155,0.71338606911949],"aabb_xy":[[-0.6247034439080482,0.9718575852622817],[-0.551002348034073,1.0468575869083492]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.5258200532516042,-1.6550181801556894,0.71338606911949],"aabb_xy":[[0.517692365058291,-1.663931788566397],[0.5339477414449174,-1.6461045717449818]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.5008813006649574,-0.9834383749586832,0.71338606911949],"aabb_xy":[[-0.5287263374455646,-1.014222873696995],[-0.4730362638843504,-0.9526538762203717]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.13447870250044047,1.0728489628880804,0.71338606911949],"aabb_xy":[[-0.16795786976148142,1.0393698495169734],[-0.10099953523939953,1.1063280762591874]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.5045077645899789,1.2434854403643079,0.71338606911949],"aabb_xy":[[-0.535654683433562,1.1734854416775007],[-0.4733608457463958,1.313485439051115]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.4189736381179721,-1.6374522186252476,0.71338606911949],"aabb_xy":[[-0.45647363669359287,-1.6501885142888055],[-0.38147363954235125,-1.6247159229616897]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.6652280538081475,1.50687665602065,0.71338606911949],"aabb_xy":[[-0.6798714593621805,1.4922179363638655],[-0.6505846482541146,1.521535375677434]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.4121585567334434,-2.0695615963723437,0.71338606911949],"aabb_xy":[[-0.4921585541370368,-2.1495541675705265],[-0.33215855932984995,-1.9895690251741611]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.1488173565551444,0.4996391892823926,0.71338606911949],"aabb_xy":[[-0.21381735471106345,0.47334294473248045],[-0.08381735839922533,0.5259354338323048]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.3230275211806737,0.7248318519035895,0.71338606911949],"aabb_xy":[[0.31040073389347733,0.7152857782020164],[0.33565430846787003,0.7343779256051622]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.6598108311882451,-1.0321450786978423,0.71338606911949],"aabb_xy":[[0.6558503474185108,-1.039812943283363],[0.6637713149579795,-1.0244772141123217]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.710944135870549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8431.png","name":"8431"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8431.png","name":"8431"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/92.png","name":"92"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7838.png","name":"7838"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3196.png","name":"3196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/83.png","name":"83"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":581.7058590181433,"rotation_z_degrees":116.8639616450859,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00684317511119888,-0.00897886111372519,-0.017716252989343338]},{"name":"camera_2","offset_m":[0.01240370533384055,-0.010345893783792297,0.007469984886697711]},{"name":"camera_3","offset_m":[0.00857207785787574,0.009246015754517115,-0.006331357825165701]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010928519787704039,-0.00025438978306749067,0.0012011044009875285],"end_effector_yaw_offset_degrees":0.12731850926799004},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00044230562399450997,0.0015004225309252907,0.0015630183414778787],"end_effector_yaw_offset_degrees":-0.18441125103168732},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014404302615121877,-0.0007271840493558953,-0.0011618406200344543],"end_effector_yaw_offset_degrees":0.06383315244779064}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037294770769114283,0.0023454587028216775],"position_m":[0.23767052292308857,0.2253454587028217,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018719939677921031,-0.002086747139248937],"position_m":[0.17337199396779213,-0.11828674713924893,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002285566820264856,-0.0030730808879264396],"position_m":[0.33521443317973515,0.06682691911207356,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003484490260283653,0.0031217445168360758],"position_m":[0.2611844902602836,-0.40507825548316395,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ea13b43894a58921d2e81cc4aea9917c175926c46c021e1914989d642cd873d3","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8431/tex_ceiling_textures_83/tex_floor_textures_3196/tex_table_textures_92/tex_wall_textures_7838","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8817437622893038184,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8817437622893038184,"visual_seed":8817437622893038184,"scene_id":"lab_003","finished_at":"2026-09-03T07:31:07"} +{"episode_id":"ep_000007","started_at":"2026-09-03T07:31:12","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.397045086754263,-1.1151299324955743,0.71338606911949],"aabb_xy":[[0.38689207120011354,-1.1511994740683145],[0.4071981023084123,-1.0790603909228338]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.3673384597104819,-2.474349538201391,0.71338606911949],"aabb_xy":[[-0.37536473034110784,-2.4831010331787438],[-0.35931218907985585,-2.4655980432240385]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.6576664060923701,-1.2591029481877283,0.71338606911949],"aabb_xy":[[-0.6647067160259073,-1.3391029475874],[-0.6506260961588333,-1.179102948788057]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.16098298249104603,0.6126284329757126,0.71338606911949],"aabb_xy":[[-0.17183458873992163,0.6017691422480614],[-0.15013137624217043,0.6234877237033635]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.5128586230528807,0.7803052445286247,0.71338606911949],"aabb_xy":[[0.4231715467447652,0.6903052442741742],[0.6025456993609961,0.8703052447830752]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.13514229721545568,-1.8648862937996866,0.71338606911949],"aabb_xy":[[0.12337411042079818,-1.9498862937049086],[0.14691048401011322,-1.7798862938944655]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[-0.6620102443601725,-0.002854778270902969,0.71338606911949],"aabb_xy":[[-0.6713572519424676,-0.017158400488547],[-0.6526632367778772,0.01144884394674106]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.022782736151624294,-1.3981442245288356,0.71338606911949],"aabb_xy":[[-0.03006505252828794,-1.4881442281383441],[-0.01550041977496063,-1.3081442209193261]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.21988310852853143,-2.35365561971321,0.71338606911949],"aabb_xy":[[0.16988809756907944,-2.403655618748802],[0.2698781194879835,-2.3036556206776186]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[-0.39106794635816855,-0.48854966477963435,0.71338606911949],"aabb_xy":[[-0.4155815704551744,-0.5128142580816708],[-0.3665543222611627,-0.46428507147759795]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.21546108828077282,0.5342270310247623,0.71338606911949],"aabb_xy":[[-0.2379610882909211,0.520130811385159],[-0.19296108827062453,0.5483232506643656]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.45085108094519444,-1.831883158786583,0.71338606911949],"aabb_xy":[[0.40085624801725284,-1.8818831576818262],[0.500845913873136,-1.7818831598913392]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.4157415071832709,0.2823271979579922,0.71338606911949],"aabb_xy":[[-0.4657415066234665,0.2323592734736759],[-0.36574150774307523,0.3322951224423085]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.11375301369061808,-0.9780729089547884,0.71338606911949],"aabb_xy":[[-0.1420827236391583,-0.9825336511485055],[-0.08542330374207786,-0.9736121667610714]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.3971304672278443,-1.8958961674611543,0.71338606911949],"aabb_xy":[[-0.462130467262147,-1.9425968441414814],[-0.33213046719354156,-1.8491954907808268]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.01466132000594722,0.5198295268806827,0.71338606911949],"aabb_xy":[[-0.025434293927315,0.48482952866164375],[-0.0038883460845794415,0.5548295250997217]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.3795932536614173,-0.2177224952462451,0.71338606911949],"aabb_xy":[[-0.3883072227113517,-0.2402224959054333],[-0.37087928461148273,-0.19522249458705684]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.025385298665394185,1.5942664104879092,0.71338606911949],"aabb_xy":[[-0.011110521961884556,1.5577824680611516],[0.061881119292672926,1.6307503529146667]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.4913978046022287,1.5489518306087677,0.71338606911949],"aabb_xy":[[-0.5163978037678618,1.5419995849034112],[-0.4663978054365956,1.5559040763141243]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[-0.47670407548858884,1.042825996326925,0.71338606911949],"aabb_xy":[[-0.5467040781251751,1.0227211313310596],[-0.40670407285200244,1.0629308613227906]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.09956308143117709,-0.7360651196484249,0.71338606911949],"aabb_xy":[[-0.11743218918563257,-0.7498980276256358],[-0.08169397367672158,-0.722232211671214]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.39687612996772614,0.5941988637071729,0.71338606911949],"aabb_xy":[[-0.4768761321304886,0.5142436800810293],[-0.3168761278049636,0.6741540473333165]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.6189164197793997,1.5758373228534341,0.71338606911949],"aabb_xy":[[-0.6289981268579731,1.4958373249613195],[-0.6088347127008261,1.6558373207455488]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[0.6440991408195451,0.09587756610712228,0.71338606911949],"aabb_xy":[[0.5889739351899542,0.03587756466583513],[0.6992243464491358,0.1558775675484094]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[0.4719077858028209,-0.31509368086960077,0.71338606911949],"aabb_xy":[[0.4079077855423501,-0.3601024802225287],[0.5359077860632917,-0.2700848815166727]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.27546891581915517,-1.4758179351808405,0.71338606911949],"aabb_xy":[[-0.3304611664546661,-1.5308179369241535],[-0.22047666518364423,-1.4208179334375277]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.28625341388390524,1.0747244532052291,0.71338606911949],"aabb_xy":[[-0.3462534143917581,1.0178777195193078],[-0.2262534133760523,1.1315711868911504]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[-0.5130232011798045,1.2085071447542028,0.71338606911949],"aabb_xy":[[-0.5770231976071264,1.1613375209321066],[-0.4490232047524826,1.2556767685762995]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7129292546107996,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/636.png","name":"636"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/636.png","name":"636"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9791.png","name":"9791"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9028.png","name":"9028"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/557.png","name":"557"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":729.9043420871578,"rotation_z_degrees":103.97996464182631,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016325373035987457,0.0026560233617206885,-0.01381257579023901]},{"name":"camera_2","offset_m":[-0.019336198389450613,-0.004176403518693427,-0.015053021662799586]},{"name":"camera_3","offset_m":[0.009986120566595477,0.01164351765225136,-0.00850342079817226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012779629491665874,-0.0019228599060021141,-0.0006571862114949996],"end_effector_yaw_offset_degrees":0.7379359902657947},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012875180831722934,0.0015280087790412863,-0.0005957551322843143],"end_effector_yaw_offset_degrees":-0.33595038246100284},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00014260144709109463,-0.001779190306913268,-0.0014724336723927385],"end_effector_yaw_offset_degrees":0.8891671055593726}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010186259184661976,0.001768587381443659],"position_m":[0.24038137408153382,0.22476858738144367,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003187525362076668,-0.0039730610381426435],"position_m":[0.17468752536207668,-0.12017306103814264,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015926324445789267,0.0031078717021623065],"position_m":[0.33909263244457893,0.07300787170216232,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024971179763273376,-0.0017605371953530024],"position_m":[0.26019711797632733,-0.409960537195353,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cce066c84391dc7c51b1470ad665d0a11bbe997c3eb1d1249864b2474dec9834","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_636/tex_ceiling_textures_557/tex_floor_textures_9028/tex_table_textures_1358/tex_wall_textures_9791","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6548496503680771827,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6548496503680771827,"visual_seed":6548496503680771827,"scene_id":"lab_003","finished_at":"2026-09-03T07:33:42"} +{"episode_id":"ep_000008","started_at":"2026-09-03T07:35:05","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.37986803462315166,-0.6354166423231111,0.71338606911949],"aabb_xy":[[-0.4438680332097241,-0.6824236057226197],[-0.3158680360365792,-0.5884096789236023]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[0.5812319138553115,-1.931536871796839,0.71338606911949],"aabb_xy":[[0.5529022039067714,-1.9359976139905566],[0.6095616238038518,-1.9270761296031225]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.233657424669658,-2.2484570378792057,0.71338606911949],"aabb_xy":[[-0.24007123831284288,-2.2548668581268743],[-0.227243611026473,-2.242047217631537]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.6377939466249919,1.484707173049061,0.71338606911949],"aabb_xy":[[-0.6640827709454326,1.4584357393944096],[-0.6115051223045512,1.510978606703712]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.15076235704905794,0.7415652277613369,0.71338606911949],"aabb_xy":[[0.10076235576521796,0.6915863733707147],[0.20076235833289788,0.7915440821519589]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.49497570957165216,-0.790252681586006,0.71338606911949],"aabb_xy":[[-0.5020171605223998,-0.7972794333238006],[-0.48793425862090456,-0.7832259298482115]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.07705767414636544,-0.6931734448661881,0.71338606911949],"aabb_xy":[[0.07314380095094292,-0.7019224602727449],[0.08097154734178796,-0.6844244294596312]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.4533225388981383,0.4596391666370585,0.71338606911949],"aabb_xy":[[-0.5083147895336493,0.40463916489374574],[-0.3983302882626274,0.5146391683803713]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.5567032539811296,-1.2467188567058267,0.71338606911949],"aabb_xy":[[-0.5620357686357427,-1.2520431849510625],[-0.5513707393265166,-1.2413945284605914]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.47442478721563086,-1.5532928678378988,0.71338606911949],"aabb_xy":[[0.4566312802807145,-1.5710926134336964],[0.49221829415054735,-1.535493122242101]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.2782092165814828,-1.4798305579778044,0.71338606911949],"aabb_xy":[[0.2615320805883873,-1.4965304819517349],[0.2948863525745783,-1.4631306340038743]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.5723166606060268,1.5469844115305373,0.71338606911949],"aabb_xy":[[0.5107259013820341,1.4829844134214905],[0.6339074198300197,1.6109844096395842]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.3348751349155413,1.0610263515299647,0.71338606911949],"aabb_xy":[[-0.38487513449187605,1.0110457725778588],[-0.2848751353392066,1.1110069304820707]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.43208675121705364,0.7061069074668156,0.71338606911949],"aabb_xy":[[-0.4481486786755712,0.6211069056542238],[-0.4160248237585359,0.7911069092794074]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.1290100891519178,-1.3677385392932848,0.71338606911949],"aabb_xy":[[-0.19300578654701436,-1.4317385375939933],[-0.0650143917568212,-1.303738540992576]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.4672456197602526,0.5990953771216603,0.71338606911949],"aabb_xy":[[0.417148155779179,0.5350953766118485],[0.5173430837413262,0.6630953776314721]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.1101944804834526,-0.30517072178142124,0.71338606911949],"aabb_xy":[[-0.17419447965322254,-0.3519374089003837],[-0.046194481313682666,-0.25840403466245876]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.4795664215870661,1.3898077495629972,0.71338606911949],"aabb_xy":[[-0.5133419807777589,1.375769254349832],[-0.445790862396373,1.403846244776162]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.22663743256280633,-2.2852947321194073,0.71338606911949],"aabb_xy":[[0.20335559036467496,-2.3702947334166353],[0.24991927476093764,-2.200294730822179]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.20795156650800073,1.5384892274000976,0.71338606911949],"aabb_xy":[[-0.21666553555793516,1.515989226740909],[-0.19923759745806618,1.5609892280592854]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.37590687220783775,-1.6736352017296194,0.71338606911949],"aabb_xy":[[-0.4063911223348679,-1.7236352015111152],[-0.3454226220808076,-1.6236352019481233]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.019171194155307214,1.6905538684864134,0.71338606911949],"aabb_xy":[[-0.026874384829384253,1.6828444977876753],[-0.011468003481230168,1.6982632391851515]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.688174653991303,0.16238431092320615,0.71338606911949],"aabb_xy":[[0.6690623466333242,0.14324953204596413],[0.7072869613492819,0.18151908980044817]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.5570961348449102,-0.05951691663462322,0.71338606911949],"aabb_xy":[[0.5020961366431652,-0.10003888326106081],[0.6120961330466549,-0.018994950008185633]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.1603008499053018,-2.40559883767904,0.71338606911949],"aabb_xy":[[-0.22430084720764817,-2.449965264646896],[-0.09630085260295537,-2.3612324107111826]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.508946192591841,1.178509637301925,0.71338606911949],"aabb_xy":[[-0.5190992081459902,1.1424400957291845],[-0.49879317703769144,1.2145791788746652]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[-0.499942068003429,-2.2601801340929395,0.71338606911949],"aabb_xy":[[-0.5460271592581604,-2.3241801313454946],[-0.45385697674869746,-2.1961801368403844]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[-0.6017041800021234,-0.35276195115638176,0.71338606911949],"aabb_xy":[[-0.605820130114196,-0.3568775061892272],[-0.5975882298900507,-0.3486463961235362]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[-0.3099990794678501,1.781703661534182,0.71338606911949],"aabb_xy":[[-0.3739990811458474,1.7331862700548677],[-0.2459990777898527,1.8302210530134961]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[0.5094226562659594,-1.7255434587050882,0.71338606911949],"aabb_xy":[[0.42942265300194615,-1.7391034910140013],[0.5894226595299724,-1.7119834263961746]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_30","position":[0.2250517774862104,-1.3116594103108261,0.71338606911949],"aabb_xy":[[0.20684595382496276,-1.3226848108928178],[0.24325760114745812,-1.3006340097288345]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[0.15624963639049294,-1.5965773702257235,0.71338606911949],"aabb_xy":[[0.10643285692565815,-1.6465773687100267],[0.20606641585532767,-1.54657737174142]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_32","position":[-0.08579069837042608,-2.285723272737369,0.71338606911949],"aabb_xy":[[-0.17579069696489602,-2.30197385905079],[0.004209300224043866,-2.2694726864239483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7037010358719425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7795.png","name":"7795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5987.png","name":"5987"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":744.1468937612153,"rotation_z_degrees":130.1934397385644,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016672033393334916,0.016032708841727066,-0.00716000984236957]},{"name":"camera_2","offset_m":[-0.01537873884366953,0.017850694053882576,-0.011784467272348765]},{"name":"camera_3","offset_m":[-0.005601924459185441,0.007298386179903287,0.002230894049527265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006314300096891153,-0.0007087876926096515,0.0011394948577432519],"end_effector_yaw_offset_degrees":-0.14160782012581952},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014090301770216316,0.0018162591557261088,-0.0018631555216514597],"end_effector_yaw_offset_degrees":-0.3958068950343965},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-1.722745084753929e-05,1.4451181296738867e-05,-0.001842721084411703],"end_effector_yaw_offset_degrees":0.10869253682730706}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002303233993729491,0.00013068118657150445],"position_m":[0.2390967660062705,0.2231306811865715,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007623441630912088,0.0008882765066205037],"position_m":[0.1707376558369088,-0.1153117234933795,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031470958202908907,-0.004045619972684612],"position_m":[0.3406470958202909,0.06585438002731539,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004571346460513477,0.004231776219852154],"position_m":[0.2531286535394865,-0.40396822378014785,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37cffda445ad7b1023592180ca15c7f9d7d6d22778d3fb560f52f2fabd4d361a","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1162/tex_ceiling_textures_5987/tex_floor_textures_7795/tex_table_textures_8041/tex_wall_textures_3337","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6018150903182551346,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6018150903182551346,"visual_seed":6018150903182551346,"scene_id":"lab_003","finished_at":"2026-09-03T07:37:59"} +{"episode_id":"ep_000009","started_at":"2026-09-03T07:38:02","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.48810303496887064,-0.9434042539571423,0.71338606911949],"aabb_xy":[[0.4749517889975813,-0.9684042537138289],[0.50125428094016,-0.9184042542004558]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.41804669350485724,-0.5785738097025281,0.71338606911949],"aabb_xy":[[0.3380466948479713,-0.5930786686267909],[0.4980466921617433,-0.5640689507782654]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.30387923749345996,0.6227750234238041,0.71338606911949],"aabb_xy":[[-0.3654699967174528,0.5587750253147572],[-0.24228847826946714,0.686775021532851]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.2034867904920235,-0.781249182966637,0.71338606911949],"aabb_xy":[[-0.28848678890944673,-0.866123478428922],[-0.11848679207460028,-0.6963748875043521]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.49562338897193836,-1.3021031578289728,0.71338606911949],"aabb_xy":[[-0.5456226641403745,-1.35210315910492],[-0.44562411380350225,-1.2521031565530256]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.2211781801279974,-2.324364551123043,0.71338606911949],"aabb_xy":[[0.21318469033271542,-2.332362683063519],[0.22917166992327948,-2.3163664191825677]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.6517583380145892,0.8377933897145273,0.71338606911949],"aabb_xy":[[-0.6605395651618254,0.8290136424259974],[-0.6429771108673531,0.8465731370030577]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.04996464574413406,1.0344948666433829,0.71338606911949],"aabb_xy":[[-0.1399646422450058,0.9885832242249245],[0.0400353507567377,1.0804065090618409]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[0.427381020284489,0.28772768672284554,0.71338606911949],"aabb_xy":[[0.4229503909296489,0.28227931498816294],[0.4318116496393293,0.29317605845752814]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[0.14111964403380683,0.7459870585717692,0.71338606911949],"aabb_xy":[[0.11922989644486605,0.6559870612825202],[0.16300939162274763,0.8359870558610184]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.32413084132637093,0.22953480669588666,0.71338606911949],"aabb_xy":[[-0.3454088494698431,0.16453480436981358],[-0.30285283318289863,0.2945348090219597]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.25167514634050225,-1.6548642388485084,0.71338606911949],"aabb_xy":[[-0.2866751462365211,-1.6632384743604482],[-0.21667514644448335,-1.6464900033365681]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.10131281667988301,-1.7770823462208651,0.71338606911949],"aabb_xy":[[-0.11065982426217826,-1.7913859684385092],[-0.0919658090975878,-1.762778724003221]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.5983146152290636,-0.00321649164179183,0.71338606911949],"aabb_xy":[[-0.6783146163021839,-0.012994537979176268],[-0.5183146141559433,0.0065615546955926085]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.09394185996664517,-2.4927252805186484,0.71338606911949],"aabb_xy":[[-0.11144185910101233,-2.5026049075562358],[-0.07644186083227798,-2.48284565348106]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.1823765493313525,1.5347396808213687,0.71338606911949],"aabb_xy":[[0.13709793445020324,1.470739681473185],[0.22765516421250176,1.5987396801695524]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.10134333579413168,-0.9507996726936814,0.71338606911949],"aabb_xy":[[0.08811239025945038,-0.9640270917156807],[0.11457428132881296,-0.9375722536716818]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.2835187240834938,-1.7632229147649965,0.71338606911949],"aabb_xy":[[-0.2895557370841586,-1.769249615833945],[-0.27748171108282915,-1.7571962136960488]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.4121909032605695,-0.7872621425006154,0.71338606911949],"aabb_xy":[[0.4027734286907067,-0.7966783196383344],[0.4216083778304322,-0.7778459653628963]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.035462347409056294,-1.400976453232358,0.71338606911949],"aabb_xy":[[-0.05304064959800314,-1.4185509428064629],[-0.017884045220109446,-1.3834019636582533]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.5519229866288813,1.5965670475872078,0.71338606911949],"aabb_xy":[[0.5342901510353536,1.5789441015715846],[0.5695558222224087,1.6141899936028306]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7095753456403643,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6546.png","name":"6546"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6546.png","name":"6546"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3528.png","name":"3528"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8049.png","name":"8049"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9842.png","name":"9842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8441.png","name":"8441"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":718.9933457935404,"rotation_z_degrees":125.47388560807816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009887962050358311,0.01179674496147613,0.005409434192533341]},{"name":"camera_2","offset_m":[-0.013641215235110913,0.016077462229692505,0.00016164217253669677]},{"name":"camera_3","offset_m":[0.01636932906616261,0.014074903455774262,0.0076526689300985586]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017157147281850037,0.0005659255255217955,-0.0002765420631579466],"end_effector_yaw_offset_degrees":-0.7863483298702085},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013020819138231422,-0.0009584048362251964,0.0006756078547043238],"end_effector_yaw_offset_degrees":-0.8478137066781564},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001702564998411817,-0.0005224100084418679,0.000611430375600464],"end_effector_yaw_offset_degrees":-0.7917126857680297}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005455834453817173,0.004341222446638776],"position_m":[0.24085441655461828,0.2273412224466388,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008053601563009823,-0.003113859834572572],"position_m":[0.172305360156301,-0.11931385983457257,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003032132034952313,-0.003152762883854773],"position_m":[0.3344678679650477,0.06674723711614523,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001679044607723855,0.0007587321166736046],"position_m":[0.25786790446077235,-0.4074412678833264,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"965239d72cf9321d00cb067cd7daa8c7cc548ff32a6be5e8174026dc1e491f26","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6546/tex_ceiling_textures_8441/tex_floor_textures_9842/tex_table_textures_3528/tex_wall_textures_8049","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5937287341967300284,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5937287341967300284,"visual_seed":5937287341967300284,"scene_id":"lab_003","finished_at":"2026-09-03T07:40:46"} +{"episode_id":"ep_000010","started_at":"2026-09-03T07:40:49","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.5779584131489556,-2.045378287302972,0.71338606911949],"aabb_xy":[[-0.5829144333338369,-2.067878287505094],[-0.5730023929640745,-2.02287828710085]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.50150135289312,-0.9267294065135367,0.71338606911949],"aabb_xy":[[-0.5102825800403564,-0.9355091538020672],[-0.4927201257458839,-0.9179496592250069]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.1302265697715962,-0.5517584363181016,0.71338606911949],"aabb_xy":[[-0.14772656904968304,-0.5690965363844476],[-0.11272657049350929,-0.5344203362517557]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.2103395211443867,0.8865761361640598,0.71338606911949],"aabb_xy":[[-0.26033879631282286,0.8365761348881127],[-0.16034024597595053,0.936576137440007]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.039562060940172006,-1.820893811630453,0.71338606911949],"aabb_xy":[[-0.008244106673596643,-1.8858938143375117],[0.08736822855394066,-1.7558938089233938]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.6299984385470099,-2.1191555835540274,0.71338606911949],"aabb_xy":[[0.6165519119129665,-2.1326254352071183],[0.6434449651810532,-2.1056857319009357]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.11090328046264453,1.5599357213081189,0.71338606911949],"aabb_xy":[[0.10320008978856748,1.5522263506093805],[0.11860647113672157,1.5676450920068568]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.1481754520453592,-1.068446780156022,0.71338606911949],"aabb_xy":[[-0.21817545543692116,-1.1037625538594529],[-0.0781754486537972,-1.0331310064525911]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.29044759156052,-2.0635764597309842,0.71338606911949],"aabb_xy":[[0.21044759290363402,-2.0780813186552476],[0.37044759021740603,-2.049071600806722]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.12294541090173028,-1.5470239488480564,0.71338606911949],"aabb_xy":[[-0.18794541353952374,-1.5985035475475033],[-0.057945408263936765,-1.4955443501486094]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.6487911869235155,0.10851384999451374,0.71338606911949],"aabb_xy":[[-0.6774405192839316,0.07986829071743795],[-0.6201418545630991,0.13715940927158954]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.5736589528744439,-1.6001827899058565,0.71338606911949],"aabb_xy":[[-0.5986589521464062,-1.6165281535020186],[-0.5486589536024816,-1.583837426309694]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.038986896632455026,-1.2855479108219448,0.71338606911949],"aabb_xy":[[0.005211337441762054,-1.2995864060351097],[0.072762455823148,-1.2715094156087798]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.36659010453758567,-1.739797787451493,0.71338606911949],"aabb_xy":[[0.29659010812762376,-1.760235723103174],[0.43659010094754735,-1.7193598517998105]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.6640618094748636,-0.02135964506850563,0.71338606911949],"aabb_xy":[[0.6169324304730278,-0.08535964611290758],[0.7111911884766992,0.04264035597589633]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.6819166478201684,0.6915163573787266,0.71338606911949],"aabb_xy":[[0.6450660998831808,0.6540163565556929],[0.718767195757156,0.7290163582017604]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.6346264237557206,-1.4309114509223064,0.71338606911949],"aabb_xy":[[0.5546264267414726,-1.4510460025957177],[0.7146264207699685,-1.4107768992488952]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.2999427884147807,1.7169522797155667,0.71338606911949],"aabb_xy":[[-0.30923640665193125,1.6794522812274324],[-0.2906491701776301,1.7544522782037002]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.6352781849138618,-1.2534526707372744,0.71338606911949],"aabb_xy":[[0.6127790491876348,-1.2759526715155374],[0.6577773206400888,-1.2309526699590114]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[0.4649644383312288,0.3223341323465556,0.71338606911949],"aabb_xy":[[0.4610505651358063,0.3135851169399988],[0.4688783115266513,0.3310831477531123]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.5194616764009288,1.64843937659708,0.71338606911949],"aabb_xy":[[0.4394616784201438,1.6408378356352278],[0.5994616743817138,1.6560409175589317]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.4332262033718093,1.478659512957322,0.71338606911949],"aabb_xy":[[-0.48822168119246867,1.4236595115234147],[-0.3782307255511499,1.5336595143912286]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[-0.21768761384962598,1.3784937646592308,0.71338606911949],"aabb_xy":[[-0.27268761302621547,1.323504089884273],[-0.1626876146730365,1.4334834394341882]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122933368342781,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8976.png","name":"8976"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8976.png","name":"8976"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2927.png","name":"2927"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5574.png","name":"5574"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8698.png","name":"8698"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":686.568777611908,"rotation_z_degrees":163.43368064310806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00391831548027256,0.015681412176144858,0.009584571735058153]},{"name":"camera_2","offset_m":[-0.014804522864516709,0.018453977083127824,0.0033986002539985946]},{"name":"camera_3","offset_m":[0.007075056303705755,-0.004284550668870055,-0.0018425722837085157]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006162117676745287,-0.0010867759338713933,0.001837046906086548],"end_effector_yaw_offset_degrees":0.22426585378823538},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015744816436965721,-0.0003156480350372513,0.0008630838048700774],"end_effector_yaw_offset_degrees":0.8080594085406272},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014917022408485647,0.0016953093074053636,-0.00012504629437988025],"end_effector_yaw_offset_degrees":0.18441644347126118}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031500002574925967,0.00487766808485379],"position_m":[0.2382499997425074,0.2278776680848538,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003655759452503649,0.0045234700612253815],"position_m":[0.17186557594525037,-0.11167652993877461,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00018266537854724242,-0.0011185665925566956],"position_m":[0.33768266537854724,0.0687814334074433,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036832586647570246,0.0010436492162297865],"position_m":[0.26138325866475703,-0.4071563507837702,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"21df91ac6cb222b50f87a01fdb7f082d7325a9727ad1de010496f32568a9d50d","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8976/tex_ceiling_textures_8698/tex_floor_textures_5574/tex_table_textures_2927/tex_wall_textures_1612","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5831643328837803196,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5831643328837803196,"visual_seed":5831643328837803196,"scene_id":"lab_003","finished_at":"2026-09-03T07:43:22"} +{"episode_id":"ep_000011","started_at":"2026-09-03T07:43:25","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.3346080089344392,1.116424659502989,0.71338606911949],"aabb_xy":[[-0.41460800691522426,1.108823118541137],[-0.25460801095365415,1.124026200464841]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.12190244834329589,-0.20656089448290738,0.71338606911949],"aabb_xy":[[-0.1718972812712375,-0.2565608933781509],[-0.07190761541535429,-0.15656089558766384]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.1880013684233749,1.551715036918916,0.71338606911949],"aabb_xy":[[0.1240013663736429,1.5116205538296084],[0.2520013704731069,1.5918095200082243]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.6100192310758439,-0.8638551008469428,0.71338606911949],"aabb_xy":[[0.5460192308018657,-0.9139212010442308],[0.6740192313498221,-0.8137890006496549]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.12197937232107103,-1.8597449883746058,0.71338606911949],"aabb_xy":[[0.07197937103723107,-1.9097238427652279],[0.171979373604911,-1.8097661339839837]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.21440874402761684,-2.5333077946634672,0.71338606911949],"aabb_xy":[[-0.22050337191573516,-2.5418771892151364],[-0.20831411613949852,-2.524738400111799]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.2921273994011516,-1.5038767539887319,0.71338606911949],"aabb_xy":[[-0.3497578682884224,-1.563876752915442],[-0.2344969305138807,-1.443876755062021]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.2966375543072726,-2.350358041183087,0.71338606911949],"aabb_xy":[[-0.33413755459944744,-2.3543995165836904],[-0.2591375540150978,-2.346316565782483]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[0.0019378953540465371,-1.34175276007604,0.71338606911949],"aabb_xy":[[-0.02802966155577913,-1.371752760373926],[0.0319054522638722,-1.3117527597781544]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[0.1438756880566623,-1.686550633078526,0.71338606911949],"aabb_xy":[[0.13737405154865767,-1.696318455104836],[0.1503773245646669,-1.6767828110522165]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.6382144182368639,-0.23872909018231203,0.71338606911949],"aabb_xy":[[0.6302204296591604,-0.24672917027740232],[0.6462084068145671,-0.23072901008722163]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.48121983731604767,1.512162805823548,0.71338606911949],"aabb_xy":[[0.44621983812322935,1.5011957598258852],[0.5162198365088659,1.5231298518212102]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.10731180521994077,-1.1935984467943237,0.71338606911949],"aabb_xy":[[0.09723009814136727,-1.2735984446864383],[0.11739351229851422,-1.113598448902209]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.18414858616862528,-1.4952855534899891,0.71338606911949],"aabb_xy":[[0.16165216473476116,-1.5177855532967366],[0.20664500760248936,-1.4727855536832417]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.5073676551910395,0.8965493068672981,0.71338606911949],"aabb_xy":[[-0.5723676552253423,0.8498486301869707],[-0.4423676551567368,0.9432499835476252]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.45685068568876286,-0.8251203670876497,0.71338606911949],"aabb_xy":[[0.42185068737806736,-0.8328353820111953],[0.49185068399945825,-0.817405352164104]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.5607116052925534,1.1947057291178473,0.71338606911949],"aabb_xy":[[-0.598211606808185,1.183478956101702],[-0.5232116037769216,1.2059325021339922]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.28351446585718215,0.8399939530080616,0.71338606911949],"aabb_xy":[[-0.3672366913572646,0.7499939494733655],[-0.1997922403570997,0.9299939565427574]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.47716669050884386,-0.437048362811705,0.71338606911949],"aabb_xy":[[0.4271666891479567,-0.4870262673871207],[0.5271666918697311,-0.38707045823628944]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.2613750026778826,-0.5666053183903652,0.71338606911949],"aabb_xy":[[0.252215123734006,-0.5731365364339023],[0.2705348816217592,-0.5600741003468281]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.5960123528651007,0.3232012929064205,0.71338606911949],"aabb_xy":[[-0.6600123492924226,0.27603166908432414],[-0.5320123564377788,0.370370916728517]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.6010345211401962,1.3941390532193236,0.71338606911949],"aabb_xy":[[-0.6097484901901304,1.3716390525601352],[-0.5923205520902615,1.4166390538785116]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[-0.5638430029980549,-0.11353240001185672,0.71338606911949],"aabb_xy":[[-0.6138259531855342,-0.1635323996544171],[-0.5138600528105756,-0.06353240036929629]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.6272278696165136,-1.887250619634494,0.71338606911949],"aabb_xy":[[-0.6497278701285542,-1.9097424779998924],[-0.604727869104473,-1.8647587612690957]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.5024821050815976,1.7585847121286426,0.71338606911949],"aabb_xy":[[-0.5522988845464324,1.7085847136443393],[-0.45266532561676287,1.808584710612946]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[-0.13192010237950047,-1.7642236073816444,0.71338606911949],"aabb_xy":[[-0.21192010096681987,-1.8435392093198055],[-0.05192010379218103,-1.6849080054434837]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.341733383016808,-0.11737490664519523,0.71338606911949],"aabb_xy":[[-0.3592333164507913,-0.13487490656542978],[-0.3242334495828246,-0.09987490672496069]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.1004805967019643,0.5425489084985298,0.71338606911949],"aabb_xy":[[-0.16048059729798048,0.4877364359533063],[-0.04048059610594813,0.5973613810437532]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_28","position":[-0.3467526942450857,-1.8871541811055172,0.71338606911949],"aabb_xy":[[-0.36281462170360335,-1.972154182918109],[-0.33069076678656806,-1.8021541792929254]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7117996882385579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5734.png","name":"5734"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5734.png","name":"5734"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2245.png","name":"2245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7313.png","name":"7313"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6227.png","name":"6227"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":507.977367244549,"rotation_z_degrees":92.18932373012737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011146852632486076,0.01979297657107462,0.005373508950452837]},{"name":"camera_2","offset_m":[-0.013329039657612233,0.013998691706257785,-0.003026183658597744]},{"name":"camera_3","offset_m":[-0.017499726259161387,-0.014001833639116548,0.012204945616089268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015062559635609172,0.0007156260637721356,-0.0010876758555343957],"end_effector_yaw_offset_degrees":0.4411449608098046},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016043597376562957,0.0011026887934755584,-0.0003226410988263239],"end_effector_yaw_offset_degrees":0.33152633288766564},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017086594809858546,-0.0012571977461245667,0.00164091475149543],"end_effector_yaw_offset_degrees":0.7965709092498703}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004242348141740127,0.0024223436929402256],"position_m":[0.24564234814174013,0.22542234369294023,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021470482707152284,-0.0022362592331205988],"position_m":[0.17364704827071525,-0.1184362592331206,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003781747158572279,0.0022832110783275695],"position_m":[0.3371218252841428,0.07218321107832758,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001664977511364298,-0.003104735973045593],"position_m":[0.2578664977511364,-0.4113047359730456,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"827bbc2bbdc3ddcbbd1467142de62566d5d449f9999f22a33bf05a933efb32eb","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5734/tex_ceiling_textures_6227/tex_floor_textures_7313/tex_table_textures_2245/tex_wall_textures_697","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1388281289103741039,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1388281289103741039,"visual_seed":1388281289103741039,"scene_id":"lab_003","finished_at":"2026-09-03T07:45:55"} +{"episode_id":"ep_000012","started_at":"2026-09-03T07:45:58","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.18669434222263226,-1.3367663795989657,0.71338606911949],"aabb_xy":[[-0.22419434239450417,-1.3694671149818727],[-0.1491943420507603,-1.3040656442160583]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.17008578751143577,-1.7743383818836478,0.71338606911949],"aabb_xy":[[-0.19508578678339802,-1.79068374547981],[-0.14508578823947346,-1.7579930182874852]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.05508702380235486,-0.5046442296560651,0.71338606911949],"aabb_xy":[[-0.11008702297894435,-0.5596339044310226],[-8.7024625765382e-05,-0.4496545548811073]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.6027324062468666,-1.1731314364744707,0.71338606911949],"aabb_xy":[[0.5740830738864503,-1.2017769957515463],[0.6313817386072827,-1.1444858771973947]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.4756852321307339,0.5149427136047247,0.71338606911949],"aabb_xy":[[0.4684029157540701,0.4249427099952156],[0.4829675485073974,0.6049427172142335]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.45884477074152996,-2.2400280501905367,0.71338606911949],"aabb_xy":[[0.4138521840230796,-2.285028049464985],[0.5038373574599804,-2.1950280509160875]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.5873265282759724,-0.9364697912347839,0.71338606911949],"aabb_xy":[[-0.5999533155631687,-0.9460158649363567],[-0.574699740988776,-0.9269237175332109]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.10218689332876629,-0.654172135869922,0.71338606911949],"aabb_xy":[[-0.1571868915305111,-0.6946941024963594],[-0.04718689512702145,-0.6136501692434843]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.4036107224726559,-1.1779825867043578,0.71338606911949],"aabb_xy":[[-0.40731398380179473,-1.1816846050130756],[-0.39990746114351705,-1.1742805683956397]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.6120759144441013,0.32441433395750696,0.71338606911949],"aabb_xy":[[-0.6770759126000204,0.29811808940759477],[-0.5470759162881823,0.35071057850741916]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.03752231459742483,-0.3054556034591447,0.71338606911949],"aabb_xy":[[-0.07437286253441244,-0.34295560428217836],[-0.0006717666604372299,-0.2679556026361109]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.2080691185309277,-1.7468925586079882,0.71338606911949],"aabb_xy":[[0.16306911706469887,-1.7918924154694695],[0.2530691199971566,-1.7018927017465082]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.5129312266419033,-1.432288179508056,0.71338606911949],"aabb_xy":[[0.43293740306334516,-1.5122881821008978],[0.5929250502204616,-1.3522881769152146]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.5134511658352394,-0.050843521621951826,0.71338606911949],"aabb_xy":[[-0.5214446556305216,-0.0588416535624275],[-0.5054576760399575,-0.04284538968147617]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[-0.31739841190322937,1.0975461237816533,0.71338606911949],"aabb_xy":[[-0.38739841371197486,1.076192355017466],[-0.247398410094484,1.1188998925458407]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.2024364872915803,-0.8147520110524169,0.71338606911949],"aabb_xy":[[-0.2724364899281666,-0.8348568760482823],[-0.13243648465499394,-0.7946471460565513]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.6360254237503902,-1.2272805486985718,0.71338606911949],"aabb_xy":[[-0.686004232260706,-1.2772805487042906],[-0.5860466152400742,-1.177280548692853]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.267826758229038,1.28532134543525,0.71338606911949],"aabb_xy":[[-0.3178267576692336,1.2353534209509336],[-0.21782675878884233,1.3352892699195662]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.39295311220002827,-0.9726480896256535,0.71338606911949],"aabb_xy":[[0.3704531126763208,-0.9951440370762741],[0.4154531117237356,-0.9501521421750325]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.17693074966244937,1.6289699196867855,0.71338606911949],"aabb_xy":[[-0.2269149853706266,1.57896992087329],[-0.12694651395427214,1.678969918500281]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.13012091900563783,-0.9872640807705519,0.71338606911949],"aabb_xy":[[-0.17725029800747347,-1.0512640818149537],[-0.08299154000380213,-0.9232640797261498]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[-0.597985368287502,1.4915034310222848,0.71338606911949],"aabb_xy":[[-0.6076170045079318,1.4818661182425759],[-0.5883537320670725,1.5011407438019937]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.17343212358060567,-2.448981658639681,0.71338606911949],"aabb_xy":[[-0.19106495917413324,-2.466604604655304],[-0.1557992879870781,-2.431358712624058]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[0.15720814064953081,1.5699993207634004,0.71338606911949],"aabb_xy":[[0.1260612218059477,1.4999993220765933],[0.18835505949311393,1.6399993194502076]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.28864608672124104,0.6913647653230748,0.71338606911949],"aabb_xy":[[-0.32614608701341585,0.6873232899224712],[-0.2511460864290662,0.6954062407236784]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.07085216880594625,-2.217534689475939,0.71338606911949],"aabb_xy":[[-0.07855535948002329,-2.225244060174677],[-0.0631489781318692,-2.2098253187772006]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.12765689155473703,-2.115784031369807,0.71338606911949],"aabb_xy":[[-0.14466698884478768,-2.1319185198680803],[-0.11064679426468638,-2.0996495428715325]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[-0.5185168634307591,-2.518238881327931,0.71338606911949],"aabb_xy":[[-0.6085168601663692,-2.571422344645225],[-0.42851686669514877,-2.465055418010636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7112551718104765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6998.png","name":"6998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6998.png","name":"6998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4544.png","name":"4544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7767.png","name":"7767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4233.png","name":"4233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6084.png","name":"6084"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":777.7068229437052,"rotation_z_degrees":164.67020586654718,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006766587518102864,0.01241712151173634,-0.01715145623372776]},{"name":"camera_2","offset_m":[0.0013547539748921256,-0.01755085229938675,0.00676760570962005]},{"name":"camera_3","offset_m":[0.008635467478754339,0.01695690954522164,0.011758393519779257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012534852680371822,0.0014063612913513789,-0.0001629130604409697],"end_effector_yaw_offset_degrees":0.03637234479981677},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015769338232764763,0.001046061932592283,0.0013537576465297509],"end_effector_yaw_offset_degrees":0.31403729607094855},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016423221943413782,0.00032727199585554957,0.0009516503397069245],"end_effector_yaw_offset_degrees":-0.559300327003909}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018144777988516616,0.004318392245210045],"position_m":[0.23958552220114834,0.22731839224521005,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029167135424082924,0.004301930538757795],"position_m":[0.1685832864575917,-0.1118980694612422,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002175688219389166,-0.002896671352283807],"position_m":[0.3396756882193892,0.0670033286477162,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002363285077719667,0.0009659355102721217],"position_m":[0.26006328507771964,-0.4072340644897279,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"34aff62983d521073fe9883677f054e7a194dcb290bdb4a7a769f2afcf110001","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6998/tex_ceiling_textures_6084/tex_floor_textures_4233/tex_table_textures_4544/tex_wall_textures_7767","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7910913637445905980,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7910913637445905980,"visual_seed":7910913637445905980,"scene_id":"lab_003","finished_at":"2026-09-03T07:48:31"} +{"episode_id":"ep_000013","started_at":"2026-09-03T07:48:34","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.4982952863809874,0.38570183230201227,0.71338606911949],"aabb_xy":[[-0.5682952881897327,0.3643480635378249],[-0.4282952845722419,0.40705560106619965]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.421163806553041,-1.2074138210883418,0.71338606911949],"aabb_xy":[[0.3561638054470977,-1.23237919415647],[0.48616380765898426,-1.1824484480202133]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.6010095464890293,-0.5629325488467614,0.71338606911949],"aabb_xy":[[0.5955516008520092,-0.6429325521544205],[0.6064674921260493,-0.48293254553910225]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.3356346164385547,1.2428107387216207,0.71338606911949],"aabb_xy":[[-0.4156346186013172,1.1628555550954771],[-0.2556346142757922,1.3227659223477644]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.09226576428301769,-2.072720173530099,0.71338606911949],"aabb_xy":[[-0.11255006700641644,-2.0930027986728077],[-0.07198146155961892,-2.0524375483873896]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.13532690672332026,-1.3747862316258541,0.71338606911949],"aabb_xy":[[0.051604681223237775,-1.46478623516055],[0.2190491322234027,-1.2847862280911582]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.2791419118238401,-1.1560132389636737,0.71338606911949],"aabb_xy":[[-0.285555725467025,-1.1624230592113418],[-0.27272809818065513,-1.1496034187160051]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.006803107991076751,-1.022858094826964,0.71338606911949],"aabb_xy":[[-0.01276964693181254,-1.028819239486328],[-0.0008365690503409628,-1.0168969501676002]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[-0.32789214552418655,-2.4022207072777606,0.71338606911949],"aabb_xy":[[-0.34222657065034995,-2.4142809228322992],[-0.31355772039802304,-2.390160491723222]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.4002666559667691,-0.10135532184909524,0.71338606911949],"aabb_xy":[[-0.42526665523873136,-0.11770068544525757],[-0.3752666566948068,-0.08500995825293288]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.44467224910649067,-0.848067969801489,0.71338606911949],"aabb_xy":[[-0.5346722477009608,-0.8643185561149102],[-0.35467225051202084,-0.8318173834880681]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.30834759567758785,1.4135040923226394,0.71338606911949],"aabb_xy":[[0.24434759426959715,1.3617151407987147],[0.37234759708557846,1.4652930438465641]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.6509920582445781,1.0530105468064517,0.71338606911949],"aabb_xy":[[0.6418321793007015,1.0464793287629146],[0.6601519371884547,1.0595417648499887]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.08093172518702174,1.0411802770955312,0.71338606911949],"aabb_xy":[[0.015931722549228255,0.9897006783960842],[0.14593172782481523,1.0926598757949781]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.1712026509702559,-0.029781949371041616,0.71338606911949],"aabb_xy":[[-0.195038868610861,-0.11978195017952811],[-0.14736643332965085,0.06021805143744487]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.5082875242406533,0.4333632807105867,0.71338606911949],"aabb_xy":[[0.41828752056373497,0.3719308741334823],[0.5982875279175713,0.49479568728769097]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[0.5552036793592561,-0.08924409082203733,0.71338606911949],"aabb_xy":[[0.5202036794632372,-0.09761832633397727],[0.590203679255275,-0.08086985531009738]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.2739912028832847,-1.6501340520195429,0.71338606911949],"aabb_xy":[[0.22399120159944472,-1.700112906410165],[0.3239912041671246,-1.6001551976289208]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.2814621837771704,1.8111659023718611,0.71338606911949],"aabb_xy":[[-0.31896218444174906,1.795478844371639],[-0.24396218311259169,1.8268529603720833]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.23904504426597145,-2.0754402946418637,0.71338606911949],"aabb_xy":[[-0.25654504452530813,-2.089531836830637],[-0.2215450440066349,-2.0613487524530916]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.5690626264449768,1.6710257436961808,0.71338606911949],"aabb_xy":[[-0.6190626258851725,1.6210578192118645],[-0.5190626270047812,1.7209936681804971]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.5917403520742215,0.27034290387939697,0.71338606911949],"aabb_xy":[[0.5547062426461618,0.23596569654568753],[0.6287744615022812,0.30472011121310644]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.3709567473365023,-1.0866614322774923,0.71338606911949],"aabb_xy":[[0.31095674708510107,-1.140942757313957],[0.4309567475879034,-1.0323801072410277]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.3787025812865529,-2.2863515723624452,0.71338606911949],"aabb_xy":[[-0.39132936857374917,-2.2958976460640184],[-0.36607579399935647,-2.276805498660872]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[-0.28372926061841724,-1.9050263923891555,0.71338606911949],"aabb_xy":[[-0.30261364438692745,-1.9239123171695085],[-0.26484487684990704,-1.886140467608803]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.11774179673712548,-0.5187561571733981,0.71338606911949],"aabb_xy":[[-0.18174179590689543,-0.5655228442923605],[-0.05374179756735554,-0.47198947005443564]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.4542649022493745,-1.8222811616589754,0.71338606911949],"aabb_xy":[[-0.5042649032685098,-1.8587473773968033],[-0.4042649012302393,-1.7858149459211474]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[0.5016342303952241,-0.7032497004424589,0.71338606911949],"aabb_xy":[[0.4666342312652685,-0.708994921518123],[0.5366342295251798,-0.6975044793667948]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[0.057479249879972216,-1.9829127923156795,0.71338606911949],"aabb_xy":[[0.04037717192160405,-2.0000195978469493],[0.07458132783834037,-1.9658059867844098]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.12808476684738412,-0.6590541476400014,0.71338606911949],"aabb_xy":[[-0.14476190284047966,-0.6757540716139315],[-0.11140763085428865,-0.642354223666071]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_30","position":[-0.310661421379236,-2.5098321329854536,0.71338606911949],"aabb_xy":[[-0.3481614214848289,-2.516654294838434],[-0.273161421273643,-2.5030099711324723]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_31","position":[0.6677198685220771,-1.2123195977502652,0.71338606911949],"aabb_xy":[[0.6327198693292586,-1.2232866437479275],[0.7027198677148951,-1.2013525517526025]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_32","position":[0.18507476778158582,-2.26030895180853,0.71338606911949],"aabb_xy":[[0.135074766831053,-2.291858098812051],[0.2350747687321186,-2.228759804805008]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_33","position":[0.7082069073185586,0.4081304190041597,0.71338606911949],"aabb_xy":[[0.7002129187408552,0.40013033890906935],[0.716200895896262,0.41613049909925004]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_34","position":[-0.538478283069671,-0.6934701184289975,0.71338606911949],"aabb_xy":[[-0.5684458399794967,-0.7234701187268834],[-0.5085107261598454,-0.6634701181311119]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7087876850904312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8465.png","name":"8465"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8465.png","name":"8465"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3745.png","name":"3745"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/632.png","name":"632"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1178.png","name":"1178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7248.png","name":"7248"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":774.0379684806835,"rotation_z_degrees":67.11019652347117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004666140904485153,0.0035397501162958284,0.012859975354810278]},{"name":"camera_2","offset_m":[-0.0027342396403166533,-0.005491004191353364,-0.01681860209173209]},{"name":"camera_3","offset_m":[0.01943013808276901,0.015601676816567277,-0.018450073625155813]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012186054013305376,-0.0019219738193213915,-0.0011392066445064164],"end_effector_yaw_offset_degrees":0.1837391394602681},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000955769436047423,0.0010580267573875504,0.0012857220834227097],"end_effector_yaw_offset_degrees":0.9107762152851557},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00018396284793737437,0.001458062441111795,-0.0005998251767557728],"end_effector_yaw_offset_degrees":0.28291977801424695}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004403085364882032,0.0004632266541597608],"position_m":[0.24184030853648822,0.22346322665415977,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022844987078538635,0.0024476522908197995],"position_m":[0.17378449870785387,-0.1137523477091802,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004119462299107723,-0.004912168802589845],"position_m":[0.3416194622991077,0.06498783119741015,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006755578478625564,0.002859219031110559],"position_m":[0.25837555784786254,-0.4053407809688894,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a8a880b1b01b93ad77442dc37c1004c40cd4eb690c97dda9b8ff8c4d731a5bdc","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8465/tex_ceiling_textures_7248/tex_floor_textures_1178/tex_table_textures_3745/tex_wall_textures_632","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2573864914547600918,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2573864914547600918,"visual_seed":2573864914547600918,"scene_id":"lab_003","finished_at":"2026-09-03T07:51:05"} +{"episode_id":"ep_000014","started_at":"2026-09-03T07:51:09","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.586218415741137,1.5771631724150983,0.71338606911949],"aabb_xy":[[-0.616702665868167,1.5271631726336021],[-0.5557341656141067,1.627163172196594]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[0.4507110916271997,-1.7955597775139167,0.71338606911949],"aabb_xy":[[0.4094622805972849,-1.8505597770261337],[0.49195990265711437,-1.7405597780016988]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.07235725595900744,-0.8516440115995463,0.71338606911949],"aabb_xy":[[-0.08482461406874309,-0.8641093362328699],[-0.05988989784927179,-0.8391786869662229]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.373327194954836,-2.4416816659172427,0.71338606911949],"aabb_xy":[[-0.4092406993798257,-2.4775951741339974],[-0.3374136905298463,-2.405768157700488]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.446550737380494,-0.7988761763806902,0.71338606911949],"aabb_xy":[[0.3665507399769005,-0.8788687475788729],[0.5265507347840873,-0.7188836051825073]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.1730345468269392,1.3951090714819512,0.71338606911949],"aabb_xy":[[-0.18027831287318455,1.3151090732783488],[-0.1657907807806939,1.4751090696855536]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.5504351722847884,1.0522925879814617,0.71338606911949],"aabb_xy":[[0.5416539451375524,1.0435128406929317],[0.559216399432025,1.0610723352699922]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[-0.0981191206210098,0.015127733471665739,0.71338606911949],"aabb_xy":[[-0.11127036659229918,-0.009872266285020807],[-0.08496787464972044,0.04012773322835229]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.612648496121849,-0.027705315561086685,0.71338606911949],"aabb_xy":[[-0.6476484943919689,-0.03477944325607485],[-0.5776484978517291,-0.020631187866098518]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.16891567289773723,-0.11074976930750235,0.71338606911949],"aabb_xy":[[-0.2023558480937568,-0.1441933951384324],[-0.1354754977017176,-0.07730614347657226]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.5307075033764898,-0.46909612754369734,0.71338606911949],"aabb_xy":[[-0.535342618528723,-0.47296346262084593],[-0.5260723882242563,-0.46522879246654864]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.04641815640869418,-2.2670092418188847,0.71338606911949],"aabb_xy":[[-0.05291979291669881,-2.2767770638451945],[-0.03991651990068957,-2.257241419792575]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.38821086623989565,-1.98979295537108,0.71338606911949],"aabb_xy":[[-0.4181784231497213,-2.019792955668966],[-0.35824330933007,-1.9597929550731943]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.514584460143685,-2.2807793467800788,0.71338606911949],"aabb_xy":[[-0.5945844588005711,-2.2952842057043417],[-0.4345844614867991,-2.266274487855816]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.06084140081945533,-1.6550095325396361,0.71338606911949],"aabb_xy":[[0.02380729139139561,-1.6893867398733453],[0.09787551024751504,-1.6206323252059265]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.5238042411167845,-1.9912771708205517,0.71338606911949],"aabb_xy":[[0.5079197478514594,-2.005630111119376],[0.5396887343821097,-1.9769242305217276]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.5674364562189853,-0.8801460296842682,0.71338606911949],"aabb_xy":[[-0.6049364547946061,-0.8928823253478261],[-0.5299364576433645,-0.8674097340207102]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.2373250879570929,1.778470405901762,0.71338606911949],"aabb_xy":[[-0.30232508891422005,1.7265221939680562],[-0.17232508699996565,1.8304186178354673]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.4365574016635423,-2.3813104629668027,0.71338606911949],"aabb_xy":[[0.3725574052362204,-2.428480086788899],[0.5005573980908642,-2.3341408391447063]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.38746140994150935,0.24290076058012566,0.71338606911949],"aabb_xy":[[-0.43526757755527795,0.1779007578730667],[-0.3396552423277407,0.30790076328718463]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.22706048785317134,-0.9622783260601642,0.71338606911949],"aabb_xy":[[-0.2970604904897577,-0.9823831910560297],[-0.15706048521658497,-0.9421734610642987]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.26514570927493497,-1.1499753467493667,0.71338606911949],"aabb_xy":[[0.23014571014497925,-1.1557205678250306],[0.3001457084048906,-1.1442301256737024]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.43666225805471415,-1.1747832449266429,0.71338606911949],"aabb_xy":[[0.3726622577942433,-1.2197920442795707],[0.5006622583151848,-1.1297744455737146]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.4313914974125068,0.7317550809115221,0.71338606911949],"aabb_xy":[[-0.4367240120671198,0.7264307526662866],[-0.42605898275789383,0.7370794091567577]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.16932891490413138,-1.6843848192902446,0.71338606911949],"aabb_xy":[[-0.1871980226585869,-1.6982177272674555],[-0.1514598071496759,-1.6705519113130334]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.33938254049892397,1.4888640045122625,0.71338606911949],"aabb_xy":[[-0.3512546235104251,1.4038640048186124],[-0.32751045748742286,1.573864004205913]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.45636328155413297,-1.392837356318505,0.71338606911949],"aabb_xy":[[0.4065465020892982,-1.4428373548028084],[0.5061800610189677,-1.3428373578342017]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_27","position":[0.6268693216286609,-2.5321862619995597,0.71338606911949],"aabb_xy":[[0.5628693194082538,-2.576559346124848],[0.6908693238490679,-2.4878131778742714]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[0.6724694575440668,-1.1872638892097565,0.71338606911949],"aabb_xy":[[0.6607012707494094,-1.272263889114978],[0.6842376443387245,-1.102263889304535]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.3900036837461973,1.1817383836606923,0.71338606911949],"aabb_xy":[[0.3786419490929111,1.1703699172544042],[0.4013654183994834,1.1931068500669804]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[-0.25262147086826525,-1.9150530231515144,0.71338606911949],"aabb_xy":[[-0.31662146817061165,-1.959419450119371],[-0.18862147356591885,-1.8706865961836574]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[-0.15251432695098588,-2.10012673988276,0.71338606911949],"aabb_xy":[[-0.17240536683132615,-2.1127825511674567],[-0.13262328707064566,-2.087470928598063]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_32","position":[0.028334604997128365,1.5472843712352007,0.71338606911949],"aabb_xy":[[-0.051665396075991965,1.5375063248978162],[0.1083346060702487,1.5570624175725851]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_33","position":[0.5975340540465266,0.46275509979638674,0.71338606911949],"aabb_xy":[[0.5725340548808935,0.45580285409103016],[0.6225340532121597,0.4697073455017433]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7132751463957304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7548.png","name":"7548"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7548.png","name":"7548"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7406.png","name":"7406"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8633.png","name":"8633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1668.png","name":"1668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8466.png","name":"8466"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":564.9100948142967,"rotation_z_degrees":176.92465694899482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01639461906904244,-0.003484847711720876,-0.013514445572624552]},{"name":"camera_2","offset_m":[-0.01790677898931699,0.007926080129890128,-0.004430194949588824]},{"name":"camera_3","offset_m":[0.005985241793787836,0.00510723697188456,0.0024015238595966083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019844590058224754,-0.0008678483605162862,-0.0013470601917673184],"end_effector_yaw_offset_degrees":0.9622769051853439},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[2.2376503919053787e-05,-0.0004944693604584827,0.0019187107190000528],"end_effector_yaw_offset_degrees":0.4843775308292333},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019641846985498294,0.0006183732629669965,0.0008707350246725826],"end_effector_yaw_offset_degrees":-0.6009687566108515}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017452122076260157,-0.004776710116959032],"position_m":[0.23965478779237398,0.21822328988304096,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002163689728198597,0.004445609998681036],"position_m":[0.1693363102718014,-0.11175439000131897,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00454975965408804,-0.0031725967030803636],"position_m":[0.332950240345912,0.06672740329691965,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004542443911340402,0.00055936505086303],"position_m":[0.2622424439113404,-0.407640634949137,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"666b626470e9090567a81cd90544a5c567c9ee7b0fb99864e696ed62caac88f0","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7548/tex_ceiling_textures_8466/tex_floor_textures_1668/tex_table_textures_7406/tex_wall_textures_8633","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2367458412084876480,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2367458412084876480,"visual_seed":2367458412084876480,"scene_id":"lab_003","finished_at":"2026-09-03T07:53:45"} +{"episode_id":"ep_000015","started_at":"2026-09-03T07:53:48","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.3237613631001057,1.3832710539430595,0.71338606911949],"aabb_xy":[[0.258761363065803,1.336570377262732],[0.38876136313440846,1.4299717306233866]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.3326913009314653,-2.039553701382865,0.71338606911949],"aabb_xy":[[-0.33900340046780375,-2.0453206406360835],[-0.3263792013951269,-2.033786762129646]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.33698527239020293,-1.8798148985976229,0.71338606911949],"aabb_xy":[[0.30107176796521323,-1.9157284068143774],[0.3728987768151926,-1.8439013903808683]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.20561441797585173,1.5205388827994164,0.71338606911949],"aabb_xy":[[-0.21503189254571448,1.5111227056616972],[-0.19619694340598898,1.5299550599371352]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.3694595873188169,-2.420468092277756,0.71338606911949],"aabb_xy":[[0.35512516219265344,-2.4325283078322952],[0.38379401244498035,-2.408407876723217]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.5895880551783831,-1.032718071527053,0.71338606911949],"aabb_xy":[[-0.6345806418968335,-1.0777180708015017],[-0.5445954684599327,-0.9877180722526042]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.6589695594903807,-0.43292056047583305,0.71338606911949],"aabb_xy":[[-0.6764695586247478,-0.4428001875134208],[-0.6414695603560134,-0.42304093343824517]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.1059981032495736,-0.8490778911758625,0.71338606911949],"aabb_xy":[[-0.11209273113769191,-0.8576472857275312],[-0.09990347536145527,-0.8405084966241938]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.09947182997891413,1.363830195772675,0.71338606911949],"aabb_xy":[[0.019471832964666133,1.3436956440992636],[0.1794718269931621,1.383964747446086]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.6578378210378376,-1.479262066871248,0.71338606911949],"aabb_xy":[[-0.6745149570309332,-1.4959619908451782],[-0.6411606850447422,-1.4625621428973177]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.43683410596623135,1.4246895974919958,0.71338606911949],"aabb_xy":[[-0.5168341045535507,1.3453739955538349],[-0.3568341073789119,1.5040051994301566]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.5594038452605805,-1.3736684387783158,0.71338606911949],"aabb_xy":[[0.5364881323755307,-1.3965727359147393],[0.5823195581456305,-1.3507641416418923]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.4735446233830366,1.155932218534255,0.71338606911949],"aabb_xy":[[-0.5091737792829963,1.1202995517774021],[-0.43791546748307686,1.191564885291108]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.6453371765378899,0.21353707359709917,0.71338606911949],"aabb_xy":[[0.6398792309008697,0.13353707028944004],[0.6507951221749099,0.2935370769047583]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.07122399175072469,1.1054776781802573,0.71338606911949],"aabb_xy":[[-0.0936887617221298,1.0829776773013968],[-0.04875922177931956,1.1279776790591178]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.264259802828795,0.6192683116248152,0.71338606911949],"aabb_xy":[[-0.30175980332615326,0.6152996280766969],[-0.22675980233143678,0.6232369951729337]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.21377116768218118,-1.6198235651277981,0.71338606911949],"aabb_xy":[[0.14977116697871184,-1.6658419476007194],[0.2777711683856505,-1.5738051826548773]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.061462618898252885,-0.8111220162120591,0.71338606911949],"aabb_xy":[[0.044031903819246376,-0.8283941308759097],[0.0788933339772594,-0.7938499015482081]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.37767546917150496,-0.54285795212978,0.71338606911949],"aabb_xy":[[0.32767546781061774,-0.5928358567051957],[0.4276754705323922,-0.4928800475543645]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.05745728246594661,0.6727429503785509,0.71338606911949],"aabb_xy":[[0.04953400222719829,0.6502429501405477],[0.06538056270469494,0.6952429506165544]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.6558841774487474,-0.849539632113461,0.71338606911949],"aabb_xy":[[0.6148662340623765,-0.8995396327444184],[0.6969021208351183,-0.7995396314825037]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.2978301527441842,-0.2678794789898231,0.71338606911949],"aabb_xy":[[-0.347830153694717,-0.2994286259933445],[-0.24783015179365137,-0.2363303319863017]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.48937265824243537,0.866915974882756,0.71338606911949],"aabb_xy":[[-0.5231482174331283,0.8528774796695908],[-0.45559709905174245,0.8809544700959209]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.24000519646707713,-1.228884141135675,0.71338606911949],"aabb_xy":[[-0.24496121665195839,-1.2513841413377969],[-0.235049176282196,-1.2063841409335536]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.4690828587459179,-0.3754819697837424,0.71338606911949],"aabb_xy":[[-0.5190828573918391,-0.4254015134432048],[-0.4190828600999967,-0.32556242612428005]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_25","position":[0.28386451678926883,1.5990933961950176,0.71338606911949],"aabb_xy":[[0.2337670528081952,1.5350933956852055],[0.33396198077034245,1.6630933967048291]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7105072642998309,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4631.png","name":"4631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4631.png","name":"4631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1174.png","name":"1174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1774.png","name":"1774"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1057.png","name":"1057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9828.png","name":"9828"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":779.4462091081755,"rotation_z_degrees":209.98349769706107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016320881587137404,-0.004862323554128434,0.004840090949654919]},{"name":"camera_2","offset_m":[0.005053672877782377,0.017931403118958817,0.010328510832480164]},{"name":"camera_3","offset_m":[0.01663263373572126,-0.014181565855634248,0.00862393787825377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001586440846667197,-0.0010711890693628119,-0.0017329775770253252],"end_effector_yaw_offset_degrees":0.554309369467149},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014858818088748149,0.0013546346834682906,-0.0007558875469985678],"end_effector_yaw_offset_degrees":-0.5521512855106974},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008355351111427379,0.0016026176299583444,-0.0009119695798777072],"end_effector_yaw_offset_degrees":0.4102061939793078}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002788051163013774,2.9098465734471793e-05],"position_m":[0.23861194883698622,0.2230290984657345,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034519859322035664,-0.001961411193327709],"position_m":[0.16804801406779646,-0.11816141119332771,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003449295068127147,-0.0009462098862482414],"position_m":[0.34094929506812716,0.06895379011375176,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[5.345648204879271e-05,-0.0010245353822822397],"position_m":[0.2577534564820488,-0.40922453538228226,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d50b71481e8d15d0d61ef2dc5674e47879cbc0612b3f5f5fdfdcaad4df84a78b","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4631/tex_ceiling_textures_9828/tex_floor_textures_1057/tex_table_textures_1174/tex_wall_textures_1774","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4500268840997242311,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4500268840997242311,"visual_seed":4500268840997242311,"scene_id":"lab_003","finished_at":"2026-09-03T07:56:37"} +{"episode_id":"ep_000016","started_at":"2026-09-03T07:56:41","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.00023237152335009448,1.13320995612017,0.71338606911949],"aabb_xy":[[-0.01291887444793927,1.1082099563634837],[0.013383617494639458,1.1582099558768568]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.4819975527596606,0.3272931444213927,0.71338606911949],"aabb_xy":[[-0.5194975513352813,0.3145568487578347],[-0.44449755418403974,0.34002944008495056]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.04815567128500142,1.0104059018678977,0.71338606911949],"aabb_xy":[[-0.05856722996548512,1.005060168531999],[-0.037744112604517696,1.0157516352037959]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.6977768071341752,0.5797850031424434,0.71338606911949],"aabb_xy":[[0.6831334015801421,0.5651262834856592],[0.7124202126882081,0.5944437227992276]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.538857097056363,-1.72732402076196,0.71338606911949],"aabb_xy":[[-0.56135623278259,-1.7498240215402228],[-0.516357961330136,-1.7048240199836968]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.6628699177076757,1.2711970515968072,0.71338606911949],"aabb_xy":[[-0.6817543014761859,1.2523111268164546],[-0.6439855339391655,1.2900829763771602]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.3411817726019686,1.3749175781201979,0.71338606911949],"aabb_xy":[[0.3323797172929958,1.3671062519652686],[0.34998382791094124,1.3827289042751267]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.31761508440771635,-1.4082298968060614,0.71338606911949],"aabb_xy":[[0.30991189373363925,-1.4159392675047995],[0.32531827508179334,-1.4005205261073232]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.3177598128683549,-1.4431530299111732,0.71338606911949],"aabb_xy":[[-0.36773722973360845,-1.4931530314004215],[-0.2677823960031013,-1.3931530284219245]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.21269722838386196,0.14631440121184713,0.71338606911949],"aabb_xy":[[-0.25982660738569757,0.08231440016744518],[-0.16556784938202623,0.2103144022562491]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.1114107461493471,0.43069381226115677,0.71338606911949],"aabb_xy":[[-0.17141074640074827,0.3764124872246921],[-0.051410745897945906,0.48497513729762143]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.2190142197832754,-0.6909153144574043,0.71338606911949],"aabb_xy":[[0.13901422180249032,-0.6985168554192562],[0.2990142177640604,-0.6833137734955523]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[-0.3304060273797555,-0.8900715360993481,0.71338606911949],"aabb_xy":[[-0.342174214174413,-0.9750715360045697],[-0.318637840585098,-0.8050715361941266]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.5265562431219739,-0.4718042984681339,0.71338606911949],"aabb_xy":[[0.5185299724913479,-0.48055579344548655],[0.5345825137525999,-0.4630528034907813]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.6700294657063979,-1.2180116497699143,0.71338606911949],"aabb_xy":[[-0.6875293991403812,-1.2355116496901486],[-0.6525295322724145,-1.2005116498496795]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.2776608159373064,1.5388364548303293,0.71338606911949],"aabb_xy":[[0.21366081882520072,1.4898040850359189],[0.3416608130494121,1.58786882462474]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.07121551616150146,-0.40998142807890625,0.71338606911949],"aabb_xy":[[-0.08381821529857793,-0.4225768243037718],[-0.058612817024425015,-0.3973860318540408]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.3564269625265237,1.4179870505169982,0.71338606911949],"aabb_xy":[[-0.38427199930713085,1.3872025517786866],[-0.3285819257459166,1.44877154925531]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[0.6640864593078708,1.5027236963727293,0.71338606911949],"aabb_xy":[[0.6521537249460427,1.49034154356487],[0.6760191936696989,1.5151058491805887]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.45407253478276294,-1.1689107040207403,0.71338606911949],"aabb_xy":[[-0.46924470406439633,-1.1840795609489436],[-0.43890036550112965,-1.153741847092537]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.6699921346882614,1.6153388824714816,0.71338606911949],"aabb_xy":[[0.6541076414229362,1.6009859421726576],[0.6858766279535865,1.6296918227703057]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.6287451098051897,-1.145091249432932,0.71338606911949],"aabb_xy":[[0.6250418484760507,-1.1487932677416495],[0.6324483711343285,-1.141389231124214]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.21876649841384965,0.8107099576233079,0.71338606911949],"aabb_xy":[[-0.2837664969709225,0.7809574242094253],[-0.15376649985677682,0.8404624910371905]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.0696785785702635,1.4000845138078564,0.71338606911949],"aabb_xy":[[-0.07780626676357673,1.3911709053971488],[-0.06155089037695029,1.4089981222185644]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.05464019326322289,-1.6405586981371396,0.71338606911949],"aabb_xy":[[-0.07214019352255951,-1.6546502403259127],[-0.03714019300388627,-1.6264671559483674]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7109812632366068,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/764.png","name":"764"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/764.png","name":"764"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2615.png","name":"2615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/183.png","name":"183"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":576.7975048368766,"rotation_z_degrees":144.93338384975885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01153113612558727,0.006293018115738503,-0.007615782807933132]},{"name":"camera_2","offset_m":[0.01797735713654065,0.01803544014382794,-0.0012314648107533618]},{"name":"camera_3","offset_m":[0.0025937319940919946,0.01521078067205595,0.002406897631781115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008471441239067872,0.0013914086042227949,-0.001358653058461798],"end_effector_yaw_offset_degrees":-0.14433961910383175},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018269218999368425,0.001131655370097962,0.0006093266661225741],"end_effector_yaw_offset_degrees":-0.14712259527648874},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014018654330235874,0.00155454840504067,0.00042982890588824435],"end_effector_yaw_offset_degrees":-0.5338598359350468}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031735809689593985,-0.0011220346219501477],"position_m":[0.2445735809689594,0.22187796537804985,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004089929795753197,0.003426135579554513],"position_m":[0.1710910070204247,-0.11277386442044549,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003257617125221387,0.0031615901276394994],"position_m":[0.3407576171252214,0.0730615901276395,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015769541798526469,0.00031955815251928296],"position_m":[0.25927695417985264,-0.40788044184748073,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3d45cd776be561fb23c90d71ab78c6485c8ffa6321f7bbad17213e4c964167d5","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_764/tex_ceiling_textures_183/tex_floor_textures_3406/tex_table_textures_917/tex_wall_textures_2615","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":816185529358071734,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":816185529358071734,"visual_seed":816185529358071734,"scene_id":"lab_003","finished_at":"2026-09-03T07:59:18"} +{"episode_id":"ep_000017","started_at":"2026-09-03T07:59:21","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.6396378885619877,0.8767700520532835,0.71338606911949],"aabb_xy":[[-0.6490553631318504,0.8673538749155644],[-0.6302204139921249,0.8861862291910024]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.04471274504240019,-1.4401226878601157,0.71338606911949],"aabb_xy":[[-0.07815292023841977,-1.4735663136910453],[-0.011272569846380578,-1.4066790620291851]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.007810263057312472,-0.9965461939928104,0.71338606911949],"aabb_xy":[[-0.022157293852513193,-1.0265461942906962],[0.03777781996713814,-0.9665461936949247]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.40807720513900225,0.8802276540540421,0.71338606911949],"aabb_xy":[[0.3580772041884694,0.8486785070505206],[0.458077206089535,0.9117768010575634]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.5526643313138246,-0.5333806582068896,0.71338606911949],"aabb_xy":[[0.5313863231703525,-0.5983806605329626],[0.573942339457297,-0.46838065588081645]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[-0.5108538034866399,-2.4464965406541612,0.71338606911949],"aabb_xy":[[-0.5808538052953853,-2.4678503094183486],[-0.44085380167789445,-2.425142771889974]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.4034420821057237,-0.5003380438020453,0.71338606911949],"aabb_xy":[[-0.4094790951063885,-0.5063647448709936],[-0.39740506910505907,-0.4943113427330972]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.5449738323862896,0.6994506486702563,0.71338606911949],"aabb_xy":[[0.4809738309782989,0.6476616971463316],[0.6089738337942802,0.751239600194181]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[-0.6363515294166051,1.4774779614509774,0.71338606911949],"aabb_xy":[[-0.6435952954628503,1.397477963247375],[-0.6291077633703597,1.5574779596545798]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.45946228278264534,-0.7027786937796396,0.71338606911949],"aabb_xy":[[0.44601575614860195,-0.7162485454327308],[0.4729088094166886,-0.6893088421265483]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.5877197482015274,-0.3083376618718292,0.71338606911949],"aabb_xy":[[-0.6122333722985334,-0.33260225517386566],[-0.5632061241045216,-0.28407306856979275]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.2758577384039942,-2.4712543989965767,0.71338606911949],"aabb_xy":[[-0.32085773987022304,-2.5162542558580574],[-0.23085773693776535,-2.426254542135096]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.3459093218405094,-0.5941877031343985,0.71338606911949],"aabb_xy":[[0.29591004667207327,-0.6441877044103457],[0.3959085970089456,-0.5441877018584513]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[-0.5362957828682319,0.8265376776453297,0.71338606911949],"aabb_xy":[[-0.5494470288395212,0.8015376778886433],[-0.5231445368969425,0.8515376774020164]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.301406147101881,0.7691979068629844,0.71338606911949],"aabb_xy":[[-0.39140614682505515,0.7461245543278044],[-0.2114061473787068,0.7922712593981641]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.19573921380748244,0.23717577690474867,0.71338606911949],"aabb_xy":[[-0.21328590872360137,0.19967577534049738],[-0.1781925188913635,0.27467577846899993]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.6549172121330509,-2.5769794978958496,0.71338606911949],"aabb_xy":[[0.6486051125967125,-2.5827464371490683],[0.6612293116693893,-2.571212558642631]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.3929081304720681,1.5679009564943889,0.71338606911949],"aabb_xy":[[-0.4111139541333158,1.5568755559123972],[-0.37470230681082045,1.5789263570763805]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.11537788175667507,-1.9577026268852404,0.71338606911949],"aabb_xy":[[-0.13526892163701532,-1.9703584381699373],[-0.09548684187633484,-1.9450468156005436]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.2883367485349604,1.5676474157703226,0.71338606911949],"aabb_xy":[[0.2806335578608833,1.5599380450715845],[0.2960399392090374,1.5753567864690607]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.4141207972986368,-1.538761996226112,0.71338606911949],"aabb_xy":[[-0.464120798659524,-1.5887399008015275],[-0.36412079593774954,-1.4887840916506963]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.584184515053918,1.6446559133918615,0.71338606911949],"aabb_xy":[[0.5717171569441825,1.6321905887585382],[0.5966518731636538,1.6571212380251852]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[-0.5843912976558748,-0.1574679913155861,0.71338606911949],"aabb_xy":[[-0.6218912979480496,-0.16150946671618968],[-0.5468912973637,-0.1534265159149825]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.4004901566335658,-1.3818243672656512,0.71338606911949],"aabb_xy":[[-0.48049015529045175,-1.396329226189914],[-0.32049015797667973,-1.3673195083413883]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[0.6419544630992016,-2.3790205492988035,0.71338606911949],"aabb_xy":[[0.6044544623072061,-2.3853883902569937],[0.679454463891197,-2.3726527083406133]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[-0.11192469477503975,-0.8424109976638372,0.71338606911949],"aabb_xy":[[-0.1494246931984401,-0.8555752116316676],[-0.07442469635163938,-0.8292467836960064]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.3080327159929186,0.7012384793471478,0.71338606911949],"aabb_xy":[[0.2901636082384631,0.6874055713699369],[0.3259018237473741,0.7150713873243587]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[-0.5255119266377591,-0.6804622328707011,0.71338606911949],"aabb_xy":[[-0.5579736275196865,-0.7105950649856035],[-0.49305022575583163,-0.6503294007557984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7105170395481929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9374.png","name":"9374"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1941.png","name":"1941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4925.png","name":"4925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3846.png","name":"3846"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":625.3891018241578,"rotation_z_degrees":264.4422176980232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01712525509915707,0.013669900863343697,-0.011925040666557486]},{"name":"camera_2","offset_m":[0.004210589367527984,-0.001223109851843169,-0.0075581212314490154]},{"name":"camera_3","offset_m":[-0.013413241226561477,-0.0184562527035928,-0.0069336201172508095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00020984798386134264,0.0018119721515198412,0.00019381221362948847],"end_effector_yaw_offset_degrees":-0.675979223876829},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000617544597580076,-0.0007414685155444425,0.0017309557330265207],"end_effector_yaw_offset_degrees":0.2530671678864047},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008960343094763594,-0.00019057138893913638,-0.0019002380350835017],"end_effector_yaw_offset_degrees":-0.9652439586063482}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004493912765804502,-0.0011760477479685226],"position_m":[0.2369060872341955,0.22182395225203147,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024252187006655913,0.002232551532706386],"position_m":[0.16907478129933443,-0.1139674484672936,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025530235359162642,-0.00017670286020089656],"position_m":[0.34005302353591627,0.0697232971397991,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016229075075547949,0.0011950219284023915],"position_m":[0.25932290750755477,-0.40700497807159763,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f6c2ae20001f204cd455419b835d13a9344c0c39697c8916a473a04204943431","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5375/tex_ceiling_textures_3846/tex_floor_textures_4925/tex_table_textures_9374/tex_wall_textures_1941","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2108172665278861450,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2108172665278861450,"visual_seed":2108172665278861450,"scene_id":"lab_003","finished_at":"2026-09-03T08:02:07"} +{"episode_id":"ep_000018","started_at":"2026-09-03T08:02:11","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.26917560433244814,-2.2326329680154546,0.71338606911949],"aabb_xy":[[0.26320906539171235,-2.238594112674819],[0.2751421432731839,-2.2266718233560905]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.16579718508300234,0.49388162025694804,0.71338606911949],"aabb_xy":[[-0.17229882159100698,0.4841137982306383],[-0.15929554857499775,0.5036494422832578]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.6229167530481496,-0.1896095105592539,0.71338606911949],"aabb_xy":[[0.6190028798527272,-0.19835852596581063],[0.6268306262435721,-0.18086049515269711]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.24475268889628055,-2.5093506110499404,0.71338606911949],"aabb_xy":[[0.19475268761244058,-2.5593294654405616],[0.2947526901801205,-2.4593717566593174]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.057239622314110505,-1.326441005001345,0.71338606911949],"aabb_xy":[[-0.06536731050742373,-1.335354613412053],[-0.049111934120797285,-1.3175273965906376]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.10450546222859991,-2.2766054509268887,0.71338606911949],"aabb_xy":[[-0.15448969793677714,-2.3266054497403843],[-0.05452122652042268,-2.226605452113393]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.650076184308958,1.1194173374133798,0.71338606911949],"aabb_xy":[[0.5850761864273103,1.0682936737068394],[0.7150761821906059,1.170541001119921]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.5663553110385136,-0.30652426921744125,0.71338606911949],"aabb_xy":[[0.5413553114867751,-0.31666675308257597],[0.591355310590252,-0.2963817853523065]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.07565548607718964,-0.9814578209021716,0.71338606911949],"aabb_xy":[[-0.10194431039763029,-1.0077292545568228],[-0.04936666175674897,-0.9551863872475205]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.3855674230119104,0.47477269866858407,0.71338606911949],"aabb_xy":[[-0.43538420247674514,0.4247727001842807],[-0.3357506435470756,0.5247726971528874]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.5886530049444949,0.5965756518648826,0.71338606911949],"aabb_xy":[[-0.6486530054523477,0.5397289181789612],[-0.5286530044366419,0.6534223855508038]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.4203683740798567,-2.3681098304703108,0.71338606911949],"aabb_xy":[[0.38659281488916375,-2.3821483256834757],[0.4541439332705497,-2.354071335257146]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.3352462423136635,-0.5472890133107646,0.71338606911949],"aabb_xy":[[0.29007492446549454,-0.6112890104553032],[0.38041756016183254,-0.4832890161662263]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[-0.48030499455889664,-2.244211571722997,0.71338606911949],"aabb_xy":[[-0.5153049928290165,-2.251285699417985],[-0.4453049962887768,-2.2371374440280087]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.5633573167340937,-0.9030707137201499,0.71338606911949],"aabb_xy":[[0.5258573167903272,-0.9113638037549864],[0.60085731667786,-0.8947776236853132]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.04786705255826207,-2.3510770832317602,0.71338606911949],"aabb_xy":[[0.011371231930983328,-2.387561025658518],[0.08436287318554081,-2.3145931408050027]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[-0.087050009481631,-2.521447628886901,0.71338606911949],"aabb_xy":[[-0.09761748913973001,-2.5319926589999096],[-0.07648252982353199,-2.5109025987738924]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.27085039178907055,-0.8242442906233192,0.71338606911949],"aabb_xy":[[-0.30585039168508943,-0.8326185261352591],[-0.2358503918930517,-0.8158700551113792]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.5541763604379277,0.15334452741343352,0.71338606911949],"aabb_xy":[[0.5080912691831961,0.08934453016087841],[0.6002614516926591,0.21734452466598864]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.6410554287750716,-0.9576041035288554,0.71338606911949],"aabb_xy":[[-0.6779059767120591,-0.9951041043518891],[-0.6042048808380839,-0.9201041027058217]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.28244141294918873,-1.1246907373167596,0.71338606911949],"aabb_xy":[[-0.35244141475793417,-1.146044506080947],[-0.2124414111404433,-1.1033369685525722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7096810370404603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3050.png","name":"3050"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3050.png","name":"3050"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/385.png","name":"385"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5033.png","name":"5033"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.5301098671241,"rotation_z_degrees":152.83233372663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014924481988960344,-0.000598329715542089,-0.004889112692478714]},{"name":"camera_2","offset_m":[0.016930477857601368,0.019642449512370878,0.01141713009206494]},{"name":"camera_3","offset_m":[-0.005050662291799065,0.01019658501828695,0.01616737461187358]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018467627282607356,-0.001719358614405564,-0.0018107608631660113],"end_effector_yaw_offset_degrees":0.23868325390292155},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016084182965375926,0.0010244372287180124,-0.0018458245220303064],"end_effector_yaw_offset_degrees":-0.587988175105167},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014024356522342374,0.0011738422728709108,0.000206542789115327],"end_effector_yaw_offset_degrees":0.30961632549665197}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013127848008687246,-0.000529912982613838],"position_m":[0.24271278480086872,0.22247008701738616,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00048406769493361274,-0.0006174666749488196],"position_m":[0.17198406769493363,-0.11681746667494881,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003991494015019625,-0.001455749166165554],"position_m":[0.34149149401501966,0.06844425083383444,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008468432400787389,-0.0008676403822140541],"position_m":[0.25685315675992126,-0.40906764038221405,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"533dd5dd6ec4bb0516d4b4a1c89a32d5298ce6235fdec9af771cc33fefe2a2cc","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3050/tex_ceiling_textures_5033/tex_floor_textures_4570/tex_table_textures_385/tex_wall_textures_8606","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":413106159204014900,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":413106159204014900,"visual_seed":413106159204014900,"scene_id":"lab_003","finished_at":"2026-09-03T08:04:53"} +{"episode_id":"ep_000019","started_at":"2026-09-03T08:09:37","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.059594264853904844,1.2924888988366412,0.71338606911949],"aabb_xy":[[0.005578668572004841,1.228488895944384],[0.11360986113580485,1.3564889017288984]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[0.47326048274292676,-1.6016637948778953,0.71338606911949],"aabb_xy":[[0.4557604834648399,-1.619001894944241],[0.49076048202101363,-1.5843256948115492]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.043213793004553414,1.5256897692633458,0.71338606911949],"aabb_xy":[[0.018667577381802695,1.4954408727143083],[0.06776000862730414,1.5559386658123824]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.011859838729329053,1.4270134699490922,0.71338606911949],"aabb_xy":[[-0.03006566239057673,1.4159880693671008],[0.006345984931918623,1.438038870531084]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.334935633222607,0.5818137999685633,0.71338606911949],"aabb_xy":[[0.25493563620835896,0.561679248295152],[0.4149356302368549,0.6019483516419746]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.37396799346373033,-1.1927565428919114,0.71338606911949],"aabb_xy":[[-0.4239679930400651,-1.2427371218440173],[-0.32396799388739567,-1.1427759639398054]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.03883413450529061,-1.018146267862568,0.71338606911949],"aabb_xy":[[-0.05019586915857676,-1.0295147342688558],[-0.02747239985200444,-1.0067778014562796]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.3174251510577603,0.23711533814789343,0.71338606911949],"aabb_xy":[[-0.3275068581363337,0.15711534025577875],[-0.3073434439791867,0.3171153360400081]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.19712389779827677,-1.5735334387763162,0.71338606911949],"aabb_xy":[[0.17465912782687165,-1.596033439655177],[0.2195886677696819,-1.551033437897456]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.4623497849817184,-0.41608100858602537,0.71338606911949],"aabb_xy":[[0.41237236811646477,-0.4660810100752738],[0.5123272018469719,-0.3660810070967767]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.49014403244136817,0.6218136172491904,0.71338606911949],"aabb_xy":[[0.48404940455324985,0.6132442226975217],[0.4962386603294865,0.6303830118008591]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.12197105539966602,-2.3867125027655107,0.71338606911949],"aabb_xy":[[-0.13000739010095086,-2.3947506220699273],[-0.11393472069838116,-2.378674383461094]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.12335803230680353,0.4577325335690472,0.71338606911949],"aabb_xy":[[-0.20335802971039696,0.37773996237086443],[-0.043358034903210114,0.53772510476723]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.04020800714562067,1.0238456942290224,0.71338606911949],"aabb_xy":[[-0.08629309840035214,0.9598456969764672],[0.0058770841091108075,1.0878456914815773]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.5563428788174574,-0.28000052132293707,0.71338606911949],"aabb_xy":[[-0.620342879194991,-0.32974578817374933],[-0.49234287843992375,-0.2302552544721248]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.0201322972007264,-1.4778966079691445,0.71338606911949],"aabb_xy":[[-0.01671825073626121,-1.5153966087921782],[0.05698284513771401,-1.4403966071461107]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.3161227084708104,-0.5484732330801512,0.71338606911949],"aabb_xy":[[-0.3639288760845791,-0.6134732357872102],[-0.26831654085704176,-0.4834732303730923]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.15730478808135184,-2.090378113989819,0.71338606911949],"aabb_xy":[[-0.18114100572195693,-2.180378114798306],[-0.1334685704407468,-2.000378113181333]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.5621421584868984,-1.5028271323556008,0.71338606911949],"aabb_xy":[[0.5462576652215732,-1.517180072654425],[0.5780266517522235,-1.4884741920567768]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.2894002699086077,-1.4247903372059174,0.71338606911949],"aabb_xy":[[-0.30726937766306317,-1.4386232451831282],[-0.2715311621541522,-1.4109574292287066]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.34732966489877926,1.5921459779410498,0.71338606911949],"aabb_xy":[[-0.4273296653689953,1.583835270326702],[-0.2673296644285634,1.6004566855553986]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.5547977994275081,0.5299778999255134,0.71338606911949],"aabb_xy":[[-0.644797798021978,0.5137273136120923],[-0.4647978008330381,0.5462284862389344]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.6073245526452213,-0.6535913769594655,0.71338606911949],"aabb_xy":[[0.599401272406473,-0.6760913771974688],[0.6152478328839697,-0.6310913767214621]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.21050385243680136,-2.532005847512598,0.71338606911949],"aabb_xy":[[0.1875881395517515,-2.5549101446490217],[0.2334195653218513,-2.5091015503761747]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[0.17377731148466657,-1.9785102596246247,0.71338606911949],"aabb_xy":[[0.13627731137907362,-1.9853324214776056],[0.21127731159025953,-1.9716880977716433]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.5317470459683482,-2.511639784306006,0.71338606911949],"aabb_xy":[[0.4667470448624049,-2.536605157374135],[0.5967470470742915,-2.4866744112378782]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[0.05294860209191077,0.6845117031903096,0.71338606911949],"aabb_xy":[[0.046534788448725814,0.6781018829426412],[0.059362415735095694,0.6909215234379779]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.5473941898001675,-2.0461871835018504,0.71338606911949],"aabb_xy":[[-0.5706760319982989,-2.1311871847990784],[-0.5241123476020362,-1.9611871822046225]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[0.070019594723991,-1.8006956020191245,0.71338606911949],"aabb_xy":[[0.03147390189878995,-1.8392413730753132],[0.10856528754919202,-1.7621498309629358]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.48404081116179376,-1.0349061972907003,0.71338606911949],"aabb_xy":[[-0.49282203830903004,-1.0436859445792304],[-0.4752595840145576,-1.0261264500021703]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[-0.0934094939347423,0.7355433211164377,0.71338606911949],"aabb_xy":[[-0.11041959122479295,0.7194088326181637],[-0.07639939664469164,0.7516778096147115]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_31","position":[-0.5541293807935183,-1.5933654328401143,0.71338606911949],"aabb_xy":[[-0.565035156881081,-1.6733654292389435],[-0.5432236047059555,-1.5133654364412852]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_32","position":[0.7018310961402041,-2.2883188664165757,0.71338606911949],"aabb_xy":[[0.6841554655516058,-2.305999082695978],[0.7195067267288024,-2.2706386501371725]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7090133407493682,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5420.png","name":"5420"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5420.png","name":"5420"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3288.png","name":"3288"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7884.png","name":"7884"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/119.png","name":"119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1768.png","name":"1768"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":722.6985017745129,"rotation_z_degrees":303.9355988018616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0182059289809384,-0.00664311070064128,0.010364649028400015]},{"name":"camera_2","offset_m":[0.011621726496332922,-0.0024893700319992135,-0.0006466589490144344]},{"name":"camera_3","offset_m":[0.006059907699708305,0.014366569876650779,0.012782151792837825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.517447482953066e-05,-0.0016151185746701314,-0.0013799002195365917],"end_effector_yaw_offset_degrees":-0.04440092903082582},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006247109377001236,-0.00017045662594494175,-0.0009152561685855632],"end_effector_yaw_offset_degrees":0.17598155482505717},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005933187638017044,-0.0007501831484305415,-0.0013307899330531553],"end_effector_yaw_offset_degrees":0.040156584433139075}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004728277926928092,0.0037161239020628454],"position_m":[0.2461282779269281,0.22671612390206286,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00028238845430094816,-0.0021841659894148747],"position_m":[0.17121761154569906,-0.11838416598941487,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004630768877923506,0.001580978393510988],"position_m":[0.34213076887792354,0.07148097839351099,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023394069373497703,0.004859586070269006],"position_m":[0.2600394069373498,-0.403340413929731,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e54e7713fb6b8febc58a2d0e55de09870d09bbd36c8e488fb4a69e60cc52522b","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5420/tex_ceiling_textures_1768/tex_floor_textures_119/tex_table_textures_3288/tex_wall_textures_7884","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1793850670643475441,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1793850670643475441,"visual_seed":1793850670643475441,"scene_id":"lab_003","finished_at":"2026-09-03T08:12:14"} +{"episode_id":"ep_000020","started_at":"2026-09-03T08:12:18","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.5835386307942023,-2.3024343829840177,0.71338606911949],"aabb_xy":[[-0.5990944002044676,-2.317984816228426],[-0.567982861383937,-2.2868839497396114]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.32798887960704604,-2.3230977100513646,0.71338606911949],"aabb_xy":[[-0.397988882998608,-2.3584134837547954],[-0.25798887621548405,-2.2877819363479337]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.5791451616072123,1.3398777086377271,0.71338606911949],"aabb_xy":[[-0.6243164794553814,1.2758777114931887],[-0.5339738437590434,1.4038777057822656]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.44552946509602,-1.5598660638226172,0.71338606911949],"aabb_xy":[[0.42194434163212513,-1.6248660660680492],[0.46911458855991484,-1.4948660615771856]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.3807514136210283,0.25015190227438655,0.71338606911949],"aabb_xy":[[-0.40321618359243344,0.22765190139552605],[-0.3582866436496232,0.27265190315324705]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.2468325954671372,1.5021572570681108,0.71338606911949],"aabb_xy":[[0.23396069196619704,1.4221572566542746],[0.2597044989680773,1.582157257481947]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.38580566925212145,1.5529811870320676,0.71338606911949],"aabb_xy":[[0.3749651910256065,1.5357949057414186],[0.3966461474786363,1.570167468322716]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.25990477962937386,-1.4796630208551016,0.71338606911949],"aabb_xy":[[0.19590908223427728,-1.54366301915581],[0.32390047702447045,-1.4156630225543927]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.4640145420130578,1.5552975763394215,0.71338606911949],"aabb_xy":[[-0.47865794756709074,1.5406388566826372],[-0.44937113645902477,1.5699562959962057]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.36030426747840527,-2.0455382904523716,0.71338606911949],"aabb_xy":[[-0.4203042691213271,-2.0975384397443158],[-0.3003042658354834,-1.9935381411604274]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.44842312658529904,0.07618372766588788,0.71338606911949],"aabb_xy":[[-0.5284231237448742,0.06463612670807084],[-0.3684231294257237,0.08773132862370492]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.5670663424102287,0.8244496712749938,0.71338606911949],"aabb_xy":[[0.5425527183132228,0.8001850779729575],[0.5915799665072345,0.8487142645770304]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.5715015141998141,0.4381002762113617,0.71338606911949],"aabb_xy":[[-0.5841283014870106,0.4285542025097888],[-0.5588747269126179,0.4476463499129346]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.001215216404029995,1.4479824938675843,0.71338606911949],"aabb_xy":[[-0.08878478009684175,1.402070851449126],[0.09121521290490174,1.4938941362860425]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[0.2367689374572951,-2.2434782574865944,0.71338606911949],"aabb_xy":[[0.2293564819159066,-2.2493294679082227],[0.24418139299868355,-2.237627047064967]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.5490199825516483,-0.041945766977662835,0.71338606911949],"aabb_xy":[[-0.558437457121511,-0.05136194411538186],[-0.5396025079817856,-0.03252958983994381]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.361390856982722,-1.9954454871690561,0.71338606911949],"aabb_xy":[[0.33639085743098346,-2.005587971034191],[0.3863908565344604,-1.9853030033039214]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.11750481972870042,0.827689368840089,0.71338606911949],"aabb_xy":[[-0.12937690274020153,0.7426893691464386],[-0.1056327367171993,0.9126893685337393]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.5247275031672306,0.6116765796918169,0.71338606911949],"aabb_xy":[[-0.5407894306257481,0.5266765778792251],[-0.5086655757087128,0.6966765815044087]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.2386145315766155,-2.4281001076414612,0.71338606911949],"aabb_xy":[[0.2164420045999646,-2.450275774797584],[0.2607870585532663,-2.4059244404853377]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.6567040227836438,-2.0620837155449734,0.71338606911949],"aabb_xy":[[-0.6812502384063944,-2.09233261209401],[-0.632157807160893,-2.031834818995936]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.03283916896013839,-0.9981812826665226,0.71338606911949],"aabb_xy":[[-0.047160828002900786,-1.0752569243102963],[0.11283916592317755,-0.9211056410227493]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7126023539736143,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6742.png","name":"6742"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/740.png","name":"740"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6141.png","name":"6141"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":551.2687165024428,"rotation_z_degrees":209.26853963707327,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0004645651516984803,0.019300962751916697,0.012091989363714164]},{"name":"camera_2","offset_m":[0.004453177458228267,-0.0044756756387746635,-0.01873300429066319]},{"name":"camera_3","offset_m":[0.013636593706895971,-0.010267943567930083,0.004503261964513974]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00197004581101822,0.0009667493961516031,0.00039950777447975887],"end_effector_yaw_offset_degrees":0.08630700061803287},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008795614390957702,-0.001988590670071328,-0.0010426783331956711],"end_effector_yaw_offset_degrees":0.6857820362433074},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005581585595889837,-0.001722175408260593,-0.0008032096005421341],"end_effector_yaw_offset_degrees":0.521246693919196}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003987570570281897,0.002801668426009144],"position_m":[0.2374124294297181,0.22580166842600916,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015832756664035108,-0.0007334913250042797],"position_m":[0.1699167243335965,-0.11693349132500427,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00045129885469742063,-0.004157814821220243],"position_m":[0.3370487011453026,0.06574218517877976,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003895982371161761,0.000808406475517864],"position_m":[0.2615959823711618,-0.4073915935244821,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7311abaeeb06a8fdb47c8ae8a67a73f657420ddc8044e4975f2ad361ed459017","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3604/tex_ceiling_textures_4944/tex_floor_textures_6141/tex_table_textures_6742/tex_wall_textures_740","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7678082564290675490,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7678082564290675490,"visual_seed":7678082564290675490,"scene_id":"lab_003","finished_at":"2026-09-03T08:14:56"} +{"episode_id":"ep_000021","started_at":"2026-09-03T08:15:00","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[0.45320347900208113,1.2684669328479572,0.71338606911949],"aabb_xy":[[0.4079248641209318,1.2044669334997737],[0.49848209388323034,1.332466932196141]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.5702016794056819,-2.5188761931275727,0.71338606911949],"aabb_xy":[[-0.6341973768007784,-2.5828761914282814],[-0.5062059820105852,-2.454876194826864]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.30504194765629256,-1.222447321956096,0.71338606911949],"aabb_xy":[[-0.31308530758224773,-1.3074473230514627],[-0.2969985877303374,-1.1374473208607299]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.043003983593963624,1.4524588506679366,0.71338606911949],"aabb_xy":[[0.03690935570584531,1.4438894561162678],[0.04909861148208195,1.4610282452196053]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.5258121775265883,0.668385370912786,0.71338606911949],"aabb_xy":[[0.46181217823242005,0.6043992305439317],[0.5898121768207565,0.7323715112816401]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.33168631623231526,-2.2327188613670645,0.71338606911949],"aabb_xy":[[-0.39668631733825854,-2.257684234435193],[-0.266686315126372,-2.2077534882989363]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.17549018945018913,1.320184813271723,0.71338606911949],"aabb_xy":[[-0.1973799370391299,1.230184815982474],[-0.1536004418612483,1.4101848105609722]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.45854307120735893,1.400843933458408,0.71338606911949],"aabb_xy":[[-0.5225430715848924,1.3510986666075955],[-0.39454307082982526,1.45058920030922]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.372913324902276,-1.9382056900080467,0.71338606911949],"aabb_xy":[[0.3251071572885073,-2.003205692715105],[0.42071949251604457,-1.8732056873009875]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.20000943472791727,0.6494120267633465,0.71338606911949],"aabb_xy":[[-0.26400943112349035,0.5854487383446129],[-0.1360094383323442,0.71337531518208]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.11589330160360511,-0.6508744568507094,0.71338606911949],"aabb_xy":[[-0.17088555223911606,-0.7058744585940222],[-0.06090105096809417,-0.5958744551073967]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.03268238260912637,-1.2338830415242255,0.71338606911949],"aabb_xy":[[-0.004817618575666433,-1.2383012642202857],[0.07018238379391914,-1.2294648188281647]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.4504992405651974,-1.2202180228620265,0.71338606911949],"aabb_xy":[[-0.5404992399835683,-1.253593519706216],[-0.3604992411468265,-1.1868425260178366]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.6609418240254903,-2.5091872000024935,0.71338606911949],"aabb_xy":[[0.6536805764550828,-2.521974210266003],[0.6682030715958978,-2.496400189738984]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.22831150809807577,1.7594936083803785,0.71338606911949],"aabb_xy":[[-0.24541358605644392,1.7423868028491085],[-0.2112094301397076,1.776600413911648]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.348349546787425,0.9992240294913657,0.71338606911949],"aabb_xy":[[-0.35810553629659886,0.9894614954321311],[-0.3385935572782511,1.0089865635506001]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.6577325253025033,-0.9510858003918923,0.71338606911949],"aabb_xy":[[0.6076350613214296,-1.015085800901704],[0.7078299892835769,-0.8870857998820806]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.1276356255073976,0.6833728616206214,0.71338606911949],"aabb_xy":[[0.11013562524806098,0.6692813194318488],[0.14513562576673422,0.697464403809394]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.14173675115663342,0.96174183849371,0.71338606911949],"aabb_xy":[[0.11673675188467116,0.9453964748975475],[0.1667367504285957,0.9780872020898722]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.11471182726147588,1.5952294629054884,0.71338606911949],"aabb_xy":[[-0.11966784744635711,1.5727294627033672],[-0.10975580707659471,1.6177294631076105]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.2734475102880226,-1.1304582626279753,0.71338606911949],"aabb_xy":[[0.26854821798145906,-1.158135181930544],[0.27834680259458605,-1.1027813433254066]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.6563609640862891,0.5261945706311155,0.71338606911949],"aabb_xy":[[-0.6788257340576942,0.503694569752255],[-0.633896194114884,0.548694571509976]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[-0.3622664539437535,-0.7159008131006559,0.71338606911949],"aabb_xy":[[-0.37039414213706673,-0.7248144215113637],[-0.3541387657504403,-0.7069872046899484]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.17009550646076022,-0.04615574598889216,0.71338606911949],"aabb_xy":[[-0.1802485220149096,-0.08222528756163248],[-0.15994249090661083,-0.010086204416151821]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.23526944928943733,-0.5016610078652337,0.71338606911949],"aabb_xy":[[-0.27026944848225554,-0.5126280538628962],[-0.200269450096619,-0.49069396186757097]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[-0.04837969957567845,-1.3902006413432504,0.71338606911949],"aabb_xy":[[-0.11237969687802485,-1.4345670683111071],[0.01562029772666796,-1.3458342143753936]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.6342704171629856,-0.24683730263775816,0.71338606911949],"aabb_xy":[[0.5967704169911137,-0.27953803802066535],[0.6717704173348575,-0.214136567254851]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.565507575808336,-0.8740222097244617,0.71338606911949],"aabb_xy":[[-0.6455075732119293,-0.9540147809226444],[-0.4855075784047425,-0.7940296385262787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.712134825794509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2018.png","name":"2018"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2018.png","name":"2018"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1555.png","name":"1555"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3973.png","name":"3973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5812.png","name":"5812"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2020.png","name":"2020"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":528.5830103278257,"rotation_z_degrees":199.0494006571954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00657288020561677,-0.00957785617334598,0.0007676389464090876]},{"name":"camera_2","offset_m":[0.014435125046469332,0.0013658296617285216,-0.016109856135154046]},{"name":"camera_3","offset_m":[-0.005651359491737713,-0.006881300639730048,-0.0049880038297962954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-1.3446964598139068e-05,0.0015836317594255305,0.0012436307299764152],"end_effector_yaw_offset_degrees":0.25292508386982493},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00020430712390558147,0.0007016309691543197,0.0015082027521859825],"end_effector_yaw_offset_degrees":-0.7351904664514386},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004901489622872669,0.0018100398609599186,0.0019129844591050434],"end_effector_yaw_offset_degrees":-0.0713548875625174}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028189303186384315,0.0003096004331604556],"position_m":[0.24421893031863842,0.22330960043316045,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00016580909504768614,-0.004416588706373533],"position_m":[0.17133419090495233,-0.12061658870637353,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026354916755229997,0.0027358578956134015],"position_m":[0.334864508324477,0.0726358578956134,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002308416702068981,-0.0006467149112867636],"position_m":[0.260008416702069,-0.40884671491128677,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3125dedacb144d5f1898d70db63dd4cd6ceb6c4b03cfbf0d7a57b0176a4d2554","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2018/tex_ceiling_textures_2020/tex_floor_textures_5812/tex_table_textures_1555/tex_wall_textures_3973","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4782681086029730520,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4782681086029730520,"visual_seed":4782681086029730520,"scene_id":"lab_003","finished_at":"2026-09-03T08:17:52"} +{"episode_id":"ep_000022","started_at":"2026-09-03T08:17:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.5466592316056134,-0.7244164601671261,0.71338606911949],"aabb_xy":[[0.5362476729251296,-0.7297621935030245],[0.5570707902860971,-0.7190707268312275]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.3324240558096567,-1.6135175929234291,0.71338606911949],"aabb_xy":[[0.3243806958837015,-1.6985175940187955],[0.34046741573561184,-1.5285175918280627]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.220555047244627,-2.487136488349348,0.71338606911949],"aabb_xy":[[-0.25805504803662244,-2.4935043293075383],[-0.18305504645263154,-2.480768647391158]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.18632571147728338,1.527450243640644,0.71338606911949],"aabb_xy":[[-0.2513257100343562,1.4976977102267615],[-0.12132571292021052,1.5572027770545267]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.3829520021643782,1.0577057329749273,0.71338606911949],"aabb_xy":[[-0.41998611159243787,1.023328525641218],[-0.3459178927363184,1.0920829403086367]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.5067995384150454,0.599783729955067,0.71338606911949],"aabb_xy":[[0.4717995392850898,0.5940385088794028],[0.5417995375450011,0.605528951030731]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.24245479170540318,-0.991295893201513,0.71338606911949],"aabb_xy":[[-0.2924547933668979,-1.0412943354572155],[-0.1924547900439084,-0.9412974509458102]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.5521587857479997,-1.262325717951607,0.71338606911949],"aabb_xy":[[0.49452831686072873,-1.3223257168783173],[0.6097892546352705,-1.2023257190248962]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.10064135521760387,1.0645734135925253,0.71338606911949],"aabb_xy":[[-0.18064135223185185,1.044438861919114],[-0.020641358203355872,1.0847079652659366]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.05807929332216033,1.0498421108860279,0.71338606911949],"aabb_xy":[[0.05008580352687831,1.0418439789455525],[0.06607278311744236,1.0578402428265037]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.249266351883016,-1.1458886330445361,0.71338606911949],"aabb_xy":[[-0.3092663524790322,-1.2007011055897596],[-0.18926635128699984,-1.0910761604993127]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.04363446015174288,-1.8766420516601503,0.71338606911949],"aabb_xy":[[-0.06580698712839371,-1.8988177188162731],[-0.021461933175092037,-1.854466384504027]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.6051705206612354,-0.7532762890003502,0.71338606911949],"aabb_xy":[[0.6002145004763543,-0.775776289202472],[0.6101265408461166,-0.7307762887982286]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.5903561679029108,0.7270308807530608,0.71338606911949],"aabb_xy":[[-0.6278561663263111,0.71386666678523],[-0.5528561694795104,0.7401950947208913]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.10430335271075397,-2.4212972908284502,0.71338606911949],"aabb_xy":[[0.09345174646187837,-2.432156581556101],[0.11515495895962957,-2.4104380001007994]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.34532968914584083,0.4570760794944215,0.71338606911949],"aabb_xy":[[0.32283326771197673,0.4345760796876741],[0.36782611057970493,0.47957607930116897]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.17919151824163615,-1.960786598707493,0.71338606911949],"aabb_xy":[[-0.24319152029136815,-2.000881081796801],[-0.11519151619190415,-1.9206921156181853]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.6107140055111538,0.5096818579779492,0.71338606911949],"aabb_xy":[[-0.6207957125897272,0.4296818600858344],[-0.6006322984325803,0.5896818558700637]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.6370100394163041,0.08755501469363658,0.71338606911949],"aabb_xy":[[0.6058631205727208,0.01755501600682939],[0.6681569582598871,0.15755501338044375]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.1749819380455161,-0.28813038082796494,0.71338606911949],"aabb_xy":[[-0.24498193445547783,-0.30856831647964655],[-0.10498194163555426,-0.2676924451762831]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.16516404499897364,0.4583320370633346,0.71338606911949],"aabb_xy":[[-0.20266404510456656,0.45150987521035346],[-0.12766404489338065,0.4651541989163157]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.27566928959123616,-2.424178883974491,0.71338606911949],"aabb_xy":[[0.1956692863333932,-2.504175391766475],[0.3556692928490791,-2.344182376182507]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.2007707223302438,-2.187366683740385,0.71338606911949],"aabb_xy":[[-0.20484888023729356,-2.191447663988648],[-0.19669256442319408,-2.183285703492122]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.5072924420689271,-0.20796395178346216,0.71338606911949],"aabb_xy":[[-0.5143327520024642,-0.2879639511831336],[-0.5002521321353902,-0.1279639523837908]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[0.3636987260842055,-0.6532217179994897,0.71338606911949],"aabb_xy":[[0.331237025202278,-0.6833545501143921],[0.3961604269661329,-0.6230888858845869]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7108734483813901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2100.png","name":"2100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2100.png","name":"2100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7512.png","name":"7512"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1944.png","name":"1944"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":603.4809907597025,"rotation_z_degrees":61.95768076741889,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006712934423500317,-0.016530739600943863,-0.013279469896089694]},{"name":"camera_2","offset_m":[0.0010913058620820731,0.001014268249186906,0.011170293818387616]},{"name":"camera_3","offset_m":[-0.016077037272360657,0.01422352036003487,0.0037221871298906833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001198406949140863,-0.0015548383530733828,0.00150550234578864],"end_effector_yaw_offset_degrees":0.4706042093649374},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008449520865410017,0.0011031243525880482,0.0009208384311237229],"end_effector_yaw_offset_degrees":-0.3956164713464223},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001853769191745596,-0.0004674311502801021,-0.0015323927938787434],"end_effector_yaw_offset_degrees":0.35202558877611434}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002870429469646314,-0.0014518146608076734],"position_m":[0.2385295705303537,0.22154818533919232,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0047903585838132414,0.002985727215400985],"position_m":[0.17629035858381326,-0.11321427278459902,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004754935758917916,-0.0010683774642265198],"position_m":[0.3327450642410821,0.06883162253577349,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011757225145876972,-0.0033963043787505753],"position_m":[0.2565242774854123,-0.4115963043787506,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"72ae85c67b8d90ff564a2fc534a829feab3307d00aba3712584069bf20499b25","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2100/tex_ceiling_textures_1944/tex_floor_textures_7512/tex_table_textures_9763/tex_wall_textures_8193","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5613076695025857461,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5613076695025857461,"visual_seed":5613076695025857461,"scene_id":"lab_003","finished_at":"2026-09-03T08:20:31"} +{"episode_id":"ep_000023","started_at":"2026-09-03T08:23:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.06756969304314497,-1.1023962972810248,0.71338606911949],"aabb_xy":[[-0.0756973812364582,-1.1113099056917328],[-0.05944200484983175,-1.0934826888703173]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.633047967815684,-1.0047463085947361,0.71338606911949],"aabb_xy":[[0.5955479674674562,-1.0165377041758197],[0.6705479681639117,-0.9929549130136526]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.48077131873756485,1.421471420516537,0.71338606911949],"aabb_xy":[[-0.5157713170076847,1.4143972928215487],[-0.4457713204674449,1.428545548211525]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.3328488296524087,0.9469723980886848,0.71338606911949],"aabb_xy":[[-0.3703488294694422,0.9423341867775429],[-0.2953488298353751,0.9516106093998266]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.4761430444064645,-1.7742537918331647,0.71338606911949],"aabb_xy":[[-0.5401430435762344,-1.8210204789521272],[-0.41214304523669454,-1.7274871047142022]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.07505310395456499,1.305041929841357,0.71338606911949],"aabb_xy":[[-0.08039067962056957,1.2800419289122171],[-0.06971552828856044,1.3300419307704967]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.5665833348600945,0.9604546577055468,0.71338606911949],"aabb_xy":[[-0.5840833339944616,0.950575030667959],[-0.5490833357257272,0.9703342847431347]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.4318559373733477,-0.6358323876607961,0.71338606911949],"aabb_xy":[[-0.49585593905134506,-0.6843497791401103],[-0.36785593569535036,-0.5873149961814819]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.23800691850428646,-2.364110355619008,0.71338606911949],"aabb_xy":[[0.22109618606794465,-2.377582561211623],[0.2549176509406282,-2.3506381500263935]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.2612756431344644,-1.7688344533766642,0.71338606911949],"aabb_xy":[[0.24521371567594671,-1.853834455189256],[0.277337570592982,-1.6838344515640724]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.44081608814926576,1.0518902442773572,0.71338606911949],"aabb_xy":[[0.36081608956194633,0.9725746423391962],[0.5208160867365852,1.131205846215518]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.2765090764345432,0.5722871872210007,0.71338606911949],"aabb_xy":[[-0.36619615274265865,0.48228718696655015],[-0.18682200012642775,0.6622871874754512]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.41894943857943195,-1.3038347984927505,0.71338606911949],"aabb_xy":[[-0.4989494400095591,-1.38335195350536],[-0.3389494371493047,-1.224317643480141]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.3309356727643795,-0.7307432167574346,0.71338606911949],"aabb_xy":[[0.2934356741887587,-0.7434795124209926],[0.3684356713400003,-0.7180069210938768]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.457279668733084,-1.8539243115919475,0.71338606911949],"aabb_xy":[[0.40718220475201045,-1.9179243121017593],[0.5073771327141576,-1.7899243110821357]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.4536647914813081,-2.2933780704642333,0.71338606911949],"aabb_xy":[[-0.5336647884443473,-2.3704537121080067],[-0.3736647945182689,-2.21630242882046]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.1965699774675388,-0.18015759660212227,0.71338606911949],"aabb_xy":[[-0.2765699746271141,-0.1917051975599393],[-0.11656998030796348,-0.16860999564430523]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.43218972312268467,-0.3415644848078938,0.71338606911949],"aabb_xy":[[-0.4370890154292481,-0.3692414041104625],[-0.4272904308161211,-0.313887565505325]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.6194315619918013,0.008257477448910588,0.71338606911949],"aabb_xy":[[-0.6538940400048889,0.0015938002659877642],[-0.5849690839787134,0.01492115463183341]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.20059890904257793,-2.1390748804057464,0.71338606911949],"aabb_xy":[[0.16309891061917758,-2.1522390943735767],[0.23809890746597828,-2.1259106664379153]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.21066498335595396,-0.6981412767468795,0.71338606911949],"aabb_xy":[[0.173164983184082,-0.7308420121297867],[0.24816498352782587,-0.6654405413639723]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.44441506003601555,1.2178391995275226,0.71338606911949],"aabb_xy":[[-0.49389548124997434,1.1538392016146708],[-0.39493463882205676,1.2818391974403744]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.02860642027078064,1.727682026808521,0.71338606911949],"aabb_xy":[[-0.05138740330777758,1.6476820242156796],[0.10860024384933886,1.8076820294013627]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.620863376644694,-1.8488178095094874,0.71338606911949],"aabb_xy":[[0.5858633783339985,-1.856532824433033],[0.6558633749553894,-1.8411027945859417]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.5241002405626167,-1.2412803430363728,0.71338606911949],"aabb_xy":[[0.5015865487391594,-1.3112803436373803],[0.5466139323860738,-1.1712803424353653]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.5220562162857569,1.25991788414686,0.71338606911949],"aabb_xy":[[0.45805621917365114,1.2108855143524493],[0.5860562133978625,1.3089502539412705]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[0.4519803667259823,0.392928590612037,0.71338606911949],"aabb_xy":[[0.44328240443526706,0.3808036163045623],[0.46067832901669764,0.4050535649195117]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.4863241811831365,-0.5698105359879087,0.71338606911949],"aabb_xy":[[0.46273905771924156,-0.6348105382333404],[0.5099093046470313,-0.5048105337424769]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[-0.43955539843427144,-0.798213170547287,0.71338606911949],"aabb_xy":[[-0.46205453416049846,-0.8207131713255499],[-0.4170562627080445,-0.7757131697690239]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7117782295118897,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6193.png","name":"6193"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6193.png","name":"6193"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6625.png","name":"6625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4797.png","name":"4797"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":538.9893653867445,"rotation_z_degrees":6.588897015324013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014879360952124759,-0.008578268958137021,-0.010686319546734678]},{"name":"camera_2","offset_m":[0.009337927971713799,-0.003011526035158512,-0.017521720906782185]},{"name":"camera_3","offset_m":[-0.016677529957742826,0.005776983933631793,0.006615008345322467]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000738757736406082,0.0017161969431781386,-0.00182744313421964],"end_effector_yaw_offset_degrees":0.725136683655643},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00019462101843170437,0.0018066098200880134,-0.0006441864885084634],"end_effector_yaw_offset_degrees":0.8300416909988919},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00033093366643270725,0.0016200378454484118,-0.0016620674418874714],"end_effector_yaw_offset_degrees":0.06321394717905604}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020779916935167097,-0.0038068285638774456],"position_m":[0.24347799169351672,0.21919317143612255,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00048490599937382577,0.004368221077352008],"position_m":[0.17198490599937383,-0.11183177892264799,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031074147556202983,-0.0034906521602133577],"position_m":[0.3343925852443797,0.06640934783978665,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006020502950308025,-0.004151036566031612],"position_m":[0.2570979497049692,-0.4123510365660316,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"64ae8de11138304b7ea6ec63897ae53a65844363ab717b1078def07ddd969545","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6193/tex_ceiling_textures_4797/tex_floor_textures_1998/tex_table_textures_6625/tex_wall_textures_1594","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":553231404015570513,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":553231404015570513,"visual_seed":553231404015570513,"scene_id":"lab_003","finished_at":"2026-09-03T08:26:16"} +{"episode_id":"ep_000024","started_at":"2026-09-03T08:26:19","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.41463180012559464,-2.3763553348542024,0.71338606911949],"aabb_xy":[[0.33463179686158157,-2.3899153671631157],[0.4946318033896078,-2.362795302545289]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.335276857115697,1.257381050033009,0.71338606911949],"aabb_xy":[[0.27127685684171876,1.207314949835721],[0.3992768573896752,1.307447150230297]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.6328173601799993,-1.6878986879966917,0.71338606911949],"aabb_xy":[[0.5850111925662306,-1.7528986907037507],[0.6806235277937679,-1.6228986852896328]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.4005590161195421,0.4741334726864199,0.71338606911949],"aabb_xy":[[-0.4348559271372827,0.43983658647647855],[-0.36626210510180146,0.5084303588963612]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.6256469158528004,1.777442176124905,0.71338606911949],"aabb_xy":[[0.5556469194428385,1.7570042404732231],[0.6956469122627621,1.7978801117765866]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.3881562007590542,-1.2260906776467217,0.71338606911949],"aabb_xy":[[0.3662664531701134,-1.3160906749359709],[0.410045948347995,-1.1360906803574726]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.3715024301443261,-1.1488700141950743,0.71338606911949],"aabb_xy":[[-0.3828641647976122,-1.1602384806013621],[-0.3601406954910399,-1.137501547788786]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.49607070572497225,-0.01817497559834713,0.71338606911949],"aabb_xy":[[0.4890303957914353,-0.09817497499801855],[0.5031110156585092,0.06182502380132428]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[0.009616143301951263,0.7842834387963262,0.71338606911949],"aabb_xy":[[-0.00554672967498582,0.7691179815012076],[0.02477901627888835,0.7994488960914451]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.5738789301747143,-2.302493739280211,0.71338606911949],"aabb_xy":[[0.5675668306383759,-2.3082606785334296],[0.5801910297110526,-2.2967268000269923]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.1780235995741155,0.17182177635540663,0.71338606911949],"aabb_xy":[[-0.19390809283944066,0.15746883605658257],[-0.16213910630879036,0.1861747166542307]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.42085103084406733,0.744124066289209,0.71338606911949],"aabb_xy":[[-0.5108510294385373,0.727873479975788],[-0.3308510322495974,0.76037465260263]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.0639475078117887,-1.4049871097925797,0.71338606911949],"aabb_xy":[[-0.08215333147303638,-1.4160125103745713],[-0.04574168415054103,-1.393961709210588]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.395360352039526,-2.146639472332843,0.71338606911949],"aabb_xy":[[-0.4503535633766628,-2.2016394726716366],[-0.34036714070238927,-2.0916394719940494]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.004094660475413736,-1.6771427749196215,0.71338606911949],"aabb_xy":[[-0.045900172452527865,-1.727142773814865],[0.05408949340335534,-1.627142776024378]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.07970088977385292,-2.3452823823486875,0.71338606911949],"aabb_xy":[[-0.10221458159731012,-2.415282382949695],[-0.05718719795039573,-2.27528238174768]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.043789168326370254,-0.6595114324413358,0.71338606911949],"aabb_xy":[[-0.051712448565118585,-0.6820114326793392],[-0.03586588808762192,-0.6370114322033325]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.1676442035555603,1.5517317656251204,0.71338606911949],"aabb_xy":[[0.10364420626991167,1.5102250466722764],[0.23164420084120896,1.5932384845779644]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.6560160752963518,-1.6914292145063343,0.71338606911949],"aabb_xy":[[-0.6608596700575818,-1.6962808669853182],[-0.6511724805351219,-1.68657756202735]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.6384722079444569,-2.1015762932317172,0.71338606911949],"aabb_xy":[[0.5684722063421775,-2.115009086433375],[0.7084722095467365,-2.0881435000300597]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.1335474011374106,0.9860728427067005,0.71338606911949],"aabb_xy":[[0.07854740151566478,0.931089149919228],[0.18854740075915646,1.0410565354941734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7152138827811569,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5674.png","name":"5674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5674.png","name":"5674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2092.png","name":"2092"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7769.png","name":"7769"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2823.png","name":"2823"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6439.png","name":"6439"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":689.9803153377879,"rotation_z_degrees":274.877733680784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013589765421508606,-0.0034924492353178814,-0.006560134475715417]},{"name":"camera_2","offset_m":[0.011951202436276221,-0.008892384747221435,0.006911066023915082]},{"name":"camera_3","offset_m":[0.016244711745296767,-0.013527322305772001,0.013169227006655532]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-4.476710698035798e-06,-0.0005195119701673892,-0.001978644261158291],"end_effector_yaw_offset_degrees":-0.1797490470187777},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001219176234680452,0.0002776725886147872,0.001054017753376579],"end_effector_yaw_offset_degrees":0.2438578783602221},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019761537525938124,0.0010072550214881197,0.0017099968331840678],"end_effector_yaw_offset_degrees":-0.30782318674132214}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003749644865163092,-0.003417688721235276],"position_m":[0.2410250355134837,0.21958231127876474,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017720642806983954,-0.0009638605617525451],"position_m":[0.1732720642806984,-0.11716386056175254,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028199845069021593,0.003735474819102182],"position_m":[0.3403199845069022,0.07363547481910218,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034930676503768425,-0.00431374270078384],"position_m":[0.2611930676503768,-0.41251374270078384,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e4d1355f617183b950a1cae0695b7eceb30e3adfec18712db7ee15f4edf512b","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5674/tex_ceiling_textures_6439/tex_floor_textures_2823/tex_table_textures_2092/tex_wall_textures_7769","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6869928497846525180,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6869928497846525180,"visual_seed":6869928497846525180,"scene_id":"lab_003","finished_at":"2026-09-03T08:28:59"} +{"episode_id":"ep_000025","started_at":"2026-09-03T08:29:01","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[0.24727620911548986,-0.7080365009353196,0.71338606911949],"aabb_xy":[[0.20625826572911898,-0.7580365015662768],[0.28829415250186075,-0.6580365003043621]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.5141043721033853,-1.280907650947792,0.71338606911949],"aabb_xy":[[0.500657845469342,-1.2943775026008832],[0.5275508987374287,-1.267437799294701]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.20639950273794772,0.6875436289173447,0.71338606911949],"aabb_xy":[[0.16122818488977875,0.6235436317728064],[0.2515708205861167,0.7515436260618833]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[0.663154735870993,0.02552211448945574,0.71338606911949],"aabb_xy":[[0.60315473501018,-0.025904315517030648],[0.7231547367318056,0.07694854449594211]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.11437188328722347,-0.8136826764707661,0.71338606911949],"aabb_xy":[[0.08007497226948283,-0.8479795626807073],[0.1486687943049641,-0.7793857902608247]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.22299978826504463,1.138989542872753,0.71338606911949],"aabb_xy":[[0.16800753762953372,1.0839895411294405],[0.2779920389005556,1.193989544616066]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.42115085625787246,-1.3625792533487895,0.71338606911949],"aabb_xy":[[-0.4561508545279923,-1.3696533810437774],[-0.3861508579877525,-1.355505125653801]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[-0.07209578968358432,-0.1927873392767463,0.71338606911949],"aabb_xy":[[-0.0895957889616712,-0.21012543934309225],[-0.054595790405497446,-0.17544923921040034]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.4571260204719508,0.042804982852537865,0.71338606911949],"aabb_xy":[[-0.5122512261015415,-0.017195018588749268],[-0.40200081484236,0.10280498429382501]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.2799505272369304,1.7151439001272784,0.71338606911949],"aabb_xy":[[-0.3699505295709495,1.6376615455421657],[-0.18995052490291137,1.792626254712391]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.5239900778592519,-1.358391799392391,0.71338606911949],"aabb_xy":[[0.489527599846164,-1.3650554765753136],[0.5584525558723396,-1.3517281222094681]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.1695050615812317,-1.9717440396110617,0.71338606911949],"aabb_xy":[[-0.21898548279519048,-2.0357440375239135],[-0.1200246403672729,-1.9077440416982099]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.2879288026014284,1.6039097582218562,0.71338606911949],"aabb_xy":[[0.265428802357913,1.5917051235620843],[0.3104288028449438,1.6161143928816282]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.5009744076052927,-2.4855629939164214,0.71338606911949],"aabb_xy":[[-0.5314586577323228,-2.5355629936979174],[-0.4704901574782625,-2.4355629941349255]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.673077236559888,0.5521437983676445,0.71338606911949],"aabb_xy":[[0.6396370613638683,0.5187001725367142],[0.7065174117559075,0.5855874241985743]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.23089337581843028,1.471403892602321,0.71338606911949],"aabb_xy":[[0.22113738630925636,1.4616413585430865],[0.24064936532760414,1.4811664266615554]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.27441186882939794,-2.2535027364186875,0.71338606911949],"aabb_xy":[[0.24401375773025438,-2.283909638420357],[0.30480997992854153,-2.223095834417018]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.2595160099401355,-0.11818113946480713,0.71338606911949],"aabb_xy":[[-0.28950767267400584,-0.14818113880160766],[-0.2295243472062652,-0.0881811401280066]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.3168278166373282,1.0230213668136008,0.71338606911949],"aabb_xy":[[-0.3668278169978942,0.973041379603998],[-0.26682781627676205,1.0730013540232037]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.21897521618188132,-2.090485822984907,0.71338606911949],"aabb_xy":[[-0.25647521667923956,-2.0944545065330256],[-0.18147521568452307,-2.0865171394367885]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.6069242905079857,-2.073509253630501,0.71338606911949],"aabb_xy":[[0.5956792349373679,-2.0847510513545964],[0.6181693460786035,-2.062267455906406]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[0.3606609402835408,0.7204446705085554,0.71338606911949],"aabb_xy":[[0.323160938767909,0.7092178974924102],[0.39816094179917244,0.7316714435247003]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.07316630747239494,0.8688321309690168,0.71338606911949],"aabb_xy":[[-0.15316630448664292,0.8486975792956055],[0.0068336895418530386,0.8889666826424281]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[0.2125782063956273,0.9116451407403892,0.71338606911949],"aabb_xy":[[0.12257820989475555,0.8657334983219308],[0.30257820289649906,0.9575567831588473]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[0.22810103314205343,-1.977243709559175,0.71338606911949],"aabb_xy":[[0.22010754334677146,-1.985241841499651],[0.23609452293733552,-1.9692455776187]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.03358792034813829,-1.1356203313715785,0.71338606911949],"aabb_xy":[[-0.048231325902171274,-1.1502790510283625],[-0.018944514794105305,-1.120961611714794]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.49200626648729306,1.4533049380531273,0.71338606911949],"aabb_xy":[[-0.5470062646890378,1.4127829714266897],[-0.43700626828554817,1.493826904679565]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_27","position":[0.45354041703378245,0.8586523780696229,0.71338606911949],"aabb_xy":[[0.44649896608303485,0.8516256263318284],[0.46058186798453005,0.8656791298074175]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[-0.6053142392650804,-2.0455887249704174,0.71338606911949],"aabb_xy":[[-0.6129385073552588,-2.0532219485069616],[-0.5976899711749023,-2.037955501433874]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7124950517587094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8166.png","name":"8166"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8653.png","name":"8653"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2955.png","name":"2955"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":589.1668170512518,"rotation_z_degrees":305.72851884077613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017694949817773746,0.017194696403550588,0.0035187212897615713]},{"name":"camera_2","offset_m":[-0.015677312974965156,-0.011883626358764712,0.0034214205172637367]},{"name":"camera_3","offset_m":[-0.0001924944699929175,0.01196496957464253,-0.009468643260640062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.501989972113517e-05,-0.0015528142888854785,0.0003741859878465285],"end_effector_yaw_offset_degrees":0.4654428556230048},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001770680750027806,-0.0018481389105181574,-0.0002690715605859913],"end_effector_yaw_offset_degrees":0.463016857801839},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018143224132619578,-0.0003828974527021968,-0.0016522951017024531],"end_effector_yaw_offset_degrees":-0.5548731070732777}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002119520111486109,-0.002953419996099561],"position_m":[0.24351952011148612,0.22004658000390045,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014120291442198517,-0.002543685987939984],"position_m":[0.17008797085578017,-0.11874368598793998,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003791377904759109,0.0004760181954314635],"position_m":[0.33370862209524094,0.07037601819543146,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003719777640481926,0.0007432511629442825],"position_m":[0.2614197776404819,-0.40745674883705574,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f1e91523dd94b1ea5eeac35b0f6f19bbc3a7011829a2d8b022dcf766fd679349","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2437/tex_ceiling_textures_2955/tex_floor_textures_8653/tex_table_textures_8166/tex_wall_textures_6373","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6342175603578409732,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6342175603578409732,"visual_seed":6342175603578409732,"scene_id":"lab_003","finished_at":"2026-09-03T08:31:44"} +{"episode_id":"ep_000026","started_at":"2026-09-03T08:31:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.5936726903493057,-1.7493190368758036,0.71338606911949],"aabb_xy":[[0.5437899934716095,-1.7993190361220788],[0.6435553872270019,-1.6993190376295293]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.12432605876592273,-1.8264185656290333,0.71338606911949],"aabb_xy":[[0.11503244052877215,-1.8639185641171667],[0.1336196770030733,-1.788918567140899]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.3223213575863244,-0.7085277227004825,0.71338606911949],"aabb_xy":[[-0.33166836516861964,-0.7228313449181265],[-0.3129743500040292,-0.6942241004828384]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[-0.5700966379712489,-1.1764952836922264,0.71338606911949],"aabb_xy":[[-0.5876433328873678,-1.2139952852564777],[-0.5525499430551299,-1.1389952821279752]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.3784685879567544,-0.8197662688046139,0.71338606911949],"aabb_xy":[[0.3609685888223872,-0.8296458958422017],[0.39596858709112154,-0.8098866417670261]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.05936754167803626,-2.409963037706247,0.71338606911949],"aabb_xy":[[-0.12936754328031574,-2.4233958309079044],[0.01063245992424322,-2.3965302445045893]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[0.08431684817145824,1.7637522761096496,0.71338606911949],"aabb_xy":[[0.04681684665582651,1.7525255030935047],[0.12181684968708993,1.7749790491257948]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.19062367854306195,-1.1733293382261758,0.71338606911949],"aabb_xy":[[0.11062368158002275,-1.2504049798699493],[0.2706236755061011,-1.0962536965824023]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.12444251053417199,-2.1046559331731043,0.71338606911949],"aabb_xy":[[0.07445956034669264,-2.154655932815664],[0.1744254607216513,-2.054655933530543]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.06439783051002956,1.3598659743451473,0.71338606911949],"aabb_xy":[[-0.08689783075354496,1.3476613396853754],[-0.04189783026651417,1.3720706090049193]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.5816931350166438,-0.4146857645568449,0.71338606911949],"aabb_xy":[[-0.631693136377531,-0.46466366913226054],[-0.5316931336557565,-0.3647078599814293]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.6520880168046261,-0.16453485699843107,0.71338606911949],"aabb_xy":[[0.5880880148922839,-0.2204460062564415],[0.7160880187169686,-0.10862370774042063]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.5057421083170566,-2.533828241179665,0.71338606911949],"aabb_xy":[[0.4157421088986857,-2.567203738023854],[0.5957421077354275,-2.5004527443354747]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.36421909669626124,-2.333981815779666,0.71338606911949],"aabb_xy":[[-0.4054679077261759,-2.388981815291883],[-0.32297028566634645,-2.2789818162674482]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.5645462269178294,0.37816790694259916,0.71338606911949],"aabb_xy":[[-0.5689768562726696,0.37271953520791656],[-0.5601155975629892,0.38361627867728176]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.5672042957666926,-1.7056394625917233,0.71338606911949],"aabb_xy":[[-0.5726622414037126,-1.7856394658993822],[-0.5617463501296724,-1.625639459284064]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.6957895473086357,1.434997602643635,0.71338606911949],"aabb_xy":[[0.6782895470492992,1.4209060604548627],[0.7132895475679725,1.449089144832408]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[-0.22127800637223893,-1.5362791372554883,0.71338606911949],"aabb_xy":[[-0.2321184845987538,-1.553465418546137],[-0.210437528145724,-1.5190928559648396]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.18031013017528008,-1.4135110112304643,0.71338606911949],"aabb_xy":[[-0.22132807356165096,-1.4635110118614214],[-0.1392921867889092,-1.3635110105995067]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.6521884846762851,0.012926692955233854,0.71338606911949],"aabb_xy":[[0.5881884844023069,-0.03713940724205411],[0.7161884849502633,0.06299279315252182]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.5100619399658644,-1.9137324448188364,0.71338606911949],"aabb_xy":[[0.5024376718756861,-1.9213656683553806],[0.5176862080560426,-1.9060992212822931]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.4815701553252809,1.5814514272558502,0.71338606911949],"aabb_xy":[[0.39784792982519845,1.4914514237211545],[0.5652923808253634,1.6714514307905464]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[0.12888450917856042,1.0490972832950556,0.71338606911949],"aabb_xy":[[0.06388450654076691,0.9976176845956086],[0.19388451181635388,1.1005768819945025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7094788205321719,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6728.png","name":"6728"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6728.png","name":"6728"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2968.png","name":"2968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1723.png","name":"1723"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4003.png","name":"4003"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1784.png","name":"1784"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":601.1343793361615,"rotation_z_degrees":141.97924397484812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017981423030380427,-0.01409015035714464,-0.014433333602123306]},{"name":"camera_2","offset_m":[0.016615978139765366,0.0050410143876537805,0.011978286668317743]},{"name":"camera_3","offset_m":[0.008536186873025344,-0.00023904162178817537,-0.0006119980216169295]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015129898860915727,0.0016307040419681848,0.0006323920169148136],"end_effector_yaw_offset_degrees":0.9827303263864728},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008414795199617191,-0.0016178090181638654,-0.0006338050379940524],"end_effector_yaw_offset_degrees":-0.7125727135310447},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001985296221271007,0.0018797415872790894,-0.0017266677877683892],"end_effector_yaw_offset_degrees":-0.7302466500684563}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-2.6495694532734787e-05,-0.004754339658985609],"position_m":[0.24137350430546728,0.2182456603410144,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017219065510508513,0.0011146575270240475],"position_m":[0.17322190655105085,-0.11508534247297594,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002067675865584355,0.0038023778360629307],"position_m":[0.33543232413441565,0.07370237783606294,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023386819537017135,0.004040870921158276],"position_m":[0.2600386819537017,-0.4041591290788417,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fbc5587ea772d63f553fdfb4b2cbc54bd31d6b5bd1ccb12d72c0dc20ae24cca7","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6728/tex_ceiling_textures_1784/tex_floor_textures_4003/tex_table_textures_2968/tex_wall_textures_1723","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8552554264612639880,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8552554264612639880,"visual_seed":8552554264612639880,"scene_id":"lab_003","finished_at":"2026-09-03T08:34:27"} +{"episode_id":"ep_000027","started_at":"2026-09-03T08:34:30","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.5118743397524392,0.49171536741777544,0.71338606911949],"aabb_xy":[[-0.5618743383983604,0.4417958237583131],[-0.46187434110651804,0.5416349110772378]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.2627245420464211,0.9554061566579515,0.71338606911949],"aabb_xy":[[-0.29704081922103903,0.9054061566847736],[-0.22840826487180316,1.0054061566311292]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.5816779758410457,1.7643563251299592,0.71338606911949],"aabb_xy":[[0.5466779744895639,1.7439965891731384],[0.6166779771925274,1.78471606108678]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.20320268479773845,-0.9328599376895208,0.71338606911949],"aabb_xy":[[-0.2572182810796384,-0.9968599405817778],[-0.14918708851583842,-0.8688599347972635]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.3103254331084466,-1.7526839323893435,0.71338606911949],"aabb_xy":[[0.24632542988980877,-1.799407044288352],[0.3743254363270845,-1.7059608204903354]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.23747170878543844,-1.419226104422709,0.71338606911949],"aabb_xy":[[0.15747788520688025,-1.4992261070155506],[0.31746553236399666,-1.3392261018298675]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.5457858823604107,0.6790241711504867,0.71338606911949],"aabb_xy":[[0.48178588068241324,0.6305067796711725],[0.6097858840384079,0.727541562629801]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.21280059935848894,0.3120781558024248,0.71338606911949],"aabb_xy":[[-0.23030059849285606,0.30219852876483694],[-0.1953006002241217,0.3219577828400126]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.24419582217407654,1.5032709021633859,0.71338606911949],"aabb_xy":[[-0.32791804767415894,1.41327089862869],[-0.16047359667399402,1.5932709056980818]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.6055515829698629,-1.2059442290072853,0.71338606911949],"aabb_xy":[[-0.6125918929033999,-1.2859442284069569],[-0.5985112730363259,-1.125944229607614]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.5932030853291306,-2.452398383872494,0.71338606911949],"aabb_xy":[[0.5292030880434819,-2.4939051028253383],[0.6572030826147792,-2.4108916649196503]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.6524212211490319,-1.5300536650793195,0.71338606911949],"aabb_xy":[[0.634921221870945,-1.5473917651456652],[0.6699212204271188,-1.5127155650129733]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.027915805574617925,-0.3764197345193283,0.71338606911949],"aabb_xy":[[-0.051197647772749266,-0.4614197358165564],[-0.004633963376486589,-0.29141973322210024]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.2747111119364349,-0.4680869643658383,0.71338606911949],"aabb_xy":[[-0.3091734593345766,-0.5025808467636609],[-0.240248764538293,-0.43359308196801555]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.5772300159606025,1.027748649487036,0.71338606911949],"aabb_xy":[[0.5072300141518571,1.0063948807228487],[0.647230017769348,1.0491024182512234]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[0.616192841709736,-0.7979688709031774,0.71338606911949],"aabb_xy":[[0.6120768915976632,-0.8020844259360229],[0.6203087918218085,-0.7938533158703318]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.41789057166806476,-1.2608584345643423,0.71338606911949],"aabb_xy":[[0.3835936606503241,-1.2951553207742834],[0.45218748268580533,-1.2265615483544008]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.49271676322755464,1.5174390732035365,0.71338606911949],"aabb_xy":[[0.48875627945782035,1.509771208618016],[0.49667724699728905,1.5251069377890571]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.3321419180406866,1.7148849289476682,0.71338606911949],"aabb_xy":[[0.27701671241109577,1.6548849275063808],[0.3872671236702773,1.7748849303889551]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.4883518119793038,-1.4815276694515127,0.71338606911949],"aabb_xy":[[-0.5433472897999632,-1.5365276708854196],[-0.43335633415864433,-1.4265276680176058]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.5400025116767364,-1.435745019949477,0.71338606911949],"aabb_xy":[[0.5273998125396598,-1.4483404161743425],[0.5526052108138128,-1.4231496237246115]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.632109051291839,1.3641375829198568,0.71338606911949],"aabb_xy":[[0.6068882144319993,1.3389138320669698],[0.6573298881516786,1.3893613337727433]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[0.4447806722650276,1.3761292790424045,0.71338606911949],"aabb_xy":[[0.4384685727286892,1.3703623397891853],[0.4510927718013661,1.3818962182956231]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.5683824129350781,0.8597022632372688,0.71338606911949],"aabb_xy":[[-0.6323824132090564,0.8096361630399809],[-0.5043824126611,0.9097683634345568]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[0.6498926864988888,-1.1810610791898029,0.71338606911949],"aabb_xy":[[0.6445601718442758,-1.1863854074350384],[0.6552252011535019,-1.1757367509445673]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.711691890178459,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5822.png","name":"5822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5822.png","name":"5822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/343.png","name":"343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8508.png","name":"8508"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9466.png","name":"9466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6006.png","name":"6006"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":839.1101583776078,"rotation_z_degrees":191.77835044350076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01570162400341964,-0.012763044781985852,0.006541278388179025]},{"name":"camera_2","offset_m":[0.0013465297471175648,-0.00193592071168798,0.004948208391353792]},{"name":"camera_3","offset_m":[0.0046516868419566836,-0.014068292222775858,0.01445842358041623]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006261826709872552,0.0012094420790151068,0.0006590399773282445],"end_effector_yaw_offset_degrees":0.7576094778137086},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019801931128933213,0.001602992404263291,-0.001138936540896931],"end_effector_yaw_offset_degrees":-0.5341535744462789},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00025449647395039054,-0.000762711955779702,0.0012156767537859713],"end_effector_yaw_offset_degrees":-0.3310037962843957}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003686500240447672,2.45116729413377e-05],"position_m":[0.24508650024044767,0.22302451167294135,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004986023033164274,-0.004082608516853221],"position_m":[0.16651397696683573,-0.12028260851685321,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026016479971799613,0.00464927502758167],"position_m":[0.34010164799717996,0.07454927502758167,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023552323909140447,0.00019216952125716488],"position_m":[0.26005523239091405,-0.40800783047874284,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6989425574e22acc33e6aa4f210564edcaa41fca2f575adfa7151ce02c53e0a0","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5822/tex_ceiling_textures_6006/tex_floor_textures_9466/tex_table_textures_343/tex_wall_textures_8508","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3031194472524274041,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3031194472524274041,"visual_seed":3031194472524274041,"scene_id":"lab_003","finished_at":"2026-09-03T08:37:05"} +{"episode_id":"ep_000028","started_at":"2026-09-03T08:37:09","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.3959226254581149,1.4524580350616358,0.71338606911949],"aabb_xy":[[-0.43051370831216007,1.3874580347766048],[-0.36133154260406963,1.517458035346667]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.4503883430871196,-0.10109209849492462,0.71338606911949],"aabb_xy":[[0.4391432875165017,-0.11233389621901992],[0.4616333986577374,-0.08985030077082935]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.5528912710506246,0.9403921779542461,0.71338606911949],"aabb_xy":[[0.4728912696204973,0.8608750229416366],[0.6328912724807517,1.0199093329668556]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.4899927944655018,0.4806922282992705,0.71338606911949],"aabb_xy":[[-0.5060547219240192,0.3956922264866787],[-0.47393086700698406,0.5656922301118623]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.6814638823360093,-0.022317260961527197,0.71338606911949],"aabb_xy":[[0.6510657712368656,-0.0527241629631967],[0.7118619934351528,0.008089641040142313]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.42184606703869343,-2.365765249694939,0.71338606911949],"aabb_xy":[[0.38840589184267377,-2.399208875525869],[0.455286242234713,-2.3323216238640083]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.27484711355464597,-0.77779802358467,0.71338606911949],"aabb_xy":[[0.2547887019414057,-0.7978631104938275],[0.29490552516788626,-0.7577329366755124]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.6722323691668664,0.4031739446583682,0.71338606911949],"aabb_xy":[[0.668271885397132,0.3955060800728476],[0.6761928529366007,0.4108418092438888]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.38474791567755573,-2.1266769560211904,0.71338606911949],"aabb_xy":[[0.2950608393694402,-2.2166769562756405],[0.47443499198567113,-2.0366769557667395]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.011882733068964146,1.6065052263424406,0.71338606911949],"aabb_xy":[[-0.07587843046406073,1.542505228041732],[0.05211296432613244,1.6705052246431493]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.06280238028187701,-1.7770197054849608,0.71338606911949],"aabb_xy":[[-0.007197621526868425,-1.7983734742491484],[0.13280238209062245,-1.7556659367207736]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.4989037342480439,-2.317016039190138,0.71338606911949],"aabb_xy":[[-0.506606924922121,-2.324725409888876],[-0.4912005435739668,-2.3093066684914]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.45258903386500776,-0.6451700497216453,0.71338606911949],"aabb_xy":[[-0.48821818976496745,-0.6808027164784982],[-0.41695987796504796,-0.6095373829647923]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.3175905941411635,-0.43962768037209754,0.71338606911949],"aabb_xy":[[-0.3603573010205837,-0.5036276837939],[-0.27482388726174334,-0.3756276769502951]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.4145448842122488,1.0279812862437083,0.71338606911949],"aabb_xy":[[-0.4218272005889124,0.937981282634199],[-0.40726256783558507,1.1179812898532169]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.6081013931257155,-1.7711671054787157,0.71338606911949],"aabb_xy":[[-0.6721013924198838,-1.83515324584757],[-0.5441013938315473,-1.7071809651098615]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.5318610001713899,-1.1995329027457067,0.71338606911949],"aabb_xy":[[0.5236464550557058,-1.2082094930433476],[0.5400755452870738,-1.190856312448065]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.32447652470796307,-1.6701898991825639,0.71338606911949],"aabb_xy":[[0.27667035709419435,-1.7351899018896226],[0.37228269232173167,-1.6051898964755047]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.4310802545578729,-1.1037499792438212,0.71338606911949],"aabb_xy":[[0.38108025319698563,-1.1537278838192369],[0.4810802559187601,-1.0537720746684056]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.3573991427429293,0.10050674002033855,0.71338606911949],"aabb_xy":[[-0.3748298578219358,0.08323462535648773],[-0.33996842766392277,0.11777885468418936]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[0.14166477834572677,1.4177388426545883,0.71338606911949],"aabb_xy":[[0.086539572716136,1.357738841213301],[0.19678998397531755,1.4777388440958752]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.5943570454290136,-1.0571811605222485,0.71338606911949],"aabb_xy":[[-0.6443399956164928,-1.107181160164809],[-0.5443740952415341,-1.0071811608796881]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.2777846979690759,-0.607905008313913,0.71338606911949],"aabb_xy":[[-0.2838217109697407,-0.6139317093828613],[-0.27174768496841123,-0.6018783072449649]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.29899478442473737,1.034732444184725,0.71338606911949],"aabb_xy":[[0.23399478346761013,0.9827842322510195],[0.3639947853818645,1.0866806561184306]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.06965001822514005,0.3164426058473384,0.71338606911949],"aabb_xy":[[-0.10668412765319975,0.2820653985136289],[-0.032615908797080324,0.3508198131810478]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[-0.6473412945812511,0.664770416148619,0.71338606911949],"aabb_xy":[[-0.6692499767206022,0.6428697493285281],[-0.6254326124419001,0.6866710829687096]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[-0.48519878577643555,1.721295999920224,0.71338606911949],"aabb_xy":[[-0.49389674806715084,1.7091710256127493],[-0.47650082348572026,1.7334209742276987]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[-0.5300024753737421,0.6587840577400317,0.71338606911949],"aabb_xy":[[-0.5401554909278913,0.6227145161672911],[-0.5198494598195925,0.6948535993127718]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[0.3229206661365043,-0.5989734192464138,0.71338606911949],"aabb_xy":[[0.30042424470264023,-0.6214734190531612],[0.34541708757036843,-0.5764734194396663]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[0.4127485000963671,-0.8700223897035897,0.71338606911949],"aabb_xy":[[0.3938641163278569,-0.8889083144839425],[0.4316328838648773,-0.8511364649232369]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_30","position":[-0.006852207955477918,1.489962980717261,0.71338606911949],"aabb_xy":[[-0.04435220845283616,1.4859942971691424],[0.030647792541880325,1.4939316642653795]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[0.5220536317107087,0.5228222004185348,0.71338606911949],"aabb_xy":[[0.5119719246321351,0.44282220252642],[0.5321353387892821,0.6028221983106493]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_32","position":[0.27322560245502603,0.825704371295918,0.71338606911949],"aabb_xy":[[0.23822560414433058,0.8179893563723724],[0.3082256007657215,0.8334193862194637]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_33","position":[0.4505927623165962,0.7504550897644244,0.71338606911949],"aabb_xy":[[0.41379812919168996,0.7135492146678423],[0.4873873954415025,0.7873609648610068]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_34","position":[0.6165000245882044,-2.321544754179479,0.71338606911949],"aabb_xy":[[0.5365000235150841,-2.3313228005168636],[0.6965000256613247,-2.3117667078420947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7070714714712029,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8260.png","name":"8260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8260.png","name":"8260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7811.png","name":"7811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6769.png","name":"6769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1736.png","name":"1736"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":781.0673417358039,"rotation_z_degrees":340.4055769961366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006550052985351572,0.012582123901188385,0.008591630099011469]},{"name":"camera_2","offset_m":[-0.003489446165821041,-0.00019785642701567602,0.018383769375494467]},{"name":"camera_3","offset_m":[-0.00997622165475935,-0.01768965292644134,0.016224387011088148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002584458915860224,-0.0010283665776216235,0.0009369514374865853],"end_effector_yaw_offset_degrees":-0.9717825779403859},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007966106986241988,0.001846271833721364,-0.0009532162197785072],"end_effector_yaw_offset_degrees":0.6808665099688898},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006796222666580233,-0.001708738260779949,0.0016634432910299125],"end_effector_yaw_offset_degrees":-0.9141185758036903}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009403494690172435,-0.004962740205126846],"position_m":[0.24045965053098275,0.21803725979487315,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007033932465660966,-0.002664753159877815],"position_m":[0.17079660675343392,-0.11886475315987781,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003000797478795544,0.001158799477476844],"position_m":[0.33449920252120446,0.07105879947747684,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001882032230974733,0.002196489194512886],"position_m":[0.25581796776902527,-0.40600351080548713,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fe88c2573f5ff85ca542e1301006ba7f273fa9454b579f8f9c49f1e3ab47a087","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8260/tex_ceiling_textures_1736/tex_floor_textures_6769/tex_table_textures_4138/tex_wall_textures_7811","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1528305430674068578,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1528305430674068578,"visual_seed":1528305430674068578,"scene_id":"lab_003","finished_at":"2026-09-03T08:39:50"} +{"episode_id":"ep_000029","started_at":"2026-09-03T08:39:53","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.0862454433763008,-2.003135542352265,0.71338606911949],"aabb_xy":[[0.03911606437446512,-2.0671355433966667],[0.13337482237813647,-1.9391355413078628]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.6794645231309964,0.014772875784354156,0.71338606911949],"aabb_xy":[[-0.691931881240732,0.002307551151030653],[-0.6669971650212607,0.02723820041767766]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[-0.5669331779843655,-2.4411138993080903,0.71338606911949],"aabb_xy":[[-0.6004123452454064,-2.4745930126791977],[-0.5334540107233245,-2.4076347859369838]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.058429088152103126,-1.7529723740173246,0.71338606911949],"aabb_xy":[[-0.062342961347525636,-1.7617213894238812],[-0.05451521495668059,-1.7442233586107676]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.25603597725585514,-1.7745791631218273,0.71338606911949],"aabb_xy":[[0.23893389929748693,-1.7916859686530973],[0.27313805521422324,-1.7574723575905578]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.4722452420709644,0.7899223391694479,0.71338606911949],"aabb_xy":[[0.39224524348364503,0.7106067372312869],[0.5522452406582838,0.8692379411076087]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.6105004262078533,-2.052542792803893,0.71338606911949],"aabb_xy":[[0.5801023151087097,-2.082949694805562],[0.6408985373069969,-2.022135890802223]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.4338580057081822,-0.4546610088503442,0.71338606911949],"aabb_xy":[[0.41618237511958384,-0.47234122512974686],[0.4515336362967805,-0.43698079257094136]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.08683060393783193,-1.4150996431968008,0.71338606911949],"aabb_xy":[[-0.13680941244814782,-1.4650996432025196],[-0.03685179542751604,-1.365099643191082]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.3756862425344426,-1.9302848132612174,0.71338606911949],"aabb_xy":[[-0.43568624417736446,-1.9822849625531618],[-0.31568624089152075,-1.8782846639692734]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.5611869664853583,-1.8959162967286987,0.71338606911949],"aabb_xy":[[-0.6251869629126802,-1.9430859205507955],[-0.49718697005803636,-1.8487466729066027]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.3041045152001513,-0.3958534300260981,0.71338606911949],"aabb_xy":[[-0.3681045168781486,-0.44437082150541224],[-0.2401045135221539,-0.3473360385467838]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.542589211341016,-1.1736342783669402,0.71338606911949],"aabb_xy":[[-0.5975892109627619,-1.228617971154413],[-0.48758921171927017,-1.1186505855794675]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.6089339431231935,0.9930088614113131,0.71338606911949],"aabb_xy":[[0.5289339461601543,0.9159332197675394],[0.6889339400862327,1.0700845030550863]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.6509563428128282,-0.703607687197692,0.71338606911949],"aabb_xy":[[0.5869563464172551,-0.7675709756164255],[0.7149563392084013,-0.6396443987789584]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.5308105345450995,1.6221172488582085,0.71338606911949],"aabb_xy":[[0.5199589282962238,1.6112579581305575],[0.541662140793975,1.6329765395858595]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.5778156001505139,0.09225928563388486,0.71338606911949],"aabb_xy":[[-0.6010974423486452,0.0072592843366568035],[-0.5545337579523825,0.17725928693111292]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.3199717045576327,-1.1970792578050846,0.71338606911949],"aabb_xy":[[0.2829375951295729,-1.2314564651387938],[0.35700581398569237,-1.162702050471375]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.4106558490776133,-1.410610084900687,0.71338606911949],"aabb_xy":[[0.39307754688866636,-1.428184574474792],[0.42823415126656006,-1.393035595326582]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.546217079692275,-1.6000611903049005,0.71338606911949],"aabb_xy":[[-0.6102170782788473,-1.647068153704409],[-0.4822170811057024,-1.5530542269053915]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.3599076119248834,1.0885306233401892,0.71338606911949],"aabb_xy":[[0.32613205273419044,1.0744921281270243],[0.3936831711155764,1.1025691185533542]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.052442852067959844,-0.3972809342075889,0.71338606911949],"aabb_xy":[[-0.08744285196397872,-0.40565516971952886],[-0.017442852171940974,-0.388906698695649]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.5614651257640664,-1.0027494206838667,0.71338606911949],"aabb_xy":[[0.4714651263456955,-1.0361249175280565],[0.6514651251824373,-0.969373923839677]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.06166718809028959,-0.057717498835148984,0.71338606911949],"aabb_xy":[[-0.07302892274357574,-0.06908596524143706],[-0.05030545343700342,-0.0463490324288609]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.6144088148963383,1.091368288885207,0.71338606911949],"aabb_xy":[[-0.623826289466201,1.081952111747488],[-0.6049913403264755,1.100784466022926]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[0.11447715172020423,1.4608309392165189,0.71338606911949],"aabb_xy":[[0.09319914357673195,1.3958309368904456],[0.13575515986367645,1.5258309415425917]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.6759669392686161,-0.06807659723367898,0.71338606911949],"aabb_xy":[[0.660804066291679,-0.08324205452879774],[0.6911298122455531,-0.052911139938560225]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.5241754116473929,-0.31415053299355833,0.71338606911949],"aabb_xy":[[0.46918316101188207,-0.36915053473687115],[0.579167662282904,-0.2591505312502456]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.3185964365558455,-1.045707012925311,0.71338606911949],"aabb_xy":[[-0.32739849186481823,-1.05351833908024],[-0.3097943812468728,-1.037895686770382]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_29","position":[-0.22047712582746698,0.594590861125782,0.71338606911949],"aabb_xy":[[-0.2549394732256087,0.560096978727959],[-0.18601477842932512,0.6290847435236044]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[0.032229154157572104,-0.7073848525909952,0.71338606911949],"aabb_xy":[[-0.005270846014299835,-0.7400855879739022],[0.06972915432944404,-0.6746841172080879]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[0.3623068287480371,-1.5926237908183891,0.71338606911949],"aabb_xy":[[0.2983068265276301,-1.6369968749436774],[0.42630683096844413,-1.5482507066931008]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_32","position":[0.10734197196252326,-2.2062276619536476,0.71338606911949],"aabb_xy":[[0.05221676633293249,-2.2662276633949343],[0.16246717759211404,-2.14622766051236]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_33","position":[0.5887767081571216,-0.5174707958780465,0.71338606911949],"aabb_xy":[[0.5087767109975463,-0.5290183968358635],[0.6687767053166969,-0.5059231949202294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7116669763515557,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5641.png","name":"5641"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5641.png","name":"5641"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6129.png","name":"6129"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1401.png","name":"1401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8726.png","name":"8726"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2511.png","name":"2511"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":699.2356743849075,"rotation_z_degrees":83.09073012817353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01548668761143115,-0.0033632843867370706,0.019719129276016833]},{"name":"camera_2","offset_m":[0.00122300683546216,-0.0020508523084602215,-0.013309314053024233]},{"name":"camera_3","offset_m":[0.01749790510453726,0.01803314626804604,0.012550086739117696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016999575460210753,0.0017290269302424788,-0.0013889983477035877],"end_effector_yaw_offset_degrees":0.9286885667883293},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001515912422490996,0.001218346453064434,0.0019434894083865282],"end_effector_yaw_offset_degrees":0.5980349010529906},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009164737293135576,0.0009230903197846091,-0.0018879403395101906],"end_effector_yaw_offset_degrees":0.8759511177574069}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000837006909311995,-0.00011577816974961842],"position_m":[0.24056299309068802,0.2228842218302504,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001510218841001788,-0.0011922107006714735],"position_m":[0.16998978115899824,-0.11739221070067148,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004286458876704661,-0.0015549294638281344],"position_m":[0.34178645887670467,0.06834507053617186,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028758782492969833,0.0009808060034909903],"position_m":[0.26057587824929695,-0.407219193996509,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"64726ede62c5801d4bea5586bd338b9391510dc74e0ccda54efbc7268b131e79","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5641/tex_ceiling_textures_2511/tex_floor_textures_8726/tex_table_textures_6129/tex_wall_textures_1401","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":9061353780748173908,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":9061353780748173908,"visual_seed":9061353780748173908,"scene_id":"lab_003","finished_at":"2026-09-03T08:42:33"} +{"episode_id":"ep_000030","started_at":"2026-09-03T08:42:35","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.3655551277506911,-1.8180500824887393,0.71338606911949],"aabb_xy":[[-0.3729675832920795,-1.8239012929103673],[-0.35814267220930257,-1.8121988720671114]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.32882447434464424,-0.6721491346043238,0.71338606911949],"aabb_xy":[[0.2913244739964164,-0.6839405301854072],[0.36632447469287194,-0.6603577390232401]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.40382602900749065,-2.1365593849208278,0.71338606911949],"aabb_xy":[[0.3999121558120681,-2.1453084003273846],[0.4077399022029132,-2.127810369514271]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.2773179292534557,-2.355704556267466,0.71338606911949],"aabb_xy":[[-0.29165235437961917,-2.3677647718220047],[-0.26298350412729227,-2.3436443407129275]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[0.09456157501359785,-2.054103538082236,0.71338606911949],"aabb_xy":[[0.056015882188396836,-2.0926493091384244],[0.1331072678387989,-2.015557767026047]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.05374962849315956,-0.7520580122753386,0.71338606911949],"aabb_xy":[[0.046708177542411966,-0.7590847640131332],[0.06079107944390716,-0.7450312605375441]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.18463681442910274,-1.628839075571095,0.71338606911949],"aabb_xy":[[-0.2396368140508486,-1.683822768358568],[-0.12963681480735692,-1.5738553827836226]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.49113220337224206,-0.2867199443312902,0.71338606911949],"aabb_xy":[[-0.571132203645849,-0.35966949215700694],[-0.4111322030986351,-0.21377039650557353]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.24703596879464307,0.7215659694286098,0.71338606911949],"aabb_xy":[[0.24292001868257038,0.7174504143957643],[0.25115191890671573,0.7256815244614554]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.4917624936157887,-1.4060883088783636,0.71338606911949],"aabb_xy":[[0.42676249505871594,-1.4358408422922464],[0.5567624921728616,-1.3763357754644812]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.40292729122036053,-1.706380524890816,0.71338606911949],"aabb_xy":[[0.38948076458631714,-1.719850376543907],[0.4163738178544038,-1.6929106732377244]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.5499351886475432,0.061783483148537766,0.71338606911949],"aabb_xy":[[0.5124351885419501,0.05496132129555665],[0.587435188753136,0.06860564500151889]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.5696562956012652,-2.4766141529147268,0.71338606911949],"aabb_xy":[[-0.6196494077104571,-2.526614153588923],[-0.5196631834920733,-2.4266141522405316]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.28014372775608787,-1.035363763011852,0.71338606911949],"aabb_xy":[[-0.3401437283521041,-1.0901762355570754],[-0.22014372716007174,-0.9805512904666285]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.0709193827687804,1.42447572302792,0.71338606911949],"aabb_xy":[[-0.134915080163877,1.3604757247272112],[-0.006923685373683819,1.4884757213286286]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.30814922187508137,-2.0797745335469093,0.71338606911949],"aabb_xy":[[-0.31299281663631134,-2.0846261860258934],[-0.3033056271138514,-2.074922881067925]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.4863213221987003,-1.318136938954626,0.71338606911949],"aabb_xy":[[-0.508493849175351,-1.3403126061107489],[-0.4641487952220494,-1.2959612717985027]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.09764998995138308,-1.841790648551373,0.71338606911949],"aabb_xy":[[0.08679838370250748,-1.852649939279024],[0.10850159620025868,-1.830931357823722]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[0.00992221152574424,0.7068544149101759,0.71338606911949],"aabb_xy":[[-0.0013228440448735963,0.6956126171860806],[0.021167267096362075,0.7180962126342711]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.5772613582251351,-0.9560172301585106,0.71338606911949],"aabb_xy":[[-0.6322536088606461,-1.0110172319018234],[-0.5222691075896242,-0.9010172284151979]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.4436959863831637,0.1800048634117788,0.71338606911949],"aabb_xy":[[-0.466195986393312,0.1659086437721755],[-0.4211959863730154,0.19410108305138207]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.10374562478074711,-2.3931595083633095,0.71338606911949],"aabb_xy":[[0.03374562297200169,-2.4145132771274973],[0.17374562658949255,-2.3718057395991226]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.5748693700382328,0.6723955248189886,0.71338606911949],"aabb_xy":[[0.5559849862697227,0.6535096000386359],[0.5937537538067431,0.6912814495993415]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.6434929980432047,0.8282463593521578,0.71338606911949],"aabb_xy":[[0.618946782420454,0.7979974628031208],[0.6680392136659554,0.8584952559011949]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7070580456160079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3456.png","name":"3456"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3456.png","name":"3456"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5244.png","name":"5244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9951.png","name":"9951"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5511.png","name":"5511"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":694.9860329788262,"rotation_z_degrees":351.2348153071556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01134439743659771,-0.0011944676822024589,-0.016499426624941686]},{"name":"camera_2","offset_m":[-0.0021622715081676576,-0.011872967780473215,0.009050309392627819]},{"name":"camera_3","offset_m":[0.006352758319864479,0.01808347582207134,0.016865379657228254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001605653557553731,0.00031613575943881733,0.0017496403388360805],"end_effector_yaw_offset_degrees":-0.4943519408357844},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006117111948953325,-0.0017209908606115563,0.0017241588708289952],"end_effector_yaw_offset_degrees":-0.19790447449135184},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016385253558472744,-0.0009830588238195382,-0.00010058017757534729],"end_effector_yaw_offset_degrees":0.13664705586794268}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010986030631080488,-0.003910831628051332],"position_m":[0.24030139693689195,0.21908916837194867,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001447592942979674,0.000639672689908762],"position_m":[0.17005240705702035,-0.11556032731009123,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027366420488023676,0.0004887900379214431],"position_m":[0.3402366420488024,0.07038879003792145,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005057945632714229,0.004189304116869787],"position_m":[0.25719420543672855,-0.4040106958831302,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"13ad8796a331a38a5748738d8a086b383e18de4e5196d174d44770c0f0289e10","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3456/tex_ceiling_textures_5511/tex_floor_textures_8437/tex_table_textures_5244/tex_wall_textures_9951","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2195908566321242046,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2195908566321242046,"visual_seed":2195908566321242046,"scene_id":"lab_003","finished_at":"2026-09-03T08:45:15"} +{"episode_id":"ep_000031","started_at":"2026-09-03T08:45:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.29965583528581874,1.3920593291489909,0.71338606911949],"aabb_xy":[[0.23465583432869155,1.3401111172152853],[0.36465583624294595,1.4440075410826965]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.47770520367518554,-0.1253046674043432,0.71338606911949],"aabb_xy":[[-0.5677052001760572,-0.17121630982280142],[-0.3877052071743138,-0.07939302498588495]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.5580694577364458,1.5722274923142217,0.71338606911949],"aabb_xy":[[-0.5724038828626092,1.5601672767596828],[-0.5437350326102823,1.5842877078687605]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.14406100869048677,0.9992101780361176,0.71338606911949],"aabb_xy":[[0.06406101167623879,0.9790756263627063],[0.22406100570473475,1.0193447297095288]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.6491072131911877,0.7477237462110162,0.71338606911949],"aabb_xy":[[-0.6769522499717948,0.7169392474727044],[-0.6212621764105806,0.7785082449493278]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.10751746237383641,-2.0305235394543466,0.71338606911949],"aabb_xy":[[0.1026181700672729,-2.058200458756915],[0.1124167546803999,-2.0028466201517774]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.274121938348493,-0.8248025856589418,0.71338606911949],"aabb_xy":[[-0.30041076266893363,-0.851074019313593],[-0.24783311402805233,-0.7985311520042906]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.12871103460800293,-0.09064095131111793,0.71338606911949],"aabb_xy":[[-0.1927110331945754,-0.13764791471062665],[-0.06471103602143047,-0.043633987911609204]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.16680200813077806,-1.3746213388612794,0.71338606911949],"aabb_xy":[[0.12180200666454924,-1.41962119572276],[0.21180200959700696,-1.3296214819997987]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.12197120275425022,1.417175911427249,0.71338606911949],"aabb_xy":[[-0.1590053121823099,1.3827987040935394],[-0.0849370933261905,1.4515531187609583]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.27298934937169145,1.3376500782515444,0.71338606911949],"aabb_xy":[[-0.3329893496230926,1.2833687532150797],[-0.21298934912029027,1.391931403288009]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.5655404564724651,-2.381938532877332,0.71338606911949],"aabb_xy":[[-0.5801838620264981,-2.3965972525341157],[-0.5508970509184321,-2.3672798132205473]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.2703501882090368,0.5807184578412197,0.71338606911949],"aabb_xy":[[0.24785018796552144,0.5685138231814478],[0.29285018845255223,0.5929230925009917]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[-0.4493540682204574,0.521178105735256,0.71338606911949],"aabb_xy":[[-0.46059912379107526,0.5099363080111609],[-0.4381090126498396,0.5324199034593514]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.06507173990338366,1.6915269153288057,0.71338606911949],"aabb_xy":[[-0.07387379521235636,1.6837155891738764],[-0.056269684594410944,1.6993382414837346]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.35372403589308726,1.2237646387117667,0.71338606911949],"aabb_xy":[[-0.364135594573571,1.218418905375868],[-0.34331247721260355,1.2291103720476648]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.37301174521567104,-2.3983145479154073,0.71338606911949],"aabb_xy":[[-0.4034959953427012,-2.4483145476969033],[-0.3425274950886409,-2.3483145481339114]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.6284310833275181,1.3813384625249432,0.71338606911949],"aabb_xy":[[-0.6364250719052214,1.3733383824298526],[-0.6204370947498146,1.3893385426200333]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.007432410152124813,1.4476169289043388,0.71338606911949],"aabb_xy":[[-0.027567588158570633,1.4399019139807931],[0.04243240846282026,1.4553319438278844]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.22824545920906847,-1.817652424304263,0.71338606911949],"aabb_xy":[[-0.23428247220973322,-1.8236791253732116],[-0.22220844620840377,-1.8116257232353155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7046849023371609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9610.png","name":"9610"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9610.png","name":"9610"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8964.png","name":"8964"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4505.png","name":"4505"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7433.png","name":"7433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8776.png","name":"8776"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":765.2861042715008,"rotation_z_degrees":249.15777917014043,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01810780766246341,0.016039279925822932,0.00779090100873062]},{"name":"camera_2","offset_m":[0.0087585556916327,-0.006596167452723964,0.017816095073883088]},{"name":"camera_3","offset_m":[0.0009503767682523499,0.013927375410357778,0.012869977062323627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012327131348492952,0.0010074631744023794,-0.0014340463411495722],"end_effector_yaw_offset_degrees":-0.24799945751767094},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005857289091864136,-0.0019940108185522334,0.0011255154474051256],"end_effector_yaw_offset_degrees":0.8357341672419705},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019940689527907698,0.0007464472001142337,-0.0004245460317213179],"end_effector_yaw_offset_degrees":0.75741494630434}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002331327203096615,0.00423556701078905],"position_m":[0.2390686727969034,0.22723556701078906,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011184427810902375,-0.001722779411201194],"position_m":[0.17038155721890977,-0.11792277941120119,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009710242752136531,0.0002069117715509652],"position_m":[0.3384710242752137,0.07010691177155097,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003381921083871502,0.004214979123994256],"position_m":[0.2543180789161285,-0.40398502087600574,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9f10557a70868554f10b7f413815ef7732fc53f0abde580adad9e29fe56d024d","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9610/tex_ceiling_textures_8776/tex_floor_textures_7433/tex_table_textures_8964/tex_wall_textures_4505","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":126770505978087660,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":126770505978087660,"visual_seed":126770505978087660,"scene_id":"lab_003","finished_at":"2026-09-03T08:47:58"} +{"episode_id":"ep_000032","started_at":"2026-09-03T08:48:01","dimensions":{"distractor":{"count":21,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.5159621485075492,0.11035513305875577,0.71338606911949],"aabb_xy":[[-0.5397983661481542,0.020355132250269307],[-0.4921259308669441,0.2003551338672423]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.0623835589889854,-0.9185067086501428,0.71338606911949],"aabb_xy":[[-0.08760439584882505,-0.9437304595030297],[-0.037162722129145724,-0.8932829577972562]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.4214524454406683,-0.3997941554087938,0.71338606911949],"aabb_xy":[[0.40822149990598694,-0.4130215744307932],[0.4346833909753495,-0.38656673638679434]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.12091140293745761,-1.6224473250684661,0.71338606911949],"aabb_xy":[[-0.17090623586539921,-1.6724473239637099],[-0.070916570009516,-1.5724473261732228]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.03559811749924313,1.0588735736970878,0.71338606911949],"aabb_xy":[[0.025186558818759412,1.0535278403611894],[0.04600967617972684,1.0642193070329862]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[0.5510811165474128,-0.9701232106663789,0.71338606911949],"aabb_xy":[[0.5049960252926812,-1.034123207918934],[0.5971662078021441,-0.9061232134138238]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.1863426010676562,1.2816939153424363,0.71338606911949],"aabb_xy":[[-0.22134259937835166,1.2739789004188906],[-0.15134260275696076,1.289408930265982]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.09057795096196719,-0.10623342535865143,0.71338606911949],"aabb_xy":[[-0.10135092488333497,-0.14123342357769042],[-0.07980497704059941,-0.07123342713961246]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.07865713541868558,1.6575576446705793,0.71338606911949],"aabb_xy":[[0.013657137537037779,1.6064339809640389],[0.14365713330033336,1.7086813083771206]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.26085938702947536,-2.29717880750921,0.71338606911949],"aabb_xy":[[-0.3505464633375908,-2.3871788077636604],[-0.1711723107213599,-2.2071788072547593]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.3750636332344189,1.01893179290458,0.71338606911949],"aabb_xy":[[-0.45878585873450134,0.9289317893698841],[-0.2913414077343364,1.108931796439276]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.144091206022546,-1.0704945343062253,0.71338606911949],"aabb_xy":[[0.059091207605122764,-1.1553688297685105],[0.22909120443996922,-0.9856202388439406]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.6246245786525275,-2.2899077236424015,0.71338606911949],"aabb_xy":[[-0.6614751265895151,-2.327407724465435],[-0.5877740307155399,-2.2524077228193677]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.18805373688401483,-0.7763915234787455,0.71338606911949],"aabb_xy":[[-0.23805301205245102,-0.8263915247546928],[-0.1380544617155787,-0.7263915222027985]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.5792701878447215,-2.291235048064719,0.71338606911949],"aabb_xy":[[0.5448078404465796,-2.3257289304625406],[0.6137325352428632,-2.256741165666895]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.31417422079010904,-1.2810287878164708,0.71338606911949],"aabb_xy":[[-0.3791742189460281,-1.3073250323663832],[-0.24917422263418998,-1.2547325432665588]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.4258412890979453,0.6268380460513909,0.71338606911949],"aabb_xy":[[0.34584129044105927,0.6123331871271283],[0.5058412877548313,0.6413429049756538]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.2097177278432082,0.6780998230729351,0.71338606911949],"aabb_xy":[[0.1520872589559373,0.6180998241462244],[0.267348196730479,0.7380998219996456]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.22089658203141832,-1.0801587777480497,0.71338606911949],"aabb_xy":[[-0.24381229491646828,-1.1030630748844734],[-0.19798086914636848,-1.0572544806116264]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.25001835069236844,-1.4931422940152153,0.71338606911949],"aabb_xy":[[0.22751835018032784,-1.5156341523806134],[0.27251835120440904,-1.4706504356498167]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[-0.50507316786241,-0.7456679590053112,0.71338606911949],"aabb_xy":[[-0.5225731012963932,-0.7631679589255457],[-0.4875732344284265,-0.7281679590850766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7110351880899377,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9760.png","name":"9760"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9760.png","name":"9760"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6533.png","name":"6533"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/823.png","name":"823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1614.png","name":"1614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8901.png","name":"8901"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":582.4518739196349,"rotation_z_degrees":276.0016741565071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0049632991580752205,0.0016334963752551515,0.0037655484888665]},{"name":"camera_2","offset_m":[-0.0058350069557213495,-0.001046808182476086,-0.015234154516725017]},{"name":"camera_3","offset_m":[-0.01763671230893099,0.006068835133817174,-0.007183549168068902]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006636853639967314,0.000533735702300604,-0.001694542700741757],"end_effector_yaw_offset_degrees":-0.8806217311660895},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010235461783821291,-0.0005482433792410456,-0.00011386130929592789],"end_effector_yaw_offset_degrees":0.35371951874471286},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017344602378025163,0.00016195219557379667,0.0009553448798379914],"end_effector_yaw_offset_degrees":-0.9792222990505532}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017423284883652723,-0.0015181454189129961],"position_m":[0.24314232848836528,0.22148185458108702,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000430635758518743,-0.001677138452231366],"position_m":[0.17193063575851875,-0.11787713845223137,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023681681528884167,-0.0025126035083266073],"position_m":[0.33986816815288845,0.0673873964916734,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020097429865185744,-0.004846675764827706],"position_m":[0.2556902570134814,-0.41304667576482773,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3c599b7ab2e97d9f2176493925959b8d9bc66b226b86f246bc8574c14bec4d39","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9760/tex_ceiling_textures_8901/tex_floor_textures_1614/tex_table_textures_6533/tex_wall_textures_823","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1392542952780015278,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1392542952780015278,"visual_seed":1392542952780015278,"scene_id":"lab_003","finished_at":"2026-09-03T08:50:59"} +{"episode_id":"ep_000033","started_at":"2026-09-03T08:52:33","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.26599488920894904,-1.6360711107002888,0.71338606911949],"aabb_xy":[[-0.3359948918455353,-1.6561759756961543],[-0.19599488657236264,-1.6159662457044233]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[-0.17532940491739812,0.35490799317416055,0.71338606911949],"aabb_xy":[[-0.1920065409104936,0.3382080692002302],[-0.1586522689243026,0.37160791714809077]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.10377613379795825,-0.09970225956443723,0.71338606911949],"aabb_xy":[[-0.1614066026852291,-0.15970225849114777],[-0.046145664910687396,-0.03970226063772662]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.002994220517050894,-0.6818624688938331,0.71338606911949],"aabb_xy":[[-0.014505778761035981,-0.6992005689601789],[0.02049421979513777,-0.664524368827487]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.5811612630036673,1.774458156372201,0.71338606911949],"aabb_xy":[[0.5211612624958144,1.7176114226862798],[0.6411612635115203,1.8313048900581224]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.4956993612773559,-2.4646773386608567,0.71338606911949],"aabb_xy":[[0.47380961368841523,-2.5546773359501054],[0.5175891088662967,-2.374677341371607]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[-0.31119782883531794,-1.1548376449747264,0.71338606911949],"aabb_xy":[[-0.3258412343893509,-1.1694963646315104],[-0.29655442328128495,-1.140178925317942]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.3455773522795975,-0.7717511145695795,0.71338606911949],"aabb_xy":[[0.3210637281825916,-0.796015707871616],[0.3700909763766033,-0.7474865212675431]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[-0.09520775027099992,0.8833377245061214,0.71338606911949],"aabb_xy":[[-0.14037906811916892,0.8193377273615831],[-0.05003643242283097,0.9473377216506599]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[0.23372684723265047,0.9031656420230809,0.71338606911949],"aabb_xy":[[0.1837268468720844,0.8531856548134779],[0.28372684759321654,0.9531456292326838]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.6483006238043527,0.7854073631861467,0.71338606911949],"aabb_xy":[[0.5983006224434654,0.7354294586107311],[0.6983006251652398,0.8353852677615623]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.5088635140724938,-0.9581162168503197,0.71338606911949],"aabb_xy":[[0.4720688809475875,-0.9950220919469019],[0.5456581471974,-0.9212103417537374]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.2903426914126414,0.2484496467836177,0.71338606911949],"aabb_xy":[[-0.38034269083101224,0.21507414993942794],[-0.20034269199427046,0.2818251436278074]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.547773782213753,-0.7090799730137876,0.71338606911949],"aabb_xy":[[0.4837737815102837,-0.7550983554867087],[0.6117737829172224,-0.6630615905408666]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.6612789737457991,0.22740180347985683,0.71338606911949],"aabb_xy":[[0.6112789743056034,0.17743387899554047],[0.7112789731859946,0.2773697279641731]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.15600566224223478,-1.1254655264515998,0.71338606911949],"aabb_xy":[[0.1327238200441034,-1.2104655277488277],[0.1792875044403661,-1.0404655251543715]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.47101987832882664,1.500337384855047,0.71338606911949],"aabb_xy":[[-0.4804373528986894,1.4909212077173277],[-0.4616024037589639,1.5097535619927658]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[-0.48994785387351064,-1.077595935807383,0.71338606911949],"aabb_xy":[[-0.5007208277948785,-1.112595934026422],[-0.47917487995214286,-1.042595937588344]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.04815950164894145,1.702495031272211,0.71338606911949],"aabb_xy":[[0.04074704610755298,1.696643820850583],[0.05557195719032993,1.7083462416938389]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.13139174189960445,-0.7632368766091495,0.71338606911949],"aabb_xy":[[-0.14454298787089384,-0.7882368763658362],[-0.11824049592831512,-0.738236876852463]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.4572716089110459,0.41003827156459005,0.71338606911949],"aabb_xy":[[-0.5212716053383678,0.36286864774249367],[-0.393271612483724,0.45720789538668655]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.4935143003897393,-0.325822799320604,0.71338606911949],"aabb_xy":[[-0.5185143003222572,-0.33270546754152736],[-0.4685143004572214,-0.3189401310996807]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7105125421553984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4170.png","name":"4170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4170.png","name":"4170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6035.png","name":"6035"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2885.png","name":"2885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/137.png","name":"137"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":681.1331387616631,"rotation_z_degrees":24.122990247514743,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0048533472320022066,0.007771095804013254,-0.012873272042400479]},{"name":"camera_2","offset_m":[-0.0054649405441047315,-0.01767880608564774,0.009955460553470213]},{"name":"camera_3","offset_m":[-0.01786335250597491,-0.012873561986167506,0.016987125368816077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00032692910850635115,0.0001121289220887842,-0.0007059384405627819],"end_effector_yaw_offset_degrees":-0.07386279073005553},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00041776325031263545,0.0002931218596579155,-0.001824789323081955],"end_effector_yaw_offset_degrees":0.23782295517591656},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010365777767444798,0.0007314420102990859,0.0019597193566656713],"end_effector_yaw_offset_degrees":0.8834682649019849}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004362764273021123,-0.003937661307896373],"position_m":[0.23703723572697888,0.21906233869210362,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005437198298661114,-0.0011294513823946694],"position_m":[0.17204371982986613,-0.11732945138239467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003846506923107719,0.0028167373634596484],"position_m":[0.34134650692310775,0.07271673736345965,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024630404524037443,0.002407677819109579],"position_m":[0.26016304045240374,-0.40579232218089045,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"056307b3109c069d362236ccebdb581541b87c63abe399838c8551c5632923cb","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4170/tex_ceiling_textures_137/tex_floor_textures_2885/tex_table_textures_6035/tex_wall_textures_188","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8418739783576948763,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8418739783576948763,"visual_seed":8418739783576948763,"scene_id":"lab_003","finished_at":"2026-09-03T08:55:13"} +{"episode_id":"ep_000034","started_at":"2026-09-03T08:55:17","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.5585583964750233,-0.49366021060405707,0.71338606911949],"aabb_xy":[[-0.6225583985247554,-0.533754693693365],[-0.49455839442529137,-0.4535657275147491]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.5489034881625692,0.3418331215040782,0.71338606911949],"aabb_xy":[[-0.5535386033148024,0.3379657864269295],[-0.5442683730103357,0.3457004565812268]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[0.46120579982757226,0.38656982513050364,0.71338606911949],"aabb_xy":[[0.45043282590620454,0.35156982691146466],[0.4719787737489401,0.4215698233495426]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.33749337264070745,-1.4119837473307395,0.71338606911949],"aabb_xy":[[0.2999933723485326,-1.416025222731343],[0.37499337293288226,-1.407942271930136]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.46908857871896914,-1.1633924545117216,0.71338606911949],"aabb_xy":[[-0.47965605837706815,-1.1739374846247301],[-0.45852109906087013,-1.152847424398713]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.13886143951372487,-0.732382128169621,0.71338606911949],"aabb_xy":[[0.09667702535289413,-0.7963821284468322],[0.1810458536745556,-0.6683821278924098]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.08512938771764067,-1.2991267557498807,0.71338606911949],"aabb_xy":[[-0.12262938629326148,-1.3118630514134386],[-0.04762938914201987,-1.2863904600863227]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.5075967290328887,-0.14254673258745454,0.71338606911949],"aabb_xy":[[-0.5875967259959277,-0.21962237423122796],[-0.4275967320698494,-0.06547109094368106]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.10652051504565763,-2.0035358046083735,0.71338606911949],"aabb_xy":[[-0.12898528501706275,-2.026035805487234],[-0.08405574507425251,-1.981035803729513]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.5512665027165722,-0.5275783543389183,0.71338606911949],"aabb_xy":[[0.48726650201310295,-0.5735967368118394],[0.6152665034200416,-0.4815599718659974]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.24675230028131595,1.206253323574678,0.71338606911949],"aabb_xy":[[-0.2593549994183924,1.1936579273498125],[-0.2341496011442395,1.2188487197995435]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.3868629619916426,0.8330996480891022,0.71338606911949],"aabb_xy":[[0.35186296064016087,0.8127399121322813],[0.42186296334312434,0.8534593840459229]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.5397149919563764,-1.6240824292417668,0.71338606911949],"aabb_xy":[[-0.5622149917702788,-1.6285570456122473],[-0.517214992142474,-1.6196078128712859]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.3956934506436071,0.807641848584959,0.71338606911949],"aabb_xy":[[-0.4508186562731979,0.7476418471436718],[-0.34056824501401634,0.867641850026246]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.42652058736752907,-2.2588933907696576,0.71338606911949],"aabb_xy":[[0.4043480603908781,-2.2810690579257806],[0.4486931143441798,-2.2367177236135345]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.1723650729305115,-1.136304918892281,0.71338606911949],"aabb_xy":[[-0.22736507255225735,-1.1912886116797539],[-0.11736507330876567,-1.0813212261048084]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.4853179620912256,1.3607915044915866,0.71338606911949],"aabb_xy":[[0.4213179656639037,1.3136218806694901],[0.5493179585185475,1.407961128313683]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.3230741187482771,1.6922680789648674,0.71338606911949],"aabb_xy":[[-0.34807411802023935,1.6759227153687053],[-0.2980741194763148,1.70861344256103]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.4869092499682257,-1.4008856618354921,0.71338606911949],"aabb_xy":[[-0.5319018366866761,-1.4458856611099409],[-0.4419166632497753,-1.3558856625610434]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.032416838662321146,-2.186729638732759,0.71338606911949],"aabb_xy":[[-0.08241683810251677,-2.236697563217075],[0.01758316077787448,-2.1367617142484425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7065444597262146,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8304.png","name":"8304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8304.png","name":"8304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6493.png","name":"6493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3834.png","name":"3834"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8775.png","name":"8775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8497.png","name":"8497"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":729.165629222226,"rotation_z_degrees":328.50826333973595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0052181994673710635,0.010696011828164872,-0.01234068384671105]},{"name":"camera_2","offset_m":[0.011413174700800974,0.013000830583927325,-0.0006304420900566307]},{"name":"camera_3","offset_m":[-0.0170826769348143,-0.008654793055672943,0.01621138680506395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010691984134829067,0.0017473363949824829,-0.001899395941770553],"end_effector_yaw_offset_degrees":-0.25652070671773863},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003532624808894472,0.0007695614325714901,-0.000693674785964625],"end_effector_yaw_offset_degrees":0.43338778842514003},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0001316211052373971,-0.0005784127329102288,-0.0013942056482861525],"end_effector_yaw_offset_degrees":-0.9300102600631259}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009454506888510626,0.004343209393881514],"position_m":[0.24045454931114893,0.22734320939388153,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00023266094548516497,0.0020256221963072217],"position_m":[0.17126733905451486,-0.11417437780369277,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00044644836513072286,-0.002582116804529869],"position_m":[0.3370535516348693,0.06731788319547014,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030887735315971777,0.0013959777372411063],"position_m":[0.2546112264684028,-0.4068040222627589,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"beb53655c8dbb43809574d5f57fae6a3d4475a44aa9d2ed2b3f6505505fa8757","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8304/tex_ceiling_textures_8497/tex_floor_textures_8775/tex_table_textures_6493/tex_wall_textures_3834","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7587561742001900459,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7587561742001900459,"visual_seed":7587561742001900459,"scene_id":"lab_003","finished_at":"2026-09-03T08:57:52"} +{"episode_id":"ep_000035","started_at":"2026-09-03T08:57:55","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.4689169809340564,-2.2936175191155304,0.71338606911949],"aabb_xy":[[-0.47287746470379083,-2.301285383701051],[-0.46495649716432214,-2.2859496545300098]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.548969461190341,1.0800381957907343,0.71338606911949],"aabb_xy":[[-0.5664694604684278,1.0627000957243884],[-0.5314694619122541,1.0973762958570803]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.10682904079471123,0.41571967009965105,0.71338606911949],"aabb_xy":[[-0.1718290419006545,0.39075429703152276],[-0.041829039688767944,0.44068504316777934]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.06564883738636684,1.220993545348744,0.71338606911949],"aabb_xy":[[-0.07327310547654509,1.2133603218122],[-0.0580245692961886,1.2286267688852874]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.01525152392569784,-2.3302407179918934,0.71338606911949],"aabb_xy":[[-0.00833359953819701,-2.3952407202373247],[0.03883664738959269,-2.265240715746461]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.11592597397062465,1.7823172219860024,0.71338606911949],"aabb_xy":[[0.10888452301987706,1.7752904702482082],[0.12296742492137225,1.789343973723797]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.10057538309656233,-1.7087370293542685,0.71338606911949],"aabb_xy":[[-0.1902624594046778,-1.798737029608719],[-0.010888306788446878,-1.618737029099818]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.017776169944901388,-0.9393133469098995,0.71338606911949],"aabb_xy":[[-0.04222383065111479,-0.994125819455123],[0.07777617054091757,-0.8845008743646761]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.3474275770328351,0.9168674561183034,0.71338606911949],"aabb_xy":[[-0.36259045000977225,0.9017019988231848],[-0.3322647040558981,0.9320329134134223]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.3831940060727966,0.4843836146018723,0.71338606911949],"aabb_xy":[[-0.40325241768603687,0.4643185276927147],[-0.3631355944595563,0.5044487015110297]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.6379819286206588,1.4318216335415443,0.71338606911949],"aabb_xy":[[-0.6929819282424048,1.3768379407540714],[-0.5829819289989131,1.4868053263290169]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.2441198766816175,1.0551121495605504,0.71338606911949],"aabb_xy":[[0.15411987300469934,0.9936797429834459],[0.3341198803585357,1.1165445561376546]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.13741933424201913,-2.39161066799826,0.71338606911949],"aabb_xy":[[-0.202419332123667,-2.4427343317048007],[-0.07241933636037139,-2.340487004291719]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.11937675216927524,0.021868456010703863,0.71338606911949],"aabb_xy":[[-0.14128543430862628,-3.221080938686782e-05],[-0.09746807002992418,0.04376912283079459]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.5173235376681649,-1.1247638236362565,0.71338606911949],"aabb_xy":[[0.4798235374962928,-1.1574645590191635],[0.5548235378400367,-1.092063088253349]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.2722133076292428,-1.44871217317822,0.71338606911949],"aabb_xy":[[0.21708810199965203,-1.508712174619507],[0.32733851325883356,-1.3887121717369326]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.3404561223321932,0.06426371503923445,0.71338606911949],"aabb_xy":[[-0.34415938366133203,0.06056169673051658],[-0.33675286100305435,0.06796573334795229]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.3631739810966068,-1.2904038339471398,0.71338606911949],"aabb_xy":[[0.3288770700788662,-1.3247007201570808],[0.39747089211434744,-1.2561069477371982]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.3151009487526898,-2.2908879113128067,0.71338606911949],"aabb_xy":[[-0.3651009497032226,-2.3224370583163276],[-0.265100947802157,-2.259338764309285]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.6753815156428236,-1.0618896872569634,0.71338606911949],"aabb_xy":[[0.670043939976819,-1.0868896881861032],[0.6807190913088281,-1.0368896863278236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7088326337915153,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9150.png","name":"9150"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9150.png","name":"9150"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/301.png","name":"301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8660.png","name":"8660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/392.png","name":"392"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2621.png","name":"2621"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":796.6821732064082,"rotation_z_degrees":46.15514671723897,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01583180040225288,-0.0001406067622660677,0.0192489198202485]},{"name":"camera_2","offset_m":[0.017482658193118037,-0.016795710366948102,0.0068947510052842186]},{"name":"camera_3","offset_m":[0.01822814562022974,0.003858151912566221,0.016035901156652165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009979516470589003,-0.0013570388771617036,0.0016276276234106404],"end_effector_yaw_offset_degrees":0.1820937405284575},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016317467714972475,-0.0017883803571500754,-0.0002045188362808691],"end_effector_yaw_offset_degrees":0.14023202389887124},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017310607713552206,-0.00045023934264374786,0.0013256665868186706],"end_effector_yaw_offset_degrees":-0.19414206679756485}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011192787905425685,-0.003664011953681774],"position_m":[0.24028072120945743,0.21933598804631824,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019233539277484879,-0.0029941420318448644],"position_m":[0.16957664607225154,-0.11919414203184486,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022033526835582595,0.0017019460625874025],"position_m":[0.33529664731644176,0.07160194606258741,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00021543477517203986,0.0021215425498940007],"position_m":[0.25791543477517204,-0.406078457450106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0f8db02f9fe4b4710682e9217823a47de99032f77a7b86658e18253e6efdf6c7","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9150/tex_ceiling_textures_2621/tex_floor_textures_392/tex_table_textures_301/tex_wall_textures_8660","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2611911105582202218,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2611911105582202218,"visual_seed":2611911105582202218,"scene_id":"lab_003","finished_at":"2026-09-03T09:00:55"} +{"episode_id":"ep_000036","started_at":"2026-09-03T09:00:58","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.10728398016126428,-0.8391933030739747,0.71338606911949],"aabb_xy":[[-0.1712839823816713,-0.8835663871992628],[-0.043283977940857254,-0.7948202189486863]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.5974350872861545,-0.5197056111146092,0.71338606911949],"aabb_xy":[[-0.6614307846812509,-0.5837056094153179],[-0.5334393898910578,-0.45570561281390054]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.2775060169591128,1.0304641242013095,0.71338606911949],"aabb_xy":[[-0.30000601677301525,1.0259895078308285],[-0.2550060171452105,1.03493874057179]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.40483085282974907,-2.1391567893672474,0.71338606911949],"aabb_xy":[[0.3408308521262797,-2.185175171840169],[0.46883085353321846,-2.093138406894327]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.6208972793375174,-2.069926541465893,0.71338606911949],"aabb_xy":[[0.5730911117237487,-2.1349265441729517],[0.668703446951286,-2.0049265387588338]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.46872220380883134,-0.4881850893488666,0.71338606911949],"aabb_xy":[[-0.4726826875785658,-0.4958529539343873],[-0.4647617200390971,-0.4805172247633461]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.04138230406248644,-2.302242515961581,0.71338606911949],"aabb_xy":[[0.006919956664344632,-2.3367363983594034],[0.07584465146062822,-2.267748633563758]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.5071388696593577,1.5276922153719101,0.71338606911949],"aabb_xy":[[0.41713886598243943,1.4662598087948053],[0.5971388733362758,1.5891246219490138]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.537172014828407,0.07254478914845697,0.71338606911949],"aabb_xy":[[-0.6021720157855343,0.020596577214751385],[-0.4721720138712799,0.12449300108216253]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.16111309252029515,-1.7051400214474484,0.71338606911949],"aabb_xy":[[0.14361309226095856,-1.7192315636362216],[0.1786130927796318,-1.6910484792586764]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.20928348390090873,0.6984424650540579,0.71338606911949],"aabb_xy":[[-0.2442834821710286,0.6913683373590697],[-0.1742834856307888,0.705516592749046]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.27153608160661513,1.1726089296264544,0.71338606911949],"aabb_xy":[[-0.289114383795562,1.1550344400523491],[-0.2539577794176683,1.1901834192005591]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.4810184903054935,-1.0734400766697458,0.71338606911949],"aabb_xy":[[-0.5185184888811142,-1.0861763723333036],[-0.4435184917298726,-1.0607037810061877]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.3233155104078447,1.3774229178580937,0.71338606911949],"aabb_xy":[[-0.3537997605348749,1.3274229180765975],[-0.2928312602808146,1.4274229176395894]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.311250041682682,-1.7765958010671818,0.71338606911949],"aabb_xy":[[0.29536554841735685,-1.790948741366006],[0.32713453494800715,-1.7622428607683578]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.622499131613344,-1.4987368410055237,0.71338606911949],"aabb_xy":[[-0.6924991342499304,-1.518841706001389],[-0.5524991289767577,-1.478631976009658]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[-0.5528126338958119,-0.8128135361399806,0.71338606911949],"aabb_xy":[[-0.5778126338283298,-0.8196962043609041],[-0.527812633963294,-0.8059308679190574]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.41776771804673163,-0.5198637114954701,0.71338606911949],"aabb_xy":[[0.399561894385484,-0.5308891120774617],[0.43597354170797936,-0.5088383109134784]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.3424299617045032,-1.8657468527399188,0.71338606911949],"aabb_xy":[[-0.3556609072391844,-1.878974271761918],[-0.32919901616982183,-1.8525194337179192]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.5191326731015118,-0.6703580627164412,0.71338606911949],"aabb_xy":[[0.42944559679339633,-0.7603580629708917],[0.6088197494096272,-0.5803580624619906]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.4236258102682866,1.0093019559034957,0.71338606911949],"aabb_xy":[[0.4157025300295382,0.9868019556654926],[0.4315490905070349,1.0318019561414993]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.08698839458629648,-0.08454303929114859,0.71338606911949],"aabb_xy":[[-0.14198839278804132,-0.12506500591758618],[-0.03198839638455165,-0.044021072664711024]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[-0.2650232444485743,-1.4465153249464635,0.71338606911949],"aabb_xy":[[-0.2703608201145789,-1.4715153258756033],[-0.25968566878256977,-1.4215153240173237]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7111582486181104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8963.png","name":"8963"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8963.png","name":"8963"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/726.png","name":"726"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3990.png","name":"3990"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":549.9331265025669,"rotation_z_degrees":50.174441716604974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0181849490483094,0.011251765599405158,0.002954113894263616]},{"name":"camera_2","offset_m":[0.00826424798655406,-0.006142219993867042,0.0030499982302956766]},{"name":"camera_3","offset_m":[-0.008539081250411678,-0.01163250493118301,0.014773210227955424]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001999334803574114,0.0007663791643875619,0.0008383462888700123],"end_effector_yaw_offset_degrees":-0.3067601751184066},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-1.4384851125539503e-05,-0.0017785491261609581,0.001022089072224929],"end_effector_yaw_offset_degrees":-0.8300579934418344},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006926633048482153,0.0014760974606893833,-0.0016135855819991677],"end_effector_yaw_offset_degrees":0.905236816522053}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019684038439675457,0.004850031603204884],"position_m":[0.24336840384396755,0.22785003160320488,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00019133565342505966,-0.004514301915466192],"position_m":[0.17130866434657496,-0.12071430191546619,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003277830641456308,0.0018180270215217217],"position_m":[0.34077783064145634,0.07171802702152172,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012500635268632267,-0.0039925185214375845],"position_m":[0.25644993647313674,-0.41219251852143757,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"398c48fd8639c01221f3b93b51b8aa33e640b878b2a04e5b4f548e5b6c782906","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8963/tex_ceiling_textures_3990/tex_floor_textures_3479/tex_table_textures_6043/tex_wall_textures_726","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6155039895081143004,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6155039895081143004,"visual_seed":6155039895081143004,"scene_id":"lab_003","finished_at":"2026-09-03T09:03:41"} +{"episode_id":"ep_000037","started_at":"2026-09-03T09:03:44","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[0.4139110073818342,-2.3811414206384005,0.71338606911949],"aabb_xy":[[0.363911008735913,-2.431060964297863],[0.46391100602775537,-2.331221876978938]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.5748902445847732,0.8122287427326373,0.71338606911949],"aabb_xy":[[-0.6548902450549893,0.8039180351182891],[-0.4948902441145574,0.8205394503469858]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.3662609998560533,0.5593419753200588,0.71338606911949],"aabb_xy":[[0.3012609972182598,0.5078623766206118],[0.43126100249384675,0.6108215740195058]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.395653417273258,-1.177174658004443,0.71338606911949],"aabb_xy":[[-0.4038679623889419,-1.185851248302084],[-0.38743887215757394,-1.1684980677068013]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.3541969309943862,1.7406322823564762,0.71338606911949],"aabb_xy":[[-0.3766969308082886,1.7361576659859952],[-0.3316969311804838,1.7451068987269567]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[0.2980021984324456,-0.6842965411584336,0.71338606911949],"aabb_xy":[[0.24800219707155838,-0.7342744457338493],[0.3480021997933328,-0.634318636583018]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.4447100630158194,1.2686882321227975,0.71338606911949],"aabb_xy":[[-0.4874767698952396,1.2046882287009948],[-0.4019433561363992,1.3326882355445997]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[0.3374313530979516,-0.995884690783615,0.71338606911949],"aabb_xy":[[0.2874363421384996,-1.045884689819207],[0.3874263640574037,-0.9458846917480235]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[0.5478221881569634,-1.0844665980604993,0.71338606911949],"aabb_xy":[[0.5113263675296846,-1.1209505404872566],[0.5843180087842421,-1.0479826556337415]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.6837335510476268,0.446810874916828,0.71338606911949],"aabb_xy":[[0.6427156076612559,0.39681087428587064],[0.7247514944339977,0.4968108755477853]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.4149488983103805,-1.0197283679191584,0.71338606911949],"aabb_xy":[[-0.44838907350640006,-1.0531719937500883],[-0.38150872311436085,-0.9862847420882283]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.5527147103848002,-1.7359858034743962,0.71338606911949],"aabb_xy":[[0.4977224597492893,-1.7909858052177092],[0.6077069610203112,-1.6809858017310837]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.6231378551693045,-1.4253896442004341,0.71338606911949],"aabb_xy":[[-0.6881378561698049,-1.4761760093551088],[-0.5581378541688039,-1.374603279045759]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.08727325556061327,-1.1045802221419128,0.71338606911949],"aabb_xy":[[-0.13727325592117934,-1.1545602093515155],[-0.03727325520004721,-1.0546002349323096]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.501698301393064,-2.3314208641877183,0.71338606911949],"aabb_xy":[[-0.5191983016524008,-2.345512406376491],[-0.4841983011337275,-2.3173293219989457]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.5332524732448092,0.5507239587194701,0.71338606911949],"aabb_xy":[[0.4832736647344933,0.5007239587137513],[0.5832312817551251,0.6007239587251889]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.26447438498086695,1.4096603630943925,0.71338606911949],"aabb_xy":[[0.2298833021268217,1.3446603628093612],[0.2990654678349121,1.4746603633794233]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.5297220627014941,-0.7154043725616666,0.71338606911949],"aabb_xy":[[-0.5758071539562255,-0.7794043698142218],[-0.4836369714467626,-0.6514043753091115]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.6530000919439836,-1.891943343569346,0.71338606911949],"aabb_xy":[[0.6305353219725784,-1.9144433444482063],[0.6754648619153887,-1.8694433426904853]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.5535043437469149,-0.37452639701901225,0.71338606911949],"aabb_xy":[[0.5167097106220085,-0.4114322721155945],[0.5902989768718211,-0.33762052192243]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.5603786634926016,1.0638569258899344,0.71338606911949],"aabb_xy":[[0.5003786628965855,1.009044453344711],[0.6203786640886179,1.118669398435158]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.3022506160251341,-2.449393081674237,0.71338606911949],"aabb_xy":[[-0.3272506151907672,-2.4563453273795934],[-0.277250616859501,-2.4424408359688803]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.2791602773611926,0.7765479327347045,0.71338606911949],"aabb_xy":[[-0.3010500249501334,0.6865479354454553],[-0.2572705297722518,0.8665479300239536]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.03343059440149154,-2.252737517600245,0.71338606911949],"aabb_xy":[[-0.037133855730630404,-2.2564395359089624],[-0.02972733307235267,-2.249035499291527]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.29438461053228676,-2.0531639767804215,0.71338606911949],"aabb_xy":[[-0.35438461139309946,-2.1045904067869072],[-0.23438460967147387,-2.001737546773934]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.12476269593803158,1.7599532532369735,0.71338606911949],"aabb_xy":[[-0.13738948322522793,1.7504071795354006],[-0.11213590865083521,1.7694993269385464]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[0.6081410223720367,1.4251411105238936,0.71338606911949],"aabb_xy":[[0.5441410219945031,1.375395843673081],[0.6721410227495703,1.4748863773747056]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[0.2797201478507314,-2.174795086612285,0.71338606911949],"aabb_xy":[[0.272476381804486,-2.2547950848158873],[0.2869639138969767,-2.0947950884086826]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[0.10482086888431608,1.4782670338800092,0.71338606911949],"aabb_xy":[[0.03982086777837279,1.453301660811881],[0.16982086999025936,1.5032324069481375]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[-0.06164316053676122,-0.9953941585245811,0.71338606911949],"aabb_xy":[[-0.0798489841980089,-1.006419559106573],[-0.043437336875513544,-0.9843687579425897]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[0.4155094909574375,-1.9160860319845137,0.71338606911949],"aabb_xy":[[0.36562679407974125,-1.9660860312307884],[0.4653921878351337,-1.866086032738239]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[-0.27843674274319463,-0.5035257308889265,0.71338606911949],"aabb_xy":[[-0.2960695783367222,-0.5211486769045494],[-0.26080390714966706,-0.48590278487330346]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_32","position":[-0.0004368780815550144,-1.6430918837475401,0.71338606911949],"aabb_xy":[[-0.012904236191290663,-1.6555572083808634],[0.012030480028180635,-1.6306265591142164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7056458105390065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1951.png","name":"1951"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1951.png","name":"1951"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5120.png","name":"5120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2832.png","name":"2832"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1229.png","name":"1229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7172.png","name":"7172"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":734.8189453930077,"rotation_z_degrees":129.2005210034908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006568740316255716,0.006034378722356636,0.005802477018331521]},{"name":"camera_2","offset_m":[-0.016177012240877725,0.0024237358439951756,-0.007699266990500147]},{"name":"camera_3","offset_m":[0.0163327909836732,0.01865971056640343,-0.019459331763962938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016967137133279153,4.801951887972375e-05,0.0010688508635759205],"end_effector_yaw_offset_degrees":-0.8840966431382957},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00025964836056365306,-0.0012997794264707789,-0.00041917663157881534],"end_effector_yaw_offset_degrees":0.4157163639532273},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000593955043914538,-0.0009889944476251956,-0.001747811460262981],"end_effector_yaw_offset_degrees":0.8815075220082498}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003230400758834643,-0.004632834308952841],"position_m":[0.24463040075883466,0.21836716569104717,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002524363410572273,-0.0006785528570692955],"position_m":[0.17402436341057229,-0.11687855285706929,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017204981189553915,-0.003319289505825316],"position_m":[0.3357795018810446,0.06658071049417469,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004648785537761037,0.0007440304901136403],"position_m":[0.25305121446223894,-0.4074559695098864,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0970a2978ddaa741f7d28aa262f754d88f77789c676975ec538412094076038c","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1951/tex_ceiling_textures_7172/tex_floor_textures_1229/tex_table_textures_5120/tex_wall_textures_2832","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3118547526529771629,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3118547526529771629,"visual_seed":3118547526529771629,"scene_id":"lab_003","finished_at":"2026-09-03T09:06:23"} +{"episode_id":"ep_000038","started_at":"2026-09-03T09:06:29","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.07415978233239195,-2.020169483149831,0.71338606911949],"aabb_xy":[[-0.07879489748462533,-2.0240368182269792],[-0.06952466718015855,-2.0163021480726817]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.5022363924564321,-1.6300153423024413,0.71338606911949],"aabb_xy":[[-0.5522363918966278,-1.6799832667867574],[-0.4522363930162365,-1.5800474178181247]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.4724712431686222,-0.27849476735422174,0.71338606911949],"aabb_xy":[[-0.5624712455026413,-0.3559771219393344],[-0.3824712408346032,-0.20101241276910908]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.35586590096488446,-1.920985244365809,0.71338606911949],"aabb_xy":[[-0.3666388748862523,-1.9559852425848478],[-0.34509292704351674,-1.8859852461467699]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.2844791990365618,-0.2359917533701501,0.71338606911949],"aabb_xy":[[-0.28839307223198435,-0.24474076877670686],[-0.2805653258411393,-0.22724273796359334]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.7001992185628114,-1.6956349368061248,0.71338606911949],"aabb_xy":[[0.6832884861264695,-1.7091071423987392],[0.7171099509991531,-1.68216273121351]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.05296669339216431,-1.021914612055322,0.71338606911949],"aabb_xy":[[0.04361968580986908,-1.036218234272966],[0.06231370097445954,-1.007610989837678]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.5599885068310269,-0.6384762981937826,0.71338606911949],"aabb_xy":[[0.4959885051530294,-0.6869936896730967],[0.6239885085090241,-0.5899589067144683]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.5640828218149017,-1.9157587424182196,0.71338606911949],"aabb_xy":[[0.5000828185962638,-1.9624818543172282],[0.6280828250335395,-1.8690356305192115]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.5748337638525234,0.0888505424886259,0.71338606911949],"aabb_xy":[[0.5098337627465801,0.06388516942049761],[0.6398337649584667,0.1138159155567542]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[-0.17047140695891116,0.7026802661419831,0.71338606911949],"aabb_xy":[[-0.20638491138390083,0.6667667579252284],[-0.13455790253392144,0.7385937743587377]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.45306776899805956,-2.0733631288509353,0.71338606911949],"aabb_xy":[[-0.4656704681351361,-2.085958525075801],[-0.44046506986098316,-2.06076773262607]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.6421365983444859,0.7583687105506964,0.71338606911949],"aabb_xy":[[-0.6529882045933615,0.7475094198230453],[-0.6312849920956103,0.7692280012783473]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.015288661746029941,-1.8599075733429793,0.71338606911949],"aabb_xy":[[-0.06526747025634583,-1.909907573348698],[0.034690146764285945,-1.8099075733372605]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.17196994953379408,-1.2748417624240311,0.71338606911949],"aabb_xy":[[-0.19555507299768896,-1.339841764669463],[-0.14838482606989925,-1.2098417601785993]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.3048720715841705,-0.6123842629236793,0.71338606911949],"aabb_xy":[[-0.30831274782422774,-0.6162456958980438],[-0.3014313953441134,-0.6085228299493148]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.06494859557368238,-0.5626498246016585,0.71338606911949],"aabb_xy":[[-0.06890907934341675,-0.5703176891871791],[-0.060988111803948,-0.5549819600161379]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.4656660507274496,-2.2746867540263462,0.71338606911949],"aabb_xy":[[-0.48950226836805477,-2.364686754834833],[-0.44182983308684465,-2.18468675321786]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.2280852546783576,1.0484031545464614,0.71338606911949],"aabb_xy":[[0.21651627393142106,1.0234031544295297],[0.2396542354252942,1.073403154663393]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.4340724018311699,1.1448019546357235,0.71338606911949],"aabb_xy":[[0.34407240210799567,1.1217286021005435],[0.524072401554344,1.1678753071709032]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.28202853810219125,-0.9280141528965502,0.71338606911949],"aabb_xy":[[-0.33202337103013285,-0.9780141517917936],[-0.23203370517424965,-0.8780141540013066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7054474316469802,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4366.png","name":"4366"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4366.png","name":"4366"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9766.png","name":"9766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4360.png","name":"4360"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6843.png","name":"6843"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4931.png","name":"4931"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":592.0061571974422,"rotation_z_degrees":40.778236428506375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00042184956116237196,0.010291272308344219,0.011494620005443577]},{"name":"camera_2","offset_m":[0.00015852728444474412,-0.014998573435909157,0.0010154285890546753]},{"name":"camera_3","offset_m":[-0.0020860106868758194,0.011014625488482581,0.0033368269622008756]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003911445628602768,0.0017770716939614277,0.0003214280181231457],"end_effector_yaw_offset_degrees":-0.08865480441470575},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009697888565894722,5.4421959269852164e-05,0.0012950292352674796],"end_effector_yaw_offset_degrees":-0.7248230803045619},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008418066965441891,-0.0005794571929812137,-0.00021489645414870888],"end_effector_yaw_offset_degrees":0.2841242673532307}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003189586480698744,-0.0016031836704031776],"position_m":[0.23821041351930125,0.22139681632959682,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028517487240326813,0.004901981258005099],"position_m":[0.16864825127596733,-0.1112980187419949,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002738543679203672,-0.0018216472966689204],"position_m":[0.3402385436792037,0.06807835270333108,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028366368602931536,0.003664237424840588],"position_m":[0.2548633631397068,-0.40453576257515944,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1d9048822ba97bad64e066110ee867502cf3a065ea47abc25153fc69a4627e5c","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4366/tex_ceiling_textures_4931/tex_floor_textures_6843/tex_table_textures_9766/tex_wall_textures_4360","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3182932450008028755,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3182932450008028755,"visual_seed":3182932450008028755,"scene_id":"lab_003","finished_at":"2026-09-03T09:09:24"} +{"episode_id":"ep_000039","started_at":"2026-09-03T09:09:27","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.2366367239838868,-1.7715039374356931,0.71338606911949],"aabb_xy":[[0.21752441662590793,-1.7906387163129351],[0.25574903134186566,-1.752369158558451]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.5395756388362347,0.13240500987135384,0.71338606911949],"aabb_xy":[[-0.5995756394322509,0.07759253732613039],[-0.47957563824021854,0.18721748241657735]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.10113003403946097,-1.0301783167613698,0.71338606911949],"aabb_xy":[[0.0748412097190203,-1.0564497504160208],[0.1274188583599016,-1.0039068831067184]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.46782703087504884,1.2216199310176257,0.71338606911949],"aabb_xy":[[-0.5177097277527452,1.171619931771351],[-0.4179443339973527,1.2716199302639004]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.21054360552996287,1.4495459856798392,0.71338606911949],"aabb_xy":[[-0.26054288069839904,1.3995459844038918],[-0.16054433036152674,1.4995459869557861]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.2509558605386729,-2.45461717343765,0.71338606911949],"aabb_xy":[[-0.2661280298203063,-2.469786030365853],[-0.23578369125703963,-2.4394483165094467]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[-0.6766825090943965,-1.0920160637957763,0.71338606911949],"aabb_xy":[[-0.6864384986035704,-1.1017785978550105],[-0.6669265195852226,-1.0822535297365417]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.3825447053546701,-1.4231685658262971,0.71338606911949],"aabb_xy":[[-0.40754470452030317,-1.4301208115316537],[-0.35754470618903694,-1.4162163201209406]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.2810598214667454,-0.3734675348237597,0.71338606911949],"aabb_xy":[[-0.36105982193696134,-0.38177824243810815],[-0.20105982099652947,-0.36515682720941134]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.6275072857885843,-2.360546337767373,0.71338606911949],"aabb_xy":[[-0.6915072874665816,-2.4090637292466868],[-0.5635072841105869,-2.3120289462880583]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.5023076563281266,-0.6235274265997373,0.71338606911949],"aabb_xy":[[0.41230765660495244,-0.6466007791349171],[0.5923076560513008,-0.6004540740645574]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.6568530594435713,-1.5617163896041122,0.71338606911949],"aabb_xy":[[-0.6670060749977206,-1.597785931176852],[-0.6467000438894218,-1.5256468480313714]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.7037363077037195,0.879571019090934,0.71338606911949],"aabb_xy":[[0.686236307444383,0.8654794769021616],[0.7212363079630563,0.8936625612797069]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.6196983537458872,-2.05914658463236,0.71338606911949],"aabb_xy":[[-0.6607162971322581,-2.1091465852633173],[-0.5786804103595163,-2.0091465840014027]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.6507784207230396,0.7374269928833588,0.71338606911949],"aabb_xy":[[-0.6882784191464398,0.7242627789155281],[-0.6132784222996391,0.7505912068511894]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.4714002930825143,1.553515056573946,0.71338606911949],"aabb_xy":[[0.43015148205259945,1.4985150570617283],[0.5126491041124288,1.6085150560861632]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.25920841477314127,-2.5619338959431657,0.71338606911949],"aabb_xy":[[0.25529454157771875,-2.570682911349722],[0.2631222879685638,-2.5531848805366084]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.46041407487935704,-1.536159244346115,0.71338606911949],"aabb_xy":[[-0.5254140734364299,-1.5659117777599978],[-0.3954140763222842,-1.5064067109322326]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.5324718730122675,0.6026342808220995,0.71338606911949],"aabb_xy":[[-0.5380535446463962,0.5901342810043239],[-0.5268902013781386,0.6151342806398749]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.32974120973962656,-1.726993411364521,0.71338606911949],"aabb_xy":[[-0.36322037700066756,-1.760472524735628],[-0.2962620424785857,-1.6935142979934141]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[0.5489915764662441,-0.4651591525708225,0.71338606911949],"aabb_xy":[[0.4593045001581286,-0.5551591528252731],[0.6386786527743595,-0.375159152316372]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.5490849931980344,0.840970680064284,0.71338606911949],"aabb_xy":[[-0.5544175078526474,0.8356463518190486],[-0.5437524785434213,0.8462950083095196]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.38017502720832175,-1.167234023781176,0.71338606911949],"aabb_xy":[[-0.42534634505649077,-1.2312340209257144],[-0.3350037093601528,-1.1032340266366376]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.4237372375553825,-1.4173064943087565,0.71338606911949],"aabb_xy":[[0.37376417202286705,-1.4673064941212897],[0.473710303087898,-1.3673064944962239]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.14333985366288116,-1.1062722226475217,0.71338606911949],"aabb_xy":[[-0.20833985466338165,-1.1570585878021968],[-0.07833985266238061,-1.055485857492847]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[-0.25301957352283705,0.9024455807847223,0.71338606911949],"aabb_xy":[[-0.31301957438364975,0.8510191507782358],[-0.19301957266202416,0.9538720107912085]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.6303538573269847,-1.0984372623129766,0.71338606911949],"aabb_xy":[[0.6128538580488978,-1.1157753623793225],[0.6478538566050716,-1.0810991622466306]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.237825254464559,0.23615152974859077,0.71338606911949],"aabb_xy":[[-0.2611070966626903,0.15115152845136273],[-0.21454341226642765,0.32115153104581884]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.40190824896236715,-1.962463340109032,0.71338606911949],"aabb_xy":[[-0.4519030818903087,-2.0124633390042757],[-0.3519134160344255,-1.9124633412137884]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.4308785244123756,-0.8765155298428622,0.71338606911949],"aabb_xy":[[-0.48087163652156756,-0.9265155305170579],[-0.3808854123031838,-0.8265155291686667]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7166843061584391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4345.png","name":"4345"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4345.png","name":"4345"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3315.png","name":"3315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6869.png","name":"6869"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/922.png","name":"922"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8570.png","name":"8570"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":512.1551845269001,"rotation_z_degrees":203.9720207580092,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017141521012571024,0.015058153299256475,0.005070177333946397]},{"name":"camera_2","offset_m":[0.01300164248722566,0.011322028415852652,-0.013832697894186619]},{"name":"camera_3","offset_m":[0.009722604337742965,-0.007313909188522545,-0.015882036300448737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001472625460860757,-0.00047103469968019676,-0.0003325339113863209],"end_effector_yaw_offset_degrees":-0.4710268713683019},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015728050280203838,0.001121594532326253,-0.001498516658751984],"end_effector_yaw_offset_degrees":-0.882923008711334},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00031876464247319186,-0.001225092521408318,-0.0014629127045777545],"end_effector_yaw_offset_degrees":0.07970366274506158}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020669171527320273,-0.0035698460594676784],"position_m":[0.23933308284726798,0.21943015394053234,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012813505434855544,0.002471448785837104],"position_m":[0.17021864945651446,-0.11372855121416289,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002365406071463232,0.0003893523706782302],"position_m":[0.3351345939285368,0.07028935237067824,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004941130634118625,-0.004811980947332344],"position_m":[0.2626411306341186,-0.4130119809473323,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"34efc613a77b07c7f77e1e95d68e0dd132b13cf6a57777750c0e2a46a04374a4","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4345/tex_ceiling_textures_8570/tex_floor_textures_922/tex_table_textures_3315/tex_wall_textures_6869","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7907608707915763726,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7907608707915763726,"visual_seed":7907608707915763726,"scene_id":"lab_003","finished_at":"2026-09-03T09:12:04"} +{"episode_id":"ep_000040","started_at":"2026-09-03T09:12:08","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.41691527175234255,-2.1457142168473364,0.71338606911949],"aabb_xy":[[0.3369152743487491,-2.225706788045519],[0.496915269155936,-2.065721645649153]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.5413947158740879,-1.209388712713757,0.71338606911949],"aabb_xy":[[-0.5913947162346538,-1.2593686999233598],[-0.4913947155135217,-1.1594087255041539]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.3738350259678376,-0.5282770615347054,0.71338606911949],"aabb_xy":[[0.35166249899118673,-0.5504527286908285],[0.39600755294448836,-0.5061013943785821]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.26567590848244643,0.18827793551205252,0.71338606911949],"aabb_xy":[[-0.2743738707731617,0.1761529612045778],[-0.25697794619173114,0.20040290981952727]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.13047286484969023,-0.1323615581879265,0.71338606911949],"aabb_xy":[[-0.19047286571050298,-0.18378798819441286],[-0.07047286398887738,-0.0809351281814401]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.10047975136506127,-1.8515769177500143,0.71338606911949],"aabb_xy":[[0.02047975440202207,-1.9286525593937873],[0.1804797483281004,-1.7745012761062404]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.4503086688115908,0.6165810018679139,0.71338606911949],"aabb_xy":[[-0.49743804781342643,0.5525810008235118],[-0.4031792898097551,0.6805810029123157]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.19174798906230206,-1.3477419791784113,0.71338606911949],"aabb_xy":[[-0.22606426623692,-1.397741979151589],[-0.15743171188768412,-1.2977419792052336]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.3480253517667462,1.2183904343209555,0.71338606911949],"aabb_xy":[[0.283025350660803,1.193425061252827],[0.41302535287268954,1.2433558073890836]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.2793210910734495,0.9742434741551556,0.71338606911949],"aabb_xy":[[0.2705190357644767,0.9664321480002264],[0.28812314638242215,0.9820548003100845]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.5789533725967024,0.8554930766440179,0.71338606911949],"aabb_xy":[[0.5139533740396296,0.8257405432301352],[0.6439533711537753,0.8852456100579005]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.26044569185326016,-1.6522966899655689,0.71338606911949],"aabb_xy":[[0.24534339039224198,-1.6673982115966306],[0.27554799331427815,-1.6371951683345067]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.22251261718481952,1.4318776286948443,0.71338606911949],"aabb_xy":[[-0.2575126170808384,1.423503393182904],[-0.18751261728880064,1.440251864206784]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.3306347307282538,0.8147640465655641,0.71338606911949],"aabb_xy":[[0.295005574828294,0.779131379808711],[0.36626388662821346,0.850396713322417]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.2251770381434639,-0.474302798620577,0.71338606911949],"aabb_xy":[[-0.2751558466537798,-0.5243027986262958],[-0.175198229633148,-0.42430279861485815]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[0.20429183600021128,1.3759294543797083,0.71338606911949],"aabb_xy":[[0.16327389261384043,1.325929453748751],[0.2453097793865822,1.4259294550106656]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.37030064306909405,1.507785604020825,0.71338606911949],"aabb_xy":[[0.31030064142617225,1.455785454728881],[0.43030064471201596,1.5597857533127695]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.4167722857655749,-0.33611863942736475,0.71338606911949],"aabb_xy":[[0.3954942776221026,-0.4011186417534378],[0.4380502939090471,-0.2711186371012917]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.4898387392231305,-0.23996735644098033,0.71338606911949],"aabb_xy":[[0.48450622456851744,-0.24529168468621596],[0.4951712538777434,-0.23464302819574476]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.05101498090796042,0.5031417365469237,0.71338606911949],"aabb_xy":[[-0.0590089694856638,0.4951416564518333],[-0.04302099233025702,0.511141816642014]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.19452885668969833,0.015364616287110167,0.71338606911949],"aabb_xy":[[-0.1979695329297555,0.011503183312745689],[-0.19108818044964115,0.019226049261474643]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.5787118886856655,0.007659117400097948,0.71338606911949],"aabb_xy":[[0.571450641115258,-0.005127892863411533],[0.585973136256073,0.020446127663607427]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[0.43133978854479427,-1.9426782062999186,0.71338606911949],"aabb_xy":[[0.4250276890084559,-1.9484451455531375],[0.43765188808113276,-1.9369112670466997]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.1715742175365721,-2.0068514498689813,0.71338606911949],"aabb_xy":[[0.13407421602094038,-2.0180782228851264],[0.2090742190522038,-1.9956246768528363]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.5459658961812599,1.5454249560143656,0.71338606911949],"aabb_xy":[[0.49596662101282374,1.4954249547384184],[0.5959651713496961,1.5954249572903128]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.6227464719914465,-0.5430084762775911,0.71338606911949],"aabb_xy":[[-0.6426375118717869,-0.555664287562288],[-0.6028554321111064,-0.5303526649928944]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.11278548029579583,-2.3701875944535167,0.71338606911949],"aabb_xy":[[-0.17678547946556578,-2.416954281572479],[-0.04878548112602588,-2.323420907334554]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.20926345926542356,0.2767095056335931,0.71338606911949],"aabb_xy":[[-0.23448429612526317,0.2514857547807063],[-0.18404262240558383,0.3019332564864798]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_28","position":[-0.05735358027670601,-1.670966142404573,0.71338606911949],"aabb_xy":[[-0.06819405850322091,-1.6881524236952214],[-0.04651310205019111,-1.653779861113924]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_29","position":[0.06106918690701513,1.7522223181360803,0.71338606911949],"aabb_xy":[[0.0432756799720987,1.7344225725402824],[0.07886269384193156,1.7700220637318778]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_30","position":[0.3193924790465976,-1.9837518207789717,0.71338606911949],"aabb_xy":[[0.3027153430535021,-2.000451744752902],[0.3360696150396931,-1.9670518968050412]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_31","position":[-0.3774963023291177,-1.249418734964024,0.71338606911949],"aabb_xy":[[-0.40200992642612354,-1.2736833282660605],[-0.3529826782321118,-1.2251541416619876]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_32","position":[0.54777929418386,0.42417689543187276,0.71338606911949],"aabb_xy":[[0.5438188104141256,0.41650903084635216],[0.5517397779535943,0.43184476001739336]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7082189814629443,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8256.png","name":"8256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8256.png","name":"8256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9231.png","name":"9231"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6605.png","name":"6605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6014.png","name":"6014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":554.4829482114193,"rotation_z_degrees":167.02629729362974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019442999255151926,-0.010395920622515256,0.009448963003203931]},{"name":"camera_2","offset_m":[0.011860010607373617,0.019251793319436033,-0.018901512500165946]},{"name":"camera_3","offset_m":[-0.0022776836518415243,-0.0058896481706519985,-0.01925033357351998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001377476445480693,0.00109616336064423,-0.0005009936842426184],"end_effector_yaw_offset_degrees":-0.1749908575912551},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005109852007109321,-0.001490692013505016,-0.0018474121333552152],"end_effector_yaw_offset_degrees":0.8478243962441998},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005541932175500476,0.0012373692626168353,0.0014674204785121332],"end_effector_yaw_offset_degrees":-0.2608062943738074}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004267524449955718,-0.0021460071942168567],"position_m":[0.2371324755500443,0.22085399280578313,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003332981786967143,-0.003258295503639864],"position_m":[0.16816701821303287,-0.11945829550363986,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019875666576569216,-0.004244547388705785],"position_m":[0.3355124333423431,0.06565545261129421,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003514945095171358,-0.0021056253826616934],"position_m":[0.2541850549048286,-0.4103056253826617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"96a50b5c6182b10df169f954fb6fa8493f1aba0ccd3aa55c590f77bd88088ff5","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0045.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8256/tex_ceiling_textures_4356/tex_floor_textures_6014/tex_table_textures_9231/tex_wall_textures_6605","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2042107594781013985,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2042107594781013985,"visual_seed":2042107594781013985,"scene_id":"lab_003","finished_at":"2026-09-03T09:14:50"} +{"episode_id":"ep_000041","started_at":"2026-09-03T09:14:53","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.5398060042920698,0.6221611308742521,0.71338606911949],"aabb_xy":[[-0.5468474552428174,0.6151343791364575],[-0.5327645533413222,0.6291878826120466]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[-0.04693811112528634,-1.889163704604176,0.71338606911949],"aabb_xy":[[-0.07558744348570257,-1.9178092638812514],[-0.018288778764870117,-1.8605181453270998]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.3425985337574292,1.0001847190687494,0.71338606911949],"aabb_xy":[[-0.35175841270130576,0.9936535010252123],[-0.33343865481355256,1.0067159371122865]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.00912291280913935,-1.7301924479085833,0.71338606911949],"aabb_xy":[[-0.054872784585957235,-1.7941924462092917],[0.07311861020423593,-1.6661924496078744]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.38724862869069676,1.6237731077760622,0.71338606911949],"aabb_xy":[[-0.4177328788177269,1.5737731079945663],[-0.3567643785636666,1.6737731075575581]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.6088160133768264,-0.20506680235025998,0.71338606911949],"aabb_xy":[[-0.6888160103398656,-0.2821424439940334],[-0.5288160164137873,-0.12799116070648647]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[0.36716729148625715,0.5304714947015521,0.71338606911949],"aabb_xy":[[0.3552345571244291,0.5180893418936927],[0.3791000258480852,0.5428536475094115]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.2159375196228528,-1.166659587754916,0.71338606911949],"aabb_xy":[[0.17843751912549455,-1.1706282713030345],[0.25343752012021104,-1.1626909042067974]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.6081776102835179,0.7543259016935959,0.71338606911949],"aabb_xy":[[0.5856639184600607,0.6843259010925882],[0.6306913021069751,0.8243259022946032]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.054307949221890306,-0.9457226889565489,0.71338606911949],"aabb_xy":[[-0.13930794791396495,-0.9777085523514277],[0.030692049470184328,-0.91373682556167]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[0.15490797451273264,-0.9140409266429932,0.71338606911949],"aabb_xy":[[0.07491415093417444,-0.9940409292358348],[0.2349017980912909,-0.8340409240501516]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.24658755409062422,-1.1726375647670941,0.71338606911949],"aabb_xy":[[-0.3362746303987396,-1.2626375650215447],[-0.15690047778250873,-1.0826375645126436]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.4701103838520968,-1.0566788051990963,0.71338606911949],"aabb_xy":[[0.45021934397175667,-1.0693346164837934],[0.49000142373243716,-1.0440229939143997]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.21744328629484622,1.3586660737477518,0.71338606911949],"aabb_xy":[[0.16762650683001146,1.3086660752634485],[0.267260065759681,1.4086660722320552]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.23792406193949145,-1.4433959847382645,0.71338606911949],"aabb_xy":[[-0.3019240638518338,-1.499307133996275],[-0.1739240600271491,-1.387484835480254]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[0.16589785977081817,-2.232102404814583,0.71338606911949],"aabb_xy":[[0.14135164414806742,-2.26235130136362],[0.19044407539356886,-2.201853508265546]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.6732789166077311,-2.0920272177313777,0.71338606911949],"aabb_xy":[[0.6364842834828247,-2.1289330928279595],[0.7100735497326373,-2.055121342634795]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.27976472468216185,0.6970187541308155,0.71338606911949],"aabb_xy":[[-0.2846083194433919,0.6921671016518315],[-0.27492112992093193,0.7018704066097997]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.44722526333115575,1.1512484978064985,0.71338606911949],"aabb_xy":[[-0.5112252666208639,1.107913578802581],[-0.38322526004144764,1.1945834168104161]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.23789232004881333,-2.0786759754960915,0.71338606911949],"aabb_xy":[[0.22813633053963941,-2.0884385095553255],[0.2476483095579872,-2.0689134414368566]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.007675201628284056,1.3683993846481561,0.71338606911949],"aabb_xy":[[-0.04267520075823972,1.3626541635724918],[0.027324797501671605,1.37414460572382]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.13229320858732196,0.8251836341409704,0.71338606911949],"aabb_xy":[[-0.1372492287722032,0.8026836339388489],[-0.1273371884024408,0.8476836343430921]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.41215837659526455,1.632829469665118,0.71338606911949],"aabb_xy":[[0.3481583743748575,1.5884563855398297],[0.4761583788156716,1.6772025537904063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7139620652280344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1794.png","name":"1794"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1683.png","name":"1683"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5640.png","name":"5640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4089.png","name":"4089"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":627.7629503533194,"rotation_z_degrees":200.58199551060096,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014785030673923134,-0.006983230735189054,-0.019516866499676308]},{"name":"camera_2","offset_m":[0.003966592912354492,-0.005888836692593885,-0.006474164968701124]},{"name":"camera_3","offset_m":[-0.010955156874670541,0.00047449372717610003,0.007042503575499771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011322917523598351,0.0014928535218468593,0.001481917146097835],"end_effector_yaw_offset_degrees":0.20164907046463698},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00011995087158380617,-0.0009080220083994154,-0.0010797381626811817],"end_effector_yaw_offset_degrees":0.4117589306367544},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007948376469089343,-0.0016967973186986316,-0.0010437215476317783],"end_effector_yaw_offset_degrees":0.9102094890445995}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004228212296619503,0.004365090216807748],"position_m":[0.24562821229661952,0.22736509021680776,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004306964073301676,0.00479581347214066],"position_m":[0.17580696407330168,-0.11140418652785934,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038547746535561147,0.004546393738054987],"position_m":[0.3336452253464439,0.07444639373805499,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039539952676519744,-0.001482500613855413],"position_m":[0.261653995267652,-0.4096825006138554,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ec83752ac027fdb399ace2009dbfa7a666f1b8f1295a77b449788d7f4732a709","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1321/tex_ceiling_textures_4089/tex_floor_textures_5640/tex_table_textures_1794/tex_wall_textures_1683","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5065208482325409976,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5065208482325409976,"visual_seed":5065208482325409976,"scene_id":"lab_003","finished_at":"2026-09-03T09:17:53"} +{"episode_id":"ep_000042","started_at":"2026-09-03T09:17:57","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.567444238304114,-0.4241857459670131,0.71338606911949],"aabb_xy":[[-0.5899442388161545,-0.44667760433241144],[-0.5449442377920733,-0.40169388760161473]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.29032384195374333,-0.17352861967294686,0.71338606911949],"aabb_xy":[[-0.326237346378733,-0.20944212788970146],[-0.2544103375287536,-0.1376151114561922]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.05010982606156089,-0.22570652759628507,0.71338606911949],"aabb_xy":[[-0.05803310630030922,-0.24820652783428843],[-0.04218654582281256,-0.2032065273582817]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.4642201865175042,1.657064959122295,0.71338606911949],"aabb_xy":[[0.42567449369230315,1.6185191880661063],[0.5027658793427052,1.6956107301784837]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.5743919531938393,0.5241314314422505,0.71338606911949],"aabb_xy":[[-0.6154098965802102,0.47413143081129316],[-0.5333740098074684,0.5741314320732078]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.3607104495638094,1.4030462677841529,0.71338606911949],"aabb_xy":[[0.27071045306293756,1.3571346253656944],[0.4507104460646811,1.4489579102026109]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.009510809611922189,-1.3486734915437673,0.71338606911949],"aabb_xy":[[0.004667214850692214,-1.3535251440227514],[0.014354404373152163,-1.3438218390647831]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.2366177758438271,1.580673748929844,0.71338606911949],"aabb_xy":[[-0.24718525550192613,1.5701287188168351],[-0.2260502961857281,1.5912187790428522]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.5449594922041812,-1.8459234260642308,0.71338606911949],"aabb_xy":[[0.48995949258243543,-1.900907118851704],[0.5999594918259271,-1.7909397332767585]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.02540113486474349,-1.2099039098236932,0.71338606911949],"aabb_xy":[[0.018359683913995898,-1.2169306615614879],[0.03244258581549109,-1.2028771580858986]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.18382132391698247,-0.7481296244869453,0.71338606911949],"aabb_xy":[[-0.22990641517171392,-0.8121296217395003],[-0.13773623266225096,-0.6841296272343901]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.4665628348950427,-1.0563852984798832,0.71338606911949],"aabb_xy":[[-0.5241933037823134,-1.1163852974065933],[-0.4089323660077718,-0.9963852995531721]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.19428720539331323,1.4255948499805977,0.71338606911949],"aabb_xy":[[-0.19836536330036297,1.4215138697323342],[-0.1902090474862635,1.4296758302288608]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.5121825479974385,-0.31390645733461353,0.71338606911949],"aabb_xy":[[0.4481825447077303,-0.3572413763385311],[0.5761825512871465,-0.27057153833069586]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.514699597654301,0.6749374337331613,0.71338606911949],"aabb_xy":[[0.4647221807890473,0.6249374322439127],[0.5646770145195544,0.7249374352224098]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.40130791305785707,-0.660353842372364,0.71338606911949],"aabb_xy":[[-0.4653079123520253,-0.7243399827412182],[-0.33730791376368885,-0.5963677020035099]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.005989993529709192,-1.7067974021263757,0.71338606911949],"aabb_xy":[[-0.04875670040912938,-1.7707974055481779],[0.036776713349711,-1.642797398704573]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.48152441940637813,-0.8615403313346475,0.71338606911949],"aabb_xy":[[0.46389158381285045,-0.8791632773502703],[0.4991572549999056,-0.8439173853190244]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.36702095444455907,-1.5833545579818733,0.71338606911949],"aabb_xy":[[0.3467366517211603,-1.603637183124582],[0.38730525716795783,-1.5630719328391642]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.09538238070525651,1.3196171124966098,0.71338606911949],"aabb_xy":[[0.05407783764152051,1.2556171129284928],[0.1366869237689925,1.383617112064727]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.4750597323328878,1.1299918301900362,0.71338606911949],"aabb_xy":[[0.4624570331958114,1.117396433965171],[0.4876624314699643,1.142587226414902]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.04610553065750078,-2.3359894537739425,0.71338606911949],"aabb_xy":[[-0.12610553208762798,-2.415506608786552],[0.033894470772626424,-2.256472298761333]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[0.145602100032165,-1.199571979602175,0.71338606911949],"aabb_xy":[[0.08160209932869568,-1.245590362075096],[0.2096021007356344,-1.153553597129254]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[-0.5564632201490636,1.1581583911605735,0.71338606911949],"aabb_xy":[[-0.5672361940704314,1.1231583929415345],[-0.5456902462276958,1.1931583893796125]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[0.5132087499147651,1.274151677952247,0.71338606911949],"aabb_xy":[[0.4332087527551898,1.26260407699443],[0.5932087470743403,1.285699278910064]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[0.3824021683784278,-2.109581060516828,0.71338606911949],"aabb_xy":[[0.3449021682065558,-2.1422817958997347],[0.41990216855029966,-2.0768803251339203]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.1402899258857292,-2.319146461947314,0.71338606911949],"aabb_xy":[[0.12944944765921426,-2.336332743237963],[0.15113040411224407,-2.3019601806566654]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[-0.23217677963736594,0.2683065809780296,0.71338606911949],"aabb_xy":[[-0.23588004096650478,0.2646045626693117],[-0.22847351830822704,0.2720085992867474]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[-0.2841580369741404,-2.4280382503076536,0.71338606911949],"aabb_xy":[[-0.29378967319457,-2.4376755630873626],[-0.27452640075371076,-2.4184009375279447]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[-0.350414096455865,0.34532528804506635,0.71338606911949],"aabb_xy":[[-0.4144140983682074,0.28941413878705596],[-0.28641409454352273,0.40123643730307684]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_30","position":[-0.4128984386300845,-0.3765725166492415,0.71338606911949],"aabb_xy":[[-0.4768984350256576,-0.440535805067975],[-0.34889844223451144,-0.3126092282305079]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[-0.05077621162744417,0.6839381607465445,0.71338606911949],"aabb_xy":[[-0.05567550393400766,0.6562612414439757],[-0.045876919320880664,0.7116150800491132]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_32","position":[0.5567810019036259,1.4206395972240045,0.71338606911949],"aabb_xy":[[0.5493685463622374,1.4147883868023765],[0.5641934574450144,1.4264908076456324]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_33","position":[0.41735934912106654,-1.2209070670316204,0.71338606911949],"aabb_xy":[[0.3623638713004071,-1.2759070684655271],[0.47235482694172587,-1.1659070655977133]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_34","position":[-0.40506115146402444,0.7962323931970077,0.71338606911949],"aabb_xy":[[-0.45006115293025334,0.7512325363355271],[-0.3600611499977956,0.8412322500584885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7119035284156265,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4747.png","name":"4747"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4747.png","name":"4747"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/26.png","name":"26"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8747.png","name":"8747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2757.png","name":"2757"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":787.4298147822649,"rotation_z_degrees":38.46496167409135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016850779816998267,-0.016246705029598435,-0.00869040306210247]},{"name":"camera_2","offset_m":[-0.019457192184960934,-0.008355449157345771,-0.018260875988422038]},{"name":"camera_3","offset_m":[-0.007492739620696645,0.0014068099404036041,0.0038282226191106335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009431912255107395,-0.0017587422271374536,0.0015992284940883673],"end_effector_yaw_offset_degrees":-0.35639348245771285},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008692543823973801,0.0017864100257031063,-0.0005889060726939959],"end_effector_yaw_offset_degrees":-0.7947482113565676},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016346129434646173,-0.0013920494896049083,0.0015730685744256333],"end_effector_yaw_offset_degrees":0.4473930770554506}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004179532805170705,-0.0004653557569915456],"position_m":[0.2372204671948293,0.22253464424300845,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023229017370813244,-0.004316711386333495],"position_m":[0.17382290173708134,-0.12051671138633349,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00034111416461455896,0.003486139407054857],"position_m":[0.3378411141646146,0.07338613940705487,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004088934456455391,0.0023098760906670335],"position_m":[0.2617889344564554,-0.405890123909333,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"35aca4e901d4c5fd6be341211538c848944a5d2946e48e452cb2bf31ea079f1c","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4747/tex_ceiling_textures_2757/tex_floor_textures_8747/tex_table_textures_1160/tex_wall_textures_26","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2301756305511606053,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2301756305511606053,"visual_seed":2301756305511606053,"scene_id":"lab_003","finished_at":"2026-09-03T09:20:35"} +{"episode_id":"ep_000043","started_at":"2026-09-03T09:20:40","dimensions":{"distractor":{"count":30,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.6046042551305135,1.355121177833459,0.71338606911949],"aabb_xy":[[-0.638901166148254,1.3208242916235173],[-0.5703073441127728,1.3894180640434]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.5324428039331346,-0.1492978212858458,0.71338606911949],"aabb_xy":[[0.5278076887809012,-0.15316515636299438],[0.537077919085368,-0.14543048620869709]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[-0.5729401926855049,-0.7123218519009982,0.71338606911949],"aabb_xy":[[-0.6429401890954665,-0.7327597875526796],[-0.5029401962755429,-0.6918839162493161]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.6197968866078518,0.7975948004675817,0.71338606911949],"aabb_xy":[[-0.6571281631330944,0.7629417456727293],[-0.5824656100826092,0.8322478552624338]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.24440920397048027,-2.0650641087727872,0.71338606911949],"aabb_xy":[[-0.26204203956400784,-2.0826870547884098],[-0.2267763683769527,-2.047441162757164]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.6055785551380047,1.0751056630300435,0.71338606911949],"aabb_xy":[[-0.6096945052500773,1.0709901079971977],[-0.601462605025932,1.0792212180628888]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.21047394502787875,0.25711808969438055,0.71338606911949],"aabb_xy":[[-0.21455210293492852,0.25303710944611724],[-0.20639578712082904,0.26119906994264386]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.30263737138489394,-0.4057625244922076,0.71338606911949],"aabb_xy":[[-0.35763284920555327,-0.46076252592611455],[-0.2476418935642345,-0.3507625230583007]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.5246565111595312,-0.6282066091195446,0.71338606911949],"aabb_xy":[[0.5209532498303922,-0.6319086274282624],[0.5283597724886699,-0.6245045908108267]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.07768663157511901,-1.255300679790959,0.71338606911949],"aabb_xy":[[-0.16768663129829314,-1.2783740323261388],[0.012313368148055183,-1.232227327255779]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.6576187841757386,1.0981954237677778,0.71338606911949],"aabb_xy":[[0.5999883152884676,1.0381954248410667],[0.7152492530630093,1.158195422694488]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.360636142624722,-0.5814738135085507,0.71338606911949],"aabb_xy":[[0.32719596742870233,-0.6149174393394806],[0.39407631782074154,-0.5480301876776205]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.26076497968312595,0.7807334266920534,0.71338606911949],"aabb_xy":[[0.21077186757393412,0.7307334260178577],[0.3107580917923179,0.8307334273662491]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.5069893205985084,-0.20810295957955072,0.71338606911949],"aabb_xy":[[-0.5308255382391137,-0.2981029603880372],[-0.4831531029579036,-0.11810295877106425]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.37680457717508653,1.4433055753165234,0.71338606911949],"aabb_xy":[[0.31180457714078375,1.3966048986361963],[0.4418045772093892,1.4900062519968509]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.40751275366905,-0.7318058187477681,0.71338606911949],"aabb_xy":[[-0.4188744883223361,-0.7431742851540563],[-0.3961510190157638,-0.7204373523414801]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.11588553744960328,0.7752988154282918,0.71338606911949],"aabb_xy":[[0.07909090432469701,0.7383929403317094],[0.15268017057450955,0.812204690524874]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.6175031566035395,-2.5159280665311274,0.71338606911949],"aabb_xy":[[-0.681503158946341,-2.56086891777526],[-0.5535031542607378,-2.470987215286995]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.466556945116662,-2.156831343480634,0.71338606911949],"aabb_xy":[[-0.4769685037971458,-2.162177076816532],[-0.45614538643617836,-2.1514856101447353]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.5856353430902572,-0.36569203153681595,0.71338606911949],"aabb_xy":[[0.5216353416822664,-0.41748098306074066],[0.6496353444982478,-0.31390308001289124]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.21650258621081786,-2.397020196013283,0.71338606911949],"aabb_xy":[[-0.2540025847864386,-2.409756491676841],[-0.17900258763519702,-2.384283900349725]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[-0.5524541869008988,-0.05551349584631948,0.71338606911949],"aabb_xy":[[-0.5563680600963212,-0.06426251125287624],[-0.5485403137054763,-0.046764480439762716]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.05221644179843077,1.4250107782079913,0.71338606911949],"aabb_xy":[[0.01630293737344108,1.3890972699912365],[0.08812994622342044,1.4609242864247456]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.4085976877846982,-1.0894738505755492,0.71338606911949],"aabb_xy":[[0.3285976867115779,-1.0992518969129337],[0.48859768885781857,-1.0796958042381648]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.30709375705953645,-1.4107611786868504,0.71338606911949],"aabb_xy":[[-0.3165112316293992,-1.4201773558245692],[-0.2976762824896737,-1.401345001549131]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.09943806317543902,-1.7712476697367145,0.71338606911949],"aabb_xy":[[-0.1091940526846129,-1.7810102037959488],[-0.08968207366626511,-1.7614851356774799]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.1389985135474121,-0.9123182694371599,0.71338606911949],"aabb_xy":[[0.08899851226357212,-0.9622971238277819],[0.18899851483125205,-0.8623394150465377]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[-0.12637695990476872,0.2383285661687835,0.71338606911949],"aabb_xy":[[-0.15092317552751944,0.20807966961974644],[-0.10183074428201801,0.26857746271782057]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[-0.09653282638941219,0.9718246193678084,0.71338606911949],"aabb_xy":[[-0.16153282454533124,0.9455283748178963],[-0.03153282823349311,0.9981208639177207]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.0845829323157663,1.6352777846421778,0.71338606911949],"aabb_xy":[[-0.09329690136570078,1.6127777839829895],[-0.0758689632658318,1.657777785301366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7092735120814203,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5432.png","name":"5432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5432.png","name":"5432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/493.png","name":"493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5514.png","name":"5514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1558.png","name":"1558"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":554.7227384244337,"rotation_z_degrees":28.685963905743975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012444119148574427,-0.005008349063561526,0.007412770548660998]},{"name":"camera_2","offset_m":[0.016350362502303168,-0.010088723849997722,-0.013749962760657333]},{"name":"camera_3","offset_m":[-0.008555723255400868,-0.017903146643411402,-0.005787865139970299]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019833785343776025,0.00013288099539392455,-0.0018365723767623265],"end_effector_yaw_offset_degrees":0.16455424202660218},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.101248339456143e-05,-0.0011778883865669343,-0.0011714176662989417],"end_effector_yaw_offset_degrees":-0.05039982633793527},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00019845998361574767,-0.001376745774859964,-0.001263724431606663],"end_effector_yaw_offset_degrees":-0.3552131546581274}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027036317590872954,-0.0007774589867387575],"position_m":[0.2441036317590873,0.22222254101326125,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019126681683716276,-0.0014962262718139553],"position_m":[0.16958733183162839,-0.11769622627181395,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011640456946024513,-0.004069372903606732],"position_m":[0.3363359543053976,0.06583062709639327,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005546254004928572,0.0002550495229321657],"position_m":[0.25714537459950715,-0.40794495047706786,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3d92740d0040e7380c79b432415c935ede2597ee01c1d75b980f5a2b024d1b49","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5432/tex_ceiling_textures_2451/tex_floor_textures_1558/tex_table_textures_493/tex_wall_textures_5514","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3545474701036194427,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3545474701036194427,"visual_seed":3545474701036194427,"scene_id":"lab_003","finished_at":"2026-09-03T09:23:25"} +{"episode_id":"ep_000044","started_at":"2026-09-03T09:23:28","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.014642787920740696,1.1826092468154576,0.71338606911949],"aabb_xy":[[-0.002267944515601083,1.1691370412228428],[0.03155352035708247,1.196081452408072]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.06786115230653988,-0.5060568240307179,0.71338606911949],"aabb_xy":[[-0.11062785918596008,-0.5700568274525204],[-0.025094445427119694,-0.4420568206089155]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.49120457528259864,0.5478015243938454,0.71338606911949],"aabb_xy":[[0.42620457740095097,0.4966778606873047],[0.5562045731642465,0.5989251881003864]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[0.6286128858726174,-0.1822786243100789,0.71338606911949],"aabb_xy":[[0.5814835068707817,-0.24627862535448083],[0.675742264874453,-0.11827862326567692]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.08112244442757321,-1.4368629947187328,0.71338606911949],"aabb_xy":[[0.03164202321361442,-1.5008629926315846],[0.130602865641532,-1.372862996805881]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.3872346825709936,-2.120116433436121,0.71338606911949],"aabb_xy":[[0.3497346823991216,-2.152817168819028],[0.42473468274286547,-2.0874156980532135]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.653414618410211,-1.7368098848381832,0.71338606911949],"aabb_xy":[[0.5884146174530837,-1.7887580967718886],[0.7184146193673381,-1.6848616729044774]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.08958639834657622,-0.638282613459562,0.71338606911949],"aabb_xy":[[0.07257630105652554,-0.654417101957836],[0.10659649563662685,-0.6221481249612881]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[0.619822191312212,-0.999206562955731,0.71338606911949],"aabb_xy":[[0.5898546344023863,-1.029206563253617],[0.6497897482220376,-0.9692065626578453]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[0.5938374466317273,0.7125618454652929,0.71338606911949],"aabb_xy":[[0.5858011119304424,0.7045237261608761],[0.6018737813330121,0.7205999647697097]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.015129193827566056,-1.6093511938051133,0.71338606911949],"aabb_xy":[[-0.06512919326776168,-1.6593191182894296],[0.03487080561262956,-1.559383269320797]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.5441365952980466,-2.1197839723743117,0.71338606911949],"aabb_xy":[[-0.6041365955494478,-2.1740652974107766],[-0.4841365950466454,-2.065502647337847]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.4387270495019606,-1.4471563685843465,0.71338606911949],"aabb_xy":[[0.39742250643822463,-1.5111563681524633],[0.4800315925656966,-1.3831563690162292]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.027435813918311402,-1.0088878125464007,0.71338606911949],"aabb_xy":[[0.002214977058471734,-1.034111563399287],[0.052656650778151064,-0.9836640616935136]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.5009215425071486,-0.8117931523439403,0.71338606911949],"aabb_xy":[[-0.5649215396192542,-0.8608255221383508],[-0.4369215453950428,-0.7627607825495296]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.31678337427670555,-1.9785690764005799,0.71338606911949],"aabb_xy":[[-0.32091923060940575,-2.0160690758449373],[-0.31264751794400536,-1.9410690769562233]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.2635551623470257,-0.796457576225319,0.71338606911949],"aabb_xy":[[0.21357221215954633,-0.8464575758678792],[0.313538112534505,-0.7464575765827584]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.715312847856173,-2.428759859001455,0.71338606911949],"aabb_xy":[[0.7088112113481684,-2.438527681027765],[0.7218144843641776,-2.4189920369751454]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.6584579444933998,0.10055205746729623,0.71338606911949],"aabb_xy":[[-0.6943714489183893,0.06463854925054159],[-0.62254444006841,0.13646556568405083]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.4140571553277383,0.6503928115188571,0.71338606911949],"aabb_xy":[[-0.464057156989233,0.6003943692631543],[-0.36405715366624347,0.7003912537745597]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.4492900842480849,1.018854271924317,0.71338606911949],"aabb_xy":[[0.4142900851181292,1.0131090508486527],[0.4842900833780405,1.0245994929999809]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.651915868875634,0.28691615726527386,0.71338606911949],"aabb_xy":[[-0.6764620844983847,0.25666726071623674],[-0.6273696532528833,0.31716505381431087]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.01911838376161834,-2.14826451939047,0.71338606911949],"aabb_xy":[[-0.015881614549077102,-2.155979534314015],[0.054118382072313787,-2.140549504466924]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[0.343445562529358,0.8278279731769724,0.71338606911949],"aabb_xy":[[0.32153688039000694,0.8059273063568818],[0.365354244668709,0.8497286399970633]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.0470508726455342,1.5941890012208657,0.71338606911949],"aabb_xy":[[0.01656662251850405,1.5441890014393695],[0.07753512277256436,1.6441890010023614]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[-0.3509963326557784,-1.0729382685090005,0.71338606911949],"aabb_xy":[[-0.4149963348761854,-1.1173113526342886],[-0.28699633043537137,-1.028565184383712]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[0.585425418719794,0.8340566586892031,0.71338606911949],"aabb_xy":[[0.5404254172535653,0.7890568018277226],[0.630425420186023,0.879056515550684]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[-0.12833160181359404,-0.7569487686993195,0.71338606911949],"aabb_xy":[[-0.1528452259105999,-0.781213362001356],[-0.10381797771658818,-0.7326841753972831]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[0.3698441423712091,-1.608153076364325,0.71338606911949],"aabb_xy":[[0.3148441427494633,-1.663136769151798],[0.424844141992955,-1.5531693835768525]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_29","position":[-0.19132214016118343,-0.2069958753690586,0.71338606911949],"aabb_xy":[[-0.2288221413459762,-0.21141409806511913],[-0.1538221389763906,-0.20257765267299804]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_30","position":[-0.5413434897162962,-1.1128268606161116,0.71338606911949],"aabb_xy":[[-0.5588901846324151,-1.1503268621803628],[-0.5237967948001773,-1.0753268590518603]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_31","position":[0.6287379921069327,1.3630600119224408,0.71338606911949],"aabb_xy":[[0.593108836206973,1.3274273451655878],[0.6643671480068924,1.3986926786792937]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[-0.5339217610724685,-0.37393324399535555,0.71338606911949],"aabb_xy":[[-0.5888954831088014,-0.42893324355958873],[-0.4789480390361356,-0.31893324443112236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7096328084467914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8290.png","name":"8290"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3582.png","name":"3582"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2295.png","name":"2295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":712.8735949669231,"rotation_z_degrees":100.31361726476763,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01004281375258305,0.01975405741969712,-0.016269253788812398]},{"name":"camera_2","offset_m":[0.003486128218304071,0.010408261520735922,-0.0012700545027470901]},{"name":"camera_3","offset_m":[0.0041858019733943055,0.004529282884673431,-0.004018203881535506]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003831353061723216,0.0014328254859675132,0.0008873857581628351],"end_effector_yaw_offset_degrees":-0.45833378272292347},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001406678837500648,-0.0014659608980895724,-0.00014394037953412066],"end_effector_yaw_offset_degrees":0.812722141892265},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006538068516958879,0.0009583974620097006,-0.0013505376038512426],"end_effector_yaw_offset_degrees":0.6623927873551425}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032466919631556077,-0.003342896343843056],"position_m":[0.2446466919631556,0.21965710365615695,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002896554970784746,0.003304313486107769],"position_m":[0.17439655497078477,-0.11289568651389223,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004493222934213709,-0.0037007800126132072],"position_m":[0.34199322293421375,0.0661992199873868,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016687165102409786,0.0028063919762159398],"position_m":[0.25936871651024096,-0.40539360802378405,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51fc3703b8bc6fdd6af7d26f432bb38dfc0ea41b37848f3210cf21b0f8ed0665","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2138/tex_ceiling_textures_5900/tex_floor_textures_2295/tex_table_textures_8290/tex_wall_textures_3582","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3422546422484604549,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3422546422484604549,"visual_seed":3422546422484604549,"scene_id":"lab_003","finished_at":"2026-09-03T09:26:05"} +{"episode_id":"ep_000045","started_at":"2026-09-03T09:26:09","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.11639844475700467,-1.2256938567677798,0.71338606911949],"aabb_xy":[[-0.18039844643500202,-1.274211248247094],[-0.052398443079007304,-1.1771764652884655]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.5150639305163827,0.2085540179692873,0.71338606911949],"aabb_xy":[[-0.5700561811518936,0.15355401622597456],[-0.4600716798808717,0.2635540197126001]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.1860961131424902,1.117605537235435,0.71338606911949],"aabb_xy":[[0.13611187743431297,1.0676055384219394],[0.23608034885066742,1.1676055360489306]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.5645147668024735,0.06308634882367548,0.71338606911949],"aabb_xy":[[0.49451476341091144,0.027770575120244608],[0.6345147701940353,0.09840212252710633]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[-0.1256575618980914,-0.8223568203837037,0.71338606911949],"aabb_xy":[[-0.1403009674521244,-0.8370155400404878],[-0.11101415634405842,-0.8076981007269194]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.34322890476102563,-0.5396290414015414,0.71338606911949],"aabb_xy":[[-0.3776912521591674,-0.574122923799364],[-0.3087665573628838,-0.5051351590037186]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.44148289947444264,-1.0640017624360347,0.71338606911949],"aabb_xy":[[0.43172690996526875,-1.0737642964952692],[0.4512388889836165,-1.0542392283768003]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.38752514502809854,-1.3143379927651346,0.71338606911949],"aabb_xy":[[0.35704089490106833,-1.3643379925466306],[0.41800939515512864,-1.2643379929836387]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.32573160854003885,0.9177419736818169,0.71338606911949],"aabb_xy":[[-0.33277191847357585,0.8377419742821457],[-0.31869129860650186,0.9977419730814885]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[-0.2211061949221706,-0.5104337897564943,0.71338606911949],"aabb_xy":[[-0.2623550059520853,-0.5654337892687117],[-0.1798573838922558,-0.4554337902442768]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.360440546826219,-1.2973091698587487,0.71338606911949],"aabb_xy":[[-0.44544054524364224,-1.3821834653210334],[-0.2754405484087958,-1.2124348743964635]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.14481803725868736,0.6111476670015152,0.71338606911949],"aabb_xy":[[-0.20881373465378392,0.5471476687008066],[-0.08082233986359075,0.6751476653022239]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.6340427238123083,-0.41019750630030316,0.71338606911949],"aabb_xy":[[0.621440024675232,-0.42279290252516877],[0.6466454229493849,-0.3976021100754378]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.4502866592162065,-0.8450152021732742,0.71338606911949],"aabb_xy":[[0.38528665657841293,-0.8964948008727213],[0.515286661854,-0.7935356034738273]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.45690201445376233,1.3785294903892376,0.71338606911949],"aabb_xy":[[-0.5465890907618778,1.2885294901347868],[-0.3672149381456468,1.4685294906436879]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.6261988690770012,-1.3599498069677027,0.71338606911949],"aabb_xy":[[-0.6636988705926328,-1.3711765799838478],[-0.5886988675613694,-1.3487230339515577]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.15486580989063337,-1.80042221693461,0.71338606911949],"aabb_xy":[[0.12986581072500025,-1.8073744626399666],[0.17986580905626648,-1.7934699712292534]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[-0.047271362233632264,-2.2816379655081556,0.71338606911949],"aabb_xy":[[-0.0847713624055042,-2.3143387008910628],[-0.009771362061760325,-2.2489372301252484]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[-0.5546059507518569,-1.7548351178785262,0.71338606911949],"aabb_xy":[[-0.5721059510111937,-1.7689266600672993],[-0.5371059504925204,-1.740743575689754]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.5922738718900885,-2.5578504847939803,0.71338606911949],"aabb_xy":[[-0.6267363499031763,-2.5645141619769025],[-0.5578113938770007,-2.551186807611057]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.091474468909294,-1.4362144152292802,0.71338606911949],"aabb_xy":[[-0.14145188577454756,-1.4862144167185287],[-0.04149705204404041,-1.3862144137400316]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.20158291063164097,-2.1480381394322925,0.71338606911949],"aabb_xy":[[-0.20653893081652216,-2.1705381396344143],[-0.19662689044675977,-2.1255381392301715]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[0.17506212085886896,0.7729113152644929,0.71338606911949],"aabb_xy":[[0.16543048463843932,0.7632740024847838],[0.18469375707929855,0.7825486280442017]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.1617349159252235,0.8340161276552891,0.71338606911949],"aabb_xy":[[-0.17496586145990475,0.8207887086332896],[-0.14850397039054217,0.8472435466772884]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[0.4329871199702473,0.45124178971349815,0.71338606911949],"aabb_xy":[[0.3973579640702875,0.41560912295664515],[0.468616275870207,0.48687445647035105]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.03563340399319481,1.383036177040149,0.71338606911949],"aabb_xy":[[0.028220948451806338,1.377184966618521],[0.043045859534583286,1.3888873874617769]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.29096003249093594,0.8829093032666844,0.71338606911949],"aabb_xy":[[0.27328440190233755,0.8652290869872816],[0.3086356630795342,0.9005895195460871]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[-0.5914037807363998,-0.8645110477264226,0.71338606911949],"aabb_xy":[[-0.6105160880943786,-0.8836458266036648],[-0.5722914733784209,-0.8453762688491807]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.24598725259589427,0.42259531052798094,0.71338606911949],"aabb_xy":[[-0.264193076257142,0.41156990994598935],[-0.22778142893464665,0.43362071110997263]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.13518400953869036,0.2811188158655167,0.71338606911949],"aabb_xy":[[-0.19918401024215973,0.23510043339259573],[-0.07118400883522101,0.32713719833843774]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[-0.45134814805179446,-2.2748873485164127,0.71338606911949],"aabb_xy":[[-0.5013481494126817,-2.3248652530918283],[-0.40134814669090724,-2.224909443940997]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100413149190037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5863.png","name":"5863"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5863.png","name":"5863"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4487.png","name":"4487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1180.png","name":"1180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9844.png","name":"9844"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7663.png","name":"7663"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":777.5063692072872,"rotation_z_degrees":9.49582715703528,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005450287146407745,0.01347389773130495,-0.009649781226099422]},{"name":"camera_2","offset_m":[-0.009308199137478872,-0.008026843216473654,0.016916961271675256]},{"name":"camera_3","offset_m":[-0.0014021027293809225,-0.010689274381521287,0.008293478458563378]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006175026283975122,0.0017995341119868258,-0.00029064383928643217],"end_effector_yaw_offset_degrees":0.550844120948905},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002526870291418887,0.0008709127315785748,0.00024095741324035164],"end_effector_yaw_offset_degrees":-0.10331195945662297},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0013834730014115806,0.0019910288649552946,0.0013465743907829625],"end_effector_yaw_offset_degrees":-0.9765788708128251}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00239464909393479,0.004008763093787592],"position_m":[0.2437946490939348,0.2270087630937876,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012544678572604983,-5.598788972627309e-05],"position_m":[0.1727544678572605,-0.11625598788972627,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028059514400451202,0.0012462259094085694],"position_m":[0.34030595144004516,0.07114622590940857,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006599245901281947,0.0006488009025791544],"position_m":[0.2583599245901282,-0.4075511990974209,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51282b0ae8fb4a82bf0f683b656e0c3b1dc57a37e952c9252b9b5ea56aa76c94","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5863/tex_ceiling_textures_7663/tex_floor_textures_9844/tex_table_textures_4487/tex_wall_textures_1180","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8119470610426285386,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8119470610426285386,"visual_seed":8119470610426285386,"scene_id":"lab_003","finished_at":"2026-09-03T09:28:47"} +{"episode_id":"ep_000046","started_at":"2026-09-03T09:28:50","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.3259457073271987,-1.9062797132747968,0.71338606911949],"aabb_xy":[[-0.37542612854115753,-1.9702797111876487],[-0.27646528611323995,-1.842279715361945]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.11406619237858406,-1.919316987888871,0.71338606911949],"aabb_xy":[[-0.16406102530652567,-1.9693169867841145],[-0.06407135945064248,-1.8693169889936274]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.05356477423382533,-0.31272601018623547,0.71338606911949],"aabb_xy":[[-0.07066685219219349,-0.3298328157175052],[-0.03646269627545717,-0.2956192046549657]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.04096374188280605,-1.369289310753515,0.71338606911949],"aabb_xy":[[0.03224977283287155,-1.391789311412703],[0.04967771093274053,-1.3467893100943265]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.25398831383301357,-1.579458938751003,0.71338606911949],"aabb_xy":[[0.16898831541559034,-1.6643332342132877],[0.3389883122504368,-1.4945846432887178]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.5236673696575465,0.18634958634221688,0.71338606911949],"aabb_xy":[[-0.5380017947837099,0.17428937078767803],[-0.509332944531383,0.19840980189675572]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.41115736058995594,0.06085498445250703,0.71338606911949],"aabb_xy":[[-0.4561573620561849,0.01585512759102636],[-0.36615735912372716,0.10585484131398773]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.06353150122778328,-2.0533786304182664,0.71338606911949],"aabb_xy":[[0.0581989865731703,-2.058702958663502],[0.06886401588239627,-2.0480543021730306]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.6465196264409985,1.7279332711455955,0.71338606911949],"aabb_xy":[[0.633892839153802,1.7183871974440226],[0.6591464137281947,1.7374793448471684]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.62190895520873,-1.7203174555466114,0.71338606911949],"aabb_xy":[[-0.6594089553143229,-1.7271396173995925],[-0.584408955103137,-1.7134952936936303]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.29421151229318593,-2.4649431893179075,0.71338606911949],"aabb_xy":[[-0.30147275986359334,-2.477730199581417],[-0.2869502647227785,-2.452156179054398]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.2606590150995104,0.7757128731240321,0.71338606911949],"aabb_xy":[[-0.3106590146758451,0.7257322941719263],[-0.21065901552317567,0.8256934520761382]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.3454274855159756,-1.324249480604971,0.71338606911949],"aabb_xy":[[0.2814274869294031,-1.3712564440044794],[0.40942748410254803,-1.277242517205462]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.4797409013252264,1.2867593199631369,0.71338606911949],"aabb_xy":[[-0.5297197098355424,1.2367593199574178],[-0.42976209281491057,1.3367593199688554]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.428823681313818,-0.9655470330802958,0.71338606911949],"aabb_xy":[[0.3391366050057025,-1.0555470333347463],[0.5185107576219334,-0.8755470328258451]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.5871474988047194,1.3410510947227716,0.71338606911949],"aabb_xy":[[0.5621474992529808,1.330908610857637],[0.6121474983564578,1.3511935785879063]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.4048820530752178,-0.4139144066370939,0.71338606911949],"aabb_xy":[[-0.4848820535454338,-0.4222251142514424],[-0.32488205260500186,-0.4056036990227456]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.5629151108929471,-1.5488434267399807,0.71338606911949],"aabb_xy":[[0.48291511348935373,-1.6288359979381632],[0.6429151082965405,-1.4688508555417976]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.4974983406970157,0.9973668031299807,0.71338606911949],"aabb_xy":[[0.4933624843643155,0.9598668036856238],[0.5016341970297159,1.0348668025743377]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.3378957474692734,-1.169850636809586,0.71338606911949],"aabb_xy":[[0.287922681936758,-1.2198506366221191],[0.387868813001789,-1.1198506369970533]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[0.6203089711678242,-0.7310341345726303,0.71338606911949],"aabb_xy":[[0.6036318351747288,-0.7477340585465605],[0.6369861071609199,-0.7143342105987]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.21355120656473642,-0.6008405277406303,0.71338606911949],"aabb_xy":[[-0.30355120889875553,-0.678322882325743],[-0.12355120423071739,-0.5233581731555177]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.4581455506888704,-1.1529997290687897,0.71338606911949],"aabb_xy":[[-0.4784298534122691,-1.1732823542114983],[-0.4378612479654716,-1.1327171039260806]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.2474465635372487,0.6363068270747609,0.71338606911949],"aabb_xy":[[-0.25880829819053486,0.6249383606684727],[-0.2360848288839625,0.6476752934810489]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[0.508656052762849,-2.190689107896734,0.71338606911949],"aabb_xy":[[0.4676381093764781,-2.2406891085276914],[0.5496739961492199,-2.1406891072657768]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.6301739449809164,-1.161919257772855,0.71338606911949],"aabb_xy":[[-0.6457297143911819,-1.1774696910172624],[-0.6146181755706513,-1.146368824528448]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[0.6034805936543299,1.0202415438350778,0.71338606911949],"aabb_xy":[[0.5845962098858198,1.001355619054725],[0.6223649774228402,1.0391274686154306]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.06496189734532687,0.8777686876969435,0.71338606911949],"aabb_xy":[[0.028466076718048128,0.8412847452701857],[0.10145771797260561,0.9142526301237008]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[-0.004251295374500308,-0.8085896675269642,0.71338606911949],"aabb_xy":[[-0.017123198875440445,-0.8885896679408001],[0.008620608126439831,-0.7285896671131278]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[0.3811962727503757,0.5750704280983334,0.71338606911949],"aabb_xy":[[0.3466051898963305,0.5100704278133024],[0.4157873556044209,0.6400704283833645]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[-0.13801872937442894,-1.0413979326344083,0.71338606911949],"aabb_xy":[[-0.20201873142416094,-1.0814924157237162],[-0.07401872732469694,-1.0013034495451003]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[0.5256583800920971,-0.5505550891867941,0.71338606911949],"aabb_xy":[[0.5150909004339981,-0.5611001192998026],[0.5362258597501961,-0.5400100590737855]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_32","position":[-0.5551434450238795,0.03140914908559367,0.71338606911949],"aabb_xy":[[-0.5901434442166975,0.020442103087931034],[-0.520143445831061,0.04237619508325629]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_33","position":[0.1598572737955234,1.3285046542580812,0.71338606911949],"aabb_xy":[[0.0698572743771525,1.2951291574138912],[0.24985727321389428,1.3618801511022707]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_34","position":[-0.6833678225483444,-0.3066153780416552,0.71338606911949],"aabb_xy":[[-0.6921490496955808,-0.31539512533018543],[-0.6745865954011082,-0.29783563075312514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100703603438492,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9937.png","name":"9937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5423.png","name":"5423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5781.png","name":"5781"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4309.png","name":"4309"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":683.3243105666263,"rotation_z_degrees":71.25835237965613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005440348077035563,0.013587810505252849,-0.01686984139770125]},{"name":"camera_2","offset_m":[0.012620720949685905,0.012879116607185884,-0.009785703768681332]},{"name":"camera_3","offset_m":[-0.002143181153131942,-8.704957147796788e-06,0.016976267255737938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001800014109990436,-5.503136527011156e-05,-0.0017139559849525896],"end_effector_yaw_offset_degrees":-0.09844786007008244},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014866712094331624,0.0018883751380425209,0.0016973822726596872],"end_effector_yaw_offset_degrees":0.12803586856673266},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005150850811021122,0.0018871875261953362,-0.0008783019929366823],"end_effector_yaw_offset_degrees":0.721833711878118}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016787989970670934,0.002942954647415694],"position_m":[0.2397212010029329,0.2259429546474157,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031114512727206537,-0.004280166909803286],"position_m":[0.17461145127272068,-0.12048016690980329,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003326101616532634,0.0007304149780589207],"position_m":[0.3341738983834674,0.07063041497805893,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005935807164208252,-0.0011840065578968386],"position_m":[0.25710641928357914,-0.40938400655789686,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9fb0ea29ab3a33dad21fd1fbdc875dd1de25e6f5c6cbdd2b096af0afa626d522","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_731/tex_ceiling_textures_4309/tex_floor_textures_5781/tex_table_textures_9937/tex_wall_textures_5423","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1008159233533397562,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1008159233533397562,"visual_seed":1008159233533397562,"scene_id":"lab_003","finished_at":"2026-09-03T09:31:31"} +{"episode_id":"ep_000047","started_at":"2026-09-03T09:34:28","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[-0.3150974300597766,1.7504656771336458,0.71338606911949],"aabb_xy":[[-0.3454955411589201,1.7200587751319762],[-0.28469931896063294,1.7808725791353153]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.2414645527081975,1.253010765651918,0.71338606911949],"aabb_xy":[[-0.3214645513650835,1.2385059067276551],[-0.1614645540513115,1.267515624576181]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.12573170507592135,1.41183638216383,0.71338606911949],"aabb_xy":[[0.07573170379208137,1.3618575277732077],[0.1757317063597613,1.461815236554452]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.37836502393043525,-0.9476071362865117,0.71338606911949],"aabb_xy":[[-0.3871462510776716,-0.9563868835750422],[-0.3695837967831991,-0.9388273889979819]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.6058215639367774,-1.987000203078499,0.71338606911949],"aabb_xy":[[0.535821562128032,-2.008353971842687],[0.6758215657455229,-1.9656464343143119]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.14362984632351494,-2.3525093274532307,0.71338606911949],"aabb_xy":[[-0.17862984459363482,-2.3595834551482184],[-0.10862984805339501,-2.345435199758242]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.6522973292611249,-0.7863021503503231,0.71338606911949],"aabb_xy":[[0.6147973284691295,-0.7926699913085132],[0.6897973300531204,-0.779934309392133]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.6170493095765854,-0.8122889279103045,0.71338606911949],"aabb_xy":[[-0.682049310577086,-0.8630752930649793],[-0.5520493085760849,-0.7615025627556294]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.34128266297124166,0.7999124125251935,0.71338606911949],"aabb_xy":[[-0.3724295818148247,0.7299124138383863],[-0.3101357441276585,0.8699124112120007]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.4871800548673242,1.7391840214911016,0.71338606911949],"aabb_xy":[[-0.5511757522624207,1.6751840231903927],[-0.4231843574722275,1.80318401979181]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.5417748784847902,1.235720555821981,0.71338606911949],"aabb_xy":[[0.5336612238114131,1.2276147393679517],[0.5498885331581673,1.24382637227601]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.6302672466932837,0.8033048044733331,0.71338606911949],"aabb_xy":[[0.5452672482758605,0.7184305090110481],[0.7152672451107069,0.888179099935618]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.08285684965915507,-0.0826728257408651,0.71338606911949],"aabb_xy":[[-0.10028756473816157,-0.09994494040471591],[-0.06542613458014855,-0.06540071107701428]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.47191462962410974,-0.6642662136847262,0.71338606911949],"aabb_xy":[[-0.5078281340490994,-0.7001797219014807],[-0.43600112519912004,-0.6283527054679714]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.32067277438624586,-1.510531324542089,0.71338606911949],"aabb_xy":[[-0.37067277474681193,-1.560511311751692],[-0.2706727740256798,-1.460551337332486]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.24284123923498624,-2.4345616981627067,0.71338606911949],"aabb_xy":[[0.2312722584880497,-2.4595616982796384],[0.2544102199819228,-2.409561698045775]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[-0.23289067459405555,-0.5342280650706623,0.71338606911949],"aabb_xy":[[-0.287890673770645,-0.5892177398456199],[-0.177890675417466,-0.4792383902957046]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.5294640858286588,-1.7464760756321431,0.71338606911949],"aabb_xy":[[-0.5910548450526517,-1.8104760737411902],[-0.4678733266046661,-1.6824760775230965]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.6189980438880717,0.44223928858882733,0.71338606911949],"aabb_xy":[[-0.656498043831838,0.43394619855399075],[-0.5814980439443052,0.4505323786236639]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.18618015972275082,1.202471004481367,0.71338606911949],"aabb_xy":[[0.1361959240145736,1.1524710056678713],[0.23616439543092804,1.2524710032948625]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106797434087648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5053.png","name":"5053"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5053.png","name":"5053"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9893.png","name":"9893"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8354.png","name":"8354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5738.png","name":"5738"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8742.png","name":"8742"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":787.1458923153477,"rotation_z_degrees":141.80476092008902,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008603146451901265,0.003920144558316525,0.001156229333600916]},{"name":"camera_2","offset_m":[0.011000409179284729,-0.01909586752837081,-0.00831012837713053]},{"name":"camera_3","offset_m":[0.01553656966412115,0.013171441627888292,-0.01569273510835894]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001766724124622749,-1.3967501425590431e-06,-0.0005524786205353691],"end_effector_yaw_offset_degrees":0.5204639172192869},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00021276461789802555,-0.0011973602839335427,0.0018149725290349753],"end_effector_yaw_offset_degrees":-0.09567846343213593},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00044991734594212324,-0.0004017986658428213,-0.0015716077350324072],"end_effector_yaw_offset_degrees":0.32258392924584656}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038373742181785466,0.00016513679714250627],"position_m":[0.23756262578182147,0.2231651367971425,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018771004503005517,0.0027421516056806827],"position_m":[0.17337710045030055,-0.11345784839431931,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014227163830684442,-0.0016907898680279597],"position_m":[0.3389227163830685,0.06820921013197205,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002386706637534687,-0.0017379151807499315],"position_m":[0.2574613293362465,-0.40993791518074996,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"961ba0ab8532d55540d20cc26d551550443b55ab54113c5f43bc48b97120a6f6","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5053/tex_ceiling_textures_8742/tex_floor_textures_5738/tex_table_textures_9893/tex_wall_textures_8354","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1285589105155413113,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1285589105155413113,"visual_seed":1285589105155413113,"scene_id":"lab_003","finished_at":"2026-09-03T09:37:06"} +{"episode_id":"ep_000048","started_at":"2026-09-03T09:37:10","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.5616360307619643,-2.2717012757338035,0.71338606911949],"aabb_xy":[[0.511636029401077,-2.3216791803092187],[0.6116360321228514,-2.2217233711583875]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.2323128106466441,-0.7581360622000344,0.71338606911949],"aabb_xy":[[0.227882181291804,-0.7635844339347171],[0.23674344000148434,-0.7526876904653519]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.36656237444312767,1.1835298541454087,0.71338606911949],"aabb_xy":[[0.3165623731592876,1.1335509997547863],[0.4165623757269675,1.2335087085360306]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.09385167535262495,-1.2774253327406846,0.71338606911949],"aabb_xy":[[0.02985167509215415,-1.3224341320936124],[0.15785167561309577,-1.2324165333877564]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.5688396699657896,1.2695122874318971,0.71338606911949],"aabb_xy":[[0.48883967256219624,1.189519716233714],[0.648839667369383,1.3495048586300797]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.32546285960099786,0.9245696003326525,0.71338606911949],"aabb_xy":[[0.27046286042440826,0.8695799255576947],[0.38046285877758723,0.97955927510761]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.6217420277612258,-1.5074100986843937,0.71338606911949],"aabb_xy":[[-0.6817420282690786,-1.5642568323703148],[-0.5617420272533727,-1.4505633649984722]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.014931771851589781,-1.4097975130952685,0.71338606911949],"aabb_xy":[[0.0075193163102013055,-1.4156487235168964],[0.022344227392978255,-1.4039463026736405]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.4331664977230349,-1.43993861497257,0.71338606911949],"aabb_xy":[[-0.4882917033526256,-1.4999386164138568],[-0.37804129209344406,-1.3799386135312826]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.5180841529125353,-0.920900203133157,0.71338606911949],"aabb_xy":[[-0.5399928350518862,-0.9428008699532476],[-0.49617547077318414,-0.8989995363130662]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.5864881851072219,-1.2609569305026904,0.71338606911949],"aabb_xy":[[0.5386820174934532,-1.3259569332097496],[0.6342943527209906,-1.1959569277956317]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.4582499731655696,-0.3056458396035264,0.71338606911949],"aabb_xy":[[-0.5035285880467189,-0.3696458389517101],[-0.41297135828442033,-0.24164584025534275]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.3087553350505181,-1.626633735022014,0.71338606911949],"aabb_xy":[[0.2999532797415453,-1.634445061176943],[0.3175573903594907,-1.6188224088670848]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.1622051536518474,0.863612583279445,0.71338606911949],"aabb_xy":[[0.13970515412813997,0.841116635828824],[0.18470515317555478,0.8861085307300656]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.4901913270798901,-1.8447165783785358,0.71338606911949],"aabb_xy":[[0.45269132713612364,-1.8530096684133723],[0.5276913270236565,-1.8364234883436992]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.6375434681299977,-0.23067859391691625,0.71338606911949],"aabb_xy":[[-0.6436380960181161,-0.23924798846858497],[-0.6314488402418794,-0.22210919936524753]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.18194365585828354,-0.04696641345921071,0.71338606911949],"aabb_xy":[[-0.2044436558684318,-0.06106263309881399],[-0.15944365584813522,-0.03287019381960743]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.4333959905822885,-2.1515837903327375,0.71338606911949],"aabb_xy":[[-0.49839598913936134,-2.18133632374662],[-0.36839599202521567,-2.121831256918855]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.17128286450666563,0.5863653528513764,0.71338606911949],"aabb_xy":[[-0.1887135795856721,0.5690932381875254],[-0.15385214942765907,0.6036374675152271]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[-0.5294932269443574,0.5868186685941512,0.71338606911949],"aabb_xy":[[-0.6094932241039327,0.5752710676363341],[-0.4494932297847821,0.5983662695519681]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.01370687008963356,-1.1541718523389874,0.71338606911949],"aabb_xy":[[-0.021700858667336953,-1.1621719324340778],[-0.005712881511930166,-1.146171772243897]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.4624956093828174,0.04431805734523797,0.71338606911949],"aabb_xy":[[0.44934436341152806,0.019318057588551426],[0.4756468553541068,0.06931805710192451]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.42828098767773204,1.5369939120902303,0.71338606911949],"aabb_xy":[[0.35828098428617006,1.5016781383867992],[0.498280991069294,1.572309685793661]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[0.4061751490283203,-0.9036051579351878,0.71338606911949],"aabb_xy":[[0.37185887185370237,-0.9536051579083654],[0.44049142620293824,-0.85360515796201]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.1981460575597634,-1.7999148997180576,0.71338606911949],"aabb_xy":[[-0.2881460612366815,-1.8613473062951613],[-0.10814605388284518,-1.7384824931409526]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[-0.3836942572491518,1.3979747468454033,0.71338606911949],"aabb_xy":[[-0.4037526688623921,1.377909659936246],[-0.3636358456359115,1.4180398337545608]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.46871393786885934,0.7672028851713377,0.71338606911949],"aabb_xy":[[-0.5099627488987741,0.7122028856591203],[-0.4274651268389446,0.8222028846835552]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[0.615585923432735,-0.3832762199501878,0.71338606911949],"aabb_xy":[[0.5684565444308992,-0.4472762209945897],[0.6627153024345706,-0.3192762189057858]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.6474806696247298,0.02514559582892506,0.71338606911949],"aabb_xy":[[-0.6696531966013806,0.002969928672801883],[-0.6253081426480789,0.047321262985048226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7153968531808341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8358.png","name":"8358"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8358.png","name":"8358"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1221.png","name":"1221"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3478.png","name":"3478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3209.png","name":"3209"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1805.png","name":"1805"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":691.6928186913077,"rotation_z_degrees":297.81844708328566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010029960344108864,0.0161161829199578,0.007539505290504157]},{"name":"camera_2","offset_m":[-0.016743288805309314,0.019731308576655917,0.00017683026976761038]},{"name":"camera_3","offset_m":[0.01430878475519674,-0.010542011559671329,0.011950182838760166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015760539403913505,-0.0005098102923388307,0.00034772977686638173],"end_effector_yaw_offset_degrees":0.7764831932537963},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007899102600517245,-0.0008564372513031944,-0.0007041248868333843],"end_effector_yaw_offset_degrees":0.7911478133317085},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002899795632408369,-0.0010405594215639354,-0.001550797052312173],"end_effector_yaw_offset_degrees":0.09498845965976321}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008212151023162225,0.004846572815286038],"position_m":[0.24222121510231623,0.22784657281528603,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038212704174534974,-0.004737705717427063],"position_m":[0.1676787295825465,-0.12093770571742705,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030322530825935322,0.004507406702476415],"position_m":[0.34053225308259355,0.07440740670247642,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004584093221709854,-0.0030825019700354674],"position_m":[0.2622840932217098,-0.41128250197003546,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3c7b3bfa08dcb25d951bc9cb122b8028f3a297694cd16f24828697505679a038","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8358/tex_ceiling_textures_1805/tex_floor_textures_3209/tex_table_textures_1221/tex_wall_textures_3478","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":916236791447255702,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":916236791447255702,"visual_seed":916236791447255702,"scene_id":"lab_003","finished_at":"2026-09-03T09:39:58"} +{"episode_id":"ep_000049","started_at":"2026-09-03T09:40:00","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.09333172364293507,-0.8137060921385553,0.71338606911949],"aabb_xy":[[0.08045982014199493,-0.8937060925523914],[0.10620362714387521,-0.7337060917247191]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.38787493999555794,0.04855938531219728,0.71338606911949],"aabb_xy":[[-0.4494656992195508,-0.0154406127968496],[-0.3262841807715652,0.11255938342124416]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[-0.43698470619482094,-0.509873507226811,0.71338606911949],"aabb_xy":[[-0.4530466336533386,-0.5948735090394027],[-0.4209227787363033,-0.42487350541421914]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.6181299038834167,-1.6960653043919427,0.71338606911949],"aabb_xy":[[-0.6634085187645659,-1.7600653037401266],[-0.5728512890022673,-1.6320653050437592]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.08936172699485612,1.3360486523605117,0.71338606911949],"aabb_xy":[[0.08232141706131914,1.2560486529608406],[0.09640203692839314,1.4160486517601834]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.18587321245795096,0.7481562702330589,0.71338606911949],"aabb_xy":[[0.1743042317110144,0.7231562701161272],[0.19744219320488754,0.7731562703499906]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.03189925172927466,1.4416208481716706,0.71338606911949],"aabb_xy":[[-0.09189925259008745,1.390194418165184],[0.028100749131538146,1.4930472781781567]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.2654811261601088,0.27863358636444246,0.71338606911949],"aabb_xy":[[-0.3004811244708042,0.2709185714408968],[-0.23048112784941333,0.2863486012879881]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.5524126284654753,-1.2656315427381966,0.71338606911949],"aabb_xy":[[0.5443692685395202,-1.350631543833563],[0.5604559883914305,-1.1806315416428301]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.628132671844178,0.6437315566167099,0.71338606911949],"aabb_xy":[[-0.6353939194145855,0.6309445463532005],[-0.6208714242737705,0.6565185668802195]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.5720972454447348,-1.05868731372342,0.71338606911949],"aabb_xy":[[0.555186513008393,-1.0721595193160345],[0.5890079778810765,-1.0452151081308052]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.35605738000763254,-1.928717681172886,0.71338606911949],"aabb_xy":[[-0.4360573814377598,-2.008234836185495],[-0.2760573785775054,-1.8492005261602762]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.37275746824583056,0.987417251675593,0.71338606911949],"aabb_xy":[[0.33572335881777077,0.9530400443418835],[0.40979157767389024,1.0217944590093024]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.38571624574462837,-2.5244745841215246,0.71338606911949],"aabb_xy":[[0.38108113059239496,-2.5283419191986725],[0.3903513608968617,-2.520607249044375]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.4124697575635772,0.8991019097590032,0.71338606911949],"aabb_xy":[[-0.4664853538454771,0.8351019068667459],[-0.3584541612816771,0.9631019126512602]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.4057197784025126,-0.9526663832096549,0.71338606911949],"aabb_xy":[[-0.4232197776805995,-0.9700044832760008],[-0.38821977912442573,-0.9353282831433088]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.1335515847802221,0.5626155066733585,0.71338606911949],"aabb_xy":[[-0.19755158208256848,0.5182490797055017],[-0.06955158747787568,0.6069819336412152]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.6050671595668431,1.0941391300914916,0.71338606911949],"aabb_xy":[[0.5450671590589901,1.0372923964055702],[0.6650671600746959,1.1509858637774129]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.18810408633249032,1.388432968858298,0.71338606911949],"aabb_xy":[[-0.23809891926043192,1.3384329699630544],[-0.13810925340454872,1.4384329677535415]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.5079972343249358,-0.9845475841799645,0.71338606911949],"aabb_xy":[[-0.5278882742052762,-0.9972033954646613],[-0.4881061944445957,-0.9718917728952676]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.10072247973515858,-1.462283090036922,0.71338606911949],"aabb_xy":[[0.0509057002703238,-1.5122830885212253],[0.15053925919999334,-1.4122830915526186]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[0.4470852687628104,-1.0085427973073082,0.71338606911949],"aabb_xy":[[0.4296545536838038,-1.0258149119711586],[0.4645159838418168,-0.9912706826434571]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[-0.35819739903244724,-1.468382693706022,0.71338606911949],"aabb_xy":[[-0.42219739832661546,-1.5323688340748765],[-0.294197399738279,-1.404396553337168]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.06515040079993528,-1.8021982179496938,0.71338606911949],"aabb_xy":[[-0.1301504017570625,-1.8541464298833994],[-0.0001503998428080827,-1.7502500060159882]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.5536916760715627,-2.1371301439699106,0.71338606911949],"aabb_xy":[[-0.6036909512399988,-2.1871301452458582],[-0.5036924009031265,-2.087130142693964]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7073493844461737,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5477.png","name":"5477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5477.png","name":"5477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9036.png","name":"9036"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4155.png","name":"4155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/760.png","name":"760"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":519.0282273103232,"rotation_z_degrees":167.53014477773024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018140934093508858,0.008819881717173347,-0.0009699652018879852]},{"name":"camera_2","offset_m":[0.005810779656016049,-0.0033352878541127277,0.015895647875447064]},{"name":"camera_3","offset_m":[0.009760575834249656,-0.007437332982188228,0.008625745516310027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001991849907068774,-0.0013951509024061628,-0.0005991907903420866],"end_effector_yaw_offset_degrees":-0.8788501680274226},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015023337535046404,-0.0001138968633054955,-0.0004034680658641578],"end_effector_yaw_offset_degrees":0.8389760077643105},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002425300748136992,-4.758262241372647e-05,0.0018038662152430308],"end_effector_yaw_offset_degrees":0.3955155140748601}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012605146309506675,0.0017896471150568392],"position_m":[0.24266051463095067,0.22478964711505683,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038458690742512345,0.0013648949074854307],"position_m":[0.17534586907425126,-0.11483510509251457,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036573653954961654,-0.0004666121137795118],"position_m":[0.3411573653954962,0.0694333878862205,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011168824722376856,0.0028045174930761843],"position_m":[0.2565831175277623,-0.4053954825069238,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"07a72018146983f99fdc6759f2785f5e49175f27405422f417cbd37db680bb53","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5477/tex_ceiling_textures_760/tex_floor_textures_4155/tex_table_textures_3337/tex_wall_textures_9036","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5506737317068860504,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5506737317068860504,"visual_seed":5506737317068860504,"scene_id":"lab_003","finished_at":"2026-09-03T09:42:46"} +{"episode_id":"ep_000050","started_at":"2026-09-03T09:42:49","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[0.3233189814001778,0.8514499772563382,0.71338606911949],"aabb_xy":[[0.2533189787635914,0.8313451122604726],[0.3933189840367641,0.8715548422522036]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.5991194347221982,-1.680258745964254,0.71338606911949],"aabb_xy":[[0.5755343112583035,-1.7452587482096855],[0.6227045581860932,-1.615258743718822]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.1799189374105009,-0.8442016073511627,0.71338606911949],"aabb_xy":[[-0.19547470682076623,-0.85975204059557],[-0.16436316800023568,-0.8286511741067556]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.48831948203150444,-0.24330216203469357,0.71338606911949],"aabb_xy":[[-0.5207811829134318,-0.27343499414959616],[-0.4558577811495769,-0.21316932991979096]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.2559493704251763,-0.8527992599026983,0.71338606911949],"aabb_xy":[[-0.26090539061005746,-0.8752992601048201],[-0.2509933502402951,-0.8302992597005768]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.6781615911818415,-0.6443038949893678,0.71338606911949],"aabb_xy":[[0.6328829763006921,-0.7083038943375515],[0.7234402060629906,-0.5803038956411841]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.6500815535536832,0.12122499870905523,0.71338606911949],"aabb_xy":[[0.5860815543839134,0.07445831159009275],[0.7140815527234533,0.1679916858280177]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[-0.21855005435156943,-1.4519857136881222,0.71338606911949],"aabb_xy":[[-0.28355005438587216,-1.4986863903684495],[-0.1535500543172667,-1.405285037007795]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.477030783028182,1.7866653885193204,0.71338606911949],"aabb_xy":[[-0.4945307821625492,1.7767857614817326],[-0.45953078389381485,1.7965450155569083]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.16773439199131135,-1.851710587475442,0.71338606911949],"aabb_xy":[[-0.1795025787859689,-1.9367105873806643],[-0.15596620519665386,-1.7667105875702211]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.45825548925108767,-2.2480259245539638,0.71338606911949],"aabb_xy":[[-0.4756862043300941,-2.265298039217814],[-0.4408247741720811,-2.2307538098901127]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.2920830858005856,1.6231795888491587,0.71338606911949],"aabb_xy":[[-0.35208308639660174,1.568367116303935],[-0.23208308520456938,1.677992061394382]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.31348452243274894,0.9808546729644227,0.71338606911949],"aabb_xy":[[0.2636018255550528,0.930854673718148],[0.3633672193104452,1.0308546722106975]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.406660439403004,1.4629606703606624,0.71338606911949],"aabb_xy":[[0.3566604377415092,1.4129622281049594],[0.4566604410644987,1.5129591126163648]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.19637971020265776,-1.1476987710959121,0.71338606911949],"aabb_xy":[[0.17391494023125265,-1.1701987719747726],[0.21884448017406288,-1.1251987702170516]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.39310833647997634,-1.96429130474273,0.71338606911949],"aabb_xy":[[0.38586457043373096,-2.0442913029463323],[0.4003521025262216,-1.8842913065391276]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.3390191473803561,-1.848220117298508,0.71338606911949],"aabb_xy":[[-0.34606059833110364,-1.8552468690363026],[-0.33197769642960845,-1.8411933655607133]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.3470411378851508,1.6656686107629413,0.71338606911949],"aabb_xy":[[0.3095411377795578,1.65884644890996],[0.3845411379907437,1.6724907726159222]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.38723514494800226,1.364143135215552,0.71338606911949],"aabb_xy":[[-0.4372351463088895,1.3141652306401364],[-0.33723514358711504,1.4141210397909676]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.21128145370837992,0.6352304445856061,0.71338606911949],"aabb_xy":[[0.1986787545713035,0.6226350483607407],[0.2238841528454564,0.6478258408104717]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.6140273766753045,-1.9548190709370783,0.71338606911949],"aabb_xy":[[-0.621288624245712,-1.9676060812005878],[-0.6067661291048972,-1.9420320606735688]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.19591594562046089,-2.172494852891675,0.71338606911949],"aabb_xy":[[0.1807530726435238,-2.1876603101867937],[0.211078818597398,-2.1573293955965562]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.6327452669392541,-0.35970960020520204,0.71338606911949],"aabb_xy":[[-0.6428269740178275,-0.43970959809731663],[-0.6226635598606806,-0.27970960231308734]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.5379397828492687,0.48692807661254767,0.71338606911949],"aabb_xy":[[0.5342365215201297,0.4832260583038297],[0.5416430441784075,0.4906300949212654]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[-0.5720441503316347,-1.6050167165398177,0.71338606911949],"aabb_xy":[[-0.6220172158641503,-1.655016716352351],[-0.5220710847991193,-1.5550167167272853]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[0.3703439629773184,1.23009092447628,0.71338606911949],"aabb_xy":[[0.3490659548338461,1.165090922150207],[0.3916219711207906,1.2950909268023532]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.4307578965229275,-1.7243700411503253,0.71338606911949],"aabb_xy":[[0.3932578965791611,-1.7326631311851617],[0.4682578964666939,-1.7160769511154885]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[0.5121402535666835,0.7588538380349239,0.71338606911949],"aabb_xy":[[0.4621402549207623,0.7089342943754615],[0.5621402522126047,0.8087733816943863]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[-0.603875731143155,-2.2032665757942347,0.71338606911949],"aabb_xy":[[-0.6163430892528906,-2.215731900427558],[-0.5914083730334193,-2.190801251160911]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[-0.6439712158068521,0.3141941656325944,0.71338606911949],"aabb_xy":[[-0.6743693269059957,0.2837872636309248],[-0.6135731047077085,0.34460106763426385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083259819985962,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1231.png","name":"1231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1231.png","name":"1231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8514.png","name":"8514"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3467.png","name":"3467"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1030.png","name":"1030"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":624.242667930634,"rotation_z_degrees":281.7489798902823,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007332378167456986,0.015168951333567538,0.009861709855640319]},{"name":"camera_2","offset_m":[-0.019307668869411813,0.009370135789061255,0.018289963128211437]},{"name":"camera_3","offset_m":[0.007467922528119536,0.007702774724130501,-0.01823780835495893]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014120763634870243,-0.00028956906580411925,0.00015425725910581806],"end_effector_yaw_offset_degrees":0.4545263566327009},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011001133930016067,-0.0019115090926966874,0.0008087891460357246],"end_effector_yaw_offset_degrees":0.06341906393758068},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001974823458832255,-0.0003663417668731475,-0.0015543657438793909],"end_effector_yaw_offset_degrees":-0.01769580969686535}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002921663006236145,0.000374342733916384],"position_m":[0.24110783369937638,0.22337434273391638,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005740189264138197,0.0004635901584567493],"position_m":[0.1709259810735862,-0.11573640984154325,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004159128079178453,-0.00025457535529262686],"position_m":[0.33334087192082157,0.06964542464470738,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011478821052252567,0.004346800606145572],"position_m":[0.25884788210522525,-0.40385319939385445,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4947b16d7d10934ab520ecfd97f9472da0bf28cbc977fc75ef5eadc0d6c5ae95","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1231/tex_ceiling_textures_1030/tex_floor_textures_5277/tex_table_textures_8514/tex_wall_textures_3467","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4789870338711613730,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4789870338711613730,"visual_seed":4789870338711613730,"scene_id":"lab_003","finished_at":"2026-09-03T09:45:23"} +{"episode_id":"ep_000051","started_at":"2026-09-03T09:45:26","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.2397604642214053,-2.1236619746667333,0.71338606911949],"aabb_xy":[[0.2052981168232635,-2.158155857064555],[0.2742228116195471,-2.0891680922689098]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.48082122012497663,0.965253536802201,0.71338606911949],"aabb_xy":[[0.4158212219690576,0.9389572922522889],[0.5458212182808957,0.9915497813521132]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[0.5261328830858389,1.3670321463115958,0.71338606911949],"aabb_xy":[[0.5062418432054988,1.3543763350268991],[0.5460239229661793,1.3796879575962928]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.10839237794260415,1.082670387814972,0.71338606911949],"aabb_xy":[[0.04680161871861134,1.0186703897059253],[0.16998313716659696,1.146670385924019]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.40056376261277465,1.6726879965379173,0.71338606911949],"aabb_xy":[[-0.4046996189454749,1.6351879970935606],[-0.3964279062800745,1.7101879959822746]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.15003251966899056,-1.7491219716144855,0.71338606911949],"aabb_xy":[[0.09504026903347962,-1.8041219733577984],[0.20502477030450153,-1.694121969871173]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.22462853038553843,-2.3011071417190565,0.71338606911949],"aabb_xy":[[0.1606285270958303,-2.3444420607229737],[0.28862853367524655,-2.2577722227151384]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.5104922647194743,-0.23185578210051405,0.71338606911949],"aabb_xy":[[-0.5330059565429314,-0.3018557827015216],[-0.487978572896017,-0.1618557814995065]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[0.30436298586930544,0.5526782256089238,0.71338606911949],"aabb_xy":[[0.2403629836488984,0.5083051414836355],[0.36836298808971246,0.597051309734212]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.3955159687782448,-0.781119502283828,0.71338606911949],"aabb_xy":[[0.33551596791743193,-0.8325459322903144],[0.45551596963905755,-0.7296930722773416]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.6504663096247081,-2.336900121515453,0.71338606911949],"aabb_xy":[[0.5864706122296115,-2.4009001198161615],[0.7144620070198047,-2.272900123214744]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.4238635885781084,-1.0915652729028753,0.71338606911949],"aabb_xy":[[-0.48786359092091,-1.1365061241470078],[-0.35986358623530684,-1.0466244216587428]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.35062311163204585,-2.4302947531002133,0.71338606911949],"aabb_xy":[[-0.40574831726163657,-2.4902947545415],[-0.295497906002455,-2.3702947516589257]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.3501909877824061,-1.9658565357360203,0.71338606911949],"aabb_xy":[[0.3388292531291198,-1.9772250021423081],[0.36155272243569214,-1.954488069329732]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.38347444597509783,-2.5548790494894797,0.71338606911949],"aabb_xy":[[0.375438111273813,-2.5629171687938967],[0.3915107806763827,-2.5468409301850627]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.4536793785007411,-1.608726879396401,0.71338606911949],"aabb_xy":[[-0.45857867080730447,-1.6364037986989697],[-0.4487800861941775,-1.5810499600938321]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.03236407659381835,-1.570339348556204,0.71338606911949],"aabb_xy":[[-0.08224677347151456,-1.6203393478024792],[0.017518620283877854,-1.5203393493099298]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.2935495873032139,0.2370600561328824,0.71338606911949],"aabb_xy":[[-0.3015758579338399,0.22830856115552978],[-0.2855233166725879,0.245811551110235]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.41718623311773184,-0.5561481933687653,0.71338606911949],"aabb_xy":[[0.35718623327116505,-0.612966815561804],[0.47718623296429863,-0.4993295711757266]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.23860759260929,-1.9616881633517727,0.71338606911949],"aabb_xy":[[0.230614102814008,-1.9696862952922487],[0.24660108240457204,-1.9536900314112975]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.2456670671074364,0.5632579137314098,0.71338606911949],"aabb_xy":[[-0.3256670657643224,0.548753054807147],[-0.1656670684505504,0.5777627726556726]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.09248948395944612,1.7755648337298697,0.71338606911949],"aabb_xy":[[0.042516189956185654,1.7255648331753222],[0.14246277796270657,1.8255648342844168]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[0.06674964744689282,1.319570316302193,0.71338606911949],"aabb_xy":[[0.05518066669995626,1.2945703161852613],[0.07831862819382941,1.3445703164191247]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.12494939901120505,-2.292209780405372,0.71338606911949],"aabb_xy":[[-0.20494940117396754,-2.372164964031515],[-0.04494939684844257,-2.212254596779228]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.1844372923380203,-0.033315767226869575,0.71338606911949],"aabb_xy":[[-0.21943729064871575,-0.041030782150415224],[-0.14943729402732486,-0.025600752303323926]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.5658631483700027,-2.077300823211542,0.71338606911949],"aabb_xy":[[0.5550226701434879,-2.0944871045021904],[0.5767036265965177,-2.060114541920893]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.6221996150781122,1.6199057446438672,0.71338606911949],"aabb_xy":[[-0.6861996142478822,1.5731390575249047],[-0.5581996159083423,1.6666724317628296]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.06057258697066348,1.6314729000983603,0.71338606911949],"aabb_xy":[[-0.0979038634959061,1.596819845303508],[-0.023241310445420854,1.6661259548932126]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[-0.33135751778410605,-0.08272392421658648,0.71338606911949],"aabb_xy":[[-0.35385393921797015,-0.10522392402333393],[-0.30886109635024195,-0.06022392440983905]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[-0.09092815491224449,-1.2534509793518342,0.71338606911949],"aabb_xy":[[-0.12089571182207015,-1.2834509796497198],[-0.06096059800241882,-1.2234509790539483]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_30","position":[0.6197497084607821,-2.173237063274604,0.71338606911949],"aabb_xy":[[0.5297497087376077,-2.1963104158097835],[0.7097497081839561,-2.150163710739424]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_31","position":[-0.11681694230862028,0.6662632122382606,0.71338606911949],"aabb_xy":[[-0.14203777916845994,0.6410394613853737],[-0.09159610544878061,0.6914869630911472]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_32","position":[-0.4828233059864904,-0.46298156304518967,0.71338606911949],"aabb_xy":[[-0.5289083972412217,-0.5269815602977448],[-0.4367382147317589,-0.39898156579263455]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_33","position":[0.2540258182141856,-0.5505892288711429,0.71338606911949],"aabb_xy":[[0.2491822234529556,-0.555440881350127],[0.25886941297541555,-0.5457375763921588]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_34","position":[0.10301761394512299,1.662716116015154,0.71338606911949],"aabb_xy":[[0.09055025583538734,1.6502507913818305],[0.11548497205485864,1.6751814406484775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7059511219774715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/984.png","name":"984"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/984.png","name":"984"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7544.png","name":"7544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1187.png","name":"1187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3717.png","name":"3717"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3700.png","name":"3700"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":693.1317986827653,"rotation_z_degrees":76.30427176395858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012442458624710682,-0.01254495731855894,-0.004078018472956822]},{"name":"camera_2","offset_m":[-0.005121293028399462,-0.007145561962958147,-0.00893548065915339]},{"name":"camera_3","offset_m":[-0.010983494064610012,-0.019970820813178553,0.009136341738856767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011946731616539203,-0.0006078376851992786,0.0006427257615795766],"end_effector_yaw_offset_degrees":-0.3064801111635742},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-6.53193905562567e-05,0.0019935399745871375,-0.0008744904537187775],"end_effector_yaw_offset_degrees":-0.5251641325218706},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001977589563779134,-0.0014903759441297565,0.00016332971972747926],"end_effector_yaw_offset_degrees":-0.8547693475646914}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002220644848042864,-0.004713830093409447],"position_m":[0.23917935515195715,0.21828616990659055,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017244635302466971,-0.0014887678253279603],"position_m":[0.16977553646975332,-0.11768876782532796,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017193876507346538,0.0027454843554531785],"position_m":[0.3357806123492654,0.07264548435545318,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014388371415905666,0.0047864404948211635],"position_m":[0.25626116285840944,-0.4034135595051788,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0c89033cc124037736e423083f1667388dabd6fa5a5c301d1dd4d4e73f39c5c9","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_984/tex_ceiling_textures_3700/tex_floor_textures_3717/tex_table_textures_7544/tex_wall_textures_1187","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7426476382189408847,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7426476382189408847,"visual_seed":7426476382189408847,"scene_id":"lab_003","finished_at":"2026-09-03T09:47:59"} +{"episode_id":"ep_000052","started_at":"2026-09-03T09:49:29","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.08254472204690644,-0.734988936978614,0.71338606911949],"aabb_xy":[[0.018544719997174455,-0.775083420067922],[0.14654472409663843,-0.694894453889306]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.029931731812519402,-2.4860580535522407,0.71338606911949],"aabb_xy":[[-0.005068266498176047,-2.4937730684757864],[0.06493173012321485,-2.478343038628695]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.3408346308010337,-2.1728647051254653,0.71338606911949],"aabb_xy":[[0.32926565005409714,-2.197864705242397],[0.3524036115479703,-2.1478647050085335]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.6285912499547298,1.019772251462705,0.71338606911949],"aabb_xy":[[-0.644475743220055,1.005419311163881],[-0.6127067566894047,1.034125191761529]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.23180338543293866,1.4706205726006911,0.71338606911949],"aabb_xy":[[0.19680338624012034,1.4596535266030284],[0.26680338462575687,1.4815876185983534]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[0.6168166557315105,-1.8592983361644349,0.71338606911949],"aabb_xy":[[0.5929804380909054,-1.9492983369729218],[0.6406528733721155,-1.7692983353559488]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[0.031594734701017035,-1.895065756171281,0.71338606911949],"aabb_xy":[[-0.029996024522975777,-1.9590657542803278],[0.09318549392500985,-1.831065758062234]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.11455575268900098,-1.3710621252991713,0.71338606911949],"aabb_xy":[[-0.14955575095912088,-1.3781362529941592],[-0.07955575441888108,-1.3639879976041829]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.18827730829328848,-2.3063163611711928,0.71338606911949],"aabb_xy":[[-0.23825611680360437,-2.3563163611769116],[-0.1382984997829726,-2.256316361165474]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.39956072081831995,0.6351061873632733,0.71338606911949],"aabb_xy":[[-0.42145046840726075,0.545106190074024],[-0.37767097322937915,0.7251061846525223]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.36828291934073,0.7998565268568716,0.71338606911949],"aabb_xy":[[0.3326537634407702,0.7642238601000186],[0.40391207524068967,0.8354891936137245]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.007804733413565801,1.3933318142125564,0.71338606911949],"aabb_xy":[[-0.01957292020822332,1.3083318143073348],[0.003963453381091722,1.478331814117778]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.5515448629883704,-1.2353046743019551,0.71338606911949],"aabb_xy":[[-0.6015179285208858,-1.285304674114488],[-0.5015717974558549,-1.1853046744894222]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.034554029374626816,-1.0202657539064648,0.71338606911949],"aabb_xy":[[-0.0895495071952862,-1.0752657553403715],[0.02044144844603258,-0.9652657524725576]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.23132493685305427,-1.5220699444964056,0.71338606911949],"aabb_xy":[[-0.29532493723058784,-1.5718152113472177],[-0.16732493647552063,-1.4723246776455932]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.5314021150130366,0.3692704658309909,0.71338606911949],"aabb_xy":[[0.5162299457314032,0.35410160890278747],[0.5465742842946699,0.3844393227591942]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.5713066133482969,-2.39471258610753,0.71338606911949],"aabb_xy":[[0.5261352955001279,-2.458712583252068],[0.6164779311964659,-2.3307125889629914]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.445046683064337,0.3537402504457785,0.71338606911949],"aabb_xy":[[-0.48004668304083276,0.3442756343981619],[-0.4100466830878411,0.3632048664933951]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.4386621983123307,-1.7451140527426636,0.71338606911949],"aabb_xy":[[-0.48814261952628957,-1.8091140506555157],[-0.389181777098372,-1.681114054829812]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[0.539558230010452,-0.277856800693999,0.71338606911949],"aabb_xy":[[0.48955822864956483,-0.3278347052694146],[0.5895582313713392,-0.2278788961185834]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.03546881366500587,0.8749488219631445,0.71338606911949],"aabb_xy":[[-0.0641181460254221,0.8463032626860685],[-0.006819481304589647,0.9035943812402201]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.6954388214204876,-2.103984487512143,0.71338606911949],"aabb_xy":[[0.6874024867192027,-2.11202260681656],[0.7034751561217724,-2.095946368207726]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.5188042742180872,0.1589947724744203,0.71338606911949],"aabb_xy":[[-0.5573499670432882,0.12044900141823166],[-0.48025858139288613,0.197540543530609]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.3459860523064717,-0.4900149272410599,0.71338606911949],"aabb_xy":[[-0.35229815184281016,-0.4957818664942787],[-0.3396739527701333,-0.4842479879878411]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[0.46711448376585674,-1.4963694862894814,0.71338606911949],"aabb_xy":[[0.4218358688847074,-1.5603694856376649],[0.512393098647006,-1.4323694869412975]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.11295488139232679,-2.0963987153072274,0.71338606911949],"aabb_xy":[[-0.12431661604561293,-2.107767181713515],[-0.10159314673904062,-2.085030248900939]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.47209710415384265,1.6529499962770706,0.71338606911949],"aabb_xy":[[0.4080971048596744,1.5889638559082166],[0.5360971034480109,1.716936136645925]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[-0.288120000257501,-1.1545454352176803,0.71338606911949],"aabb_xy":[[-0.3231200001535198,-1.1629196707296205],[-0.2531200003614821,-1.1461711997057404]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[0.529208121147015,-0.6216377784973399,0.71338606911949],"aabb_xy":[[0.4492142975684569,-0.7016377810901815],[0.6092019447255733,-0.5416377759044984]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[-0.18501174140413035,1.7423644862321823,0.71338606911949],"aabb_xy":[[-0.23501174098046507,1.6923839072800761],[-0.13501174182779563,1.792345065184288]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_30","position":[0.6520096439924923,1.3677607662465254,0.71338606911949],"aabb_xy":[[0.6098252298316617,1.3037607659693142],[0.6941940581533231,1.4317607665237366]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_31","position":[0.184419453655277,-1.0426612789504774,0.71338606911949],"aabb_xy":[[0.1244194530592608,-1.0974737514957007],[0.24441945425129316,-0.9878488064052537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7123025653692494,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2125.png","name":"2125"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2125.png","name":"2125"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7181.png","name":"7181"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5728.png","name":"5728"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9797.png","name":"9797"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6686.png","name":"6686"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":791.7883109698039,"rotation_z_degrees":231.80933805619628,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006564729481958739,0.01202257262479951,-0.006922701278454681]},{"name":"camera_2","offset_m":[-0.010446068282226896,-0.013366220299929288,0.006610334348038278]},{"name":"camera_3","offset_m":[0.006436557145296465,-0.0025583007651850988,-0.004718780443477502]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009971637759026526,0.001784771974181836,0.0014998653975331674],"end_effector_yaw_offset_degrees":0.7717943597471881},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010935973736730103,0.0017366902520891607,0.0003467899005156409],"end_effector_yaw_offset_degrees":-0.03407977731703249},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016667566785027953,-0.0004795498741554797,0.0010203902182103625],"end_effector_yaw_offset_degrees":-0.341030801824838}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023444092017736997,0.004082174749187408],"position_m":[0.2390555907982263,0.2270821747491874,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010611130892708154,0.0025871462848173956],"position_m":[0.1704388869107292,-0.11361285371518261,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019835682001144253,-0.004489896662208227],"position_m":[0.3355164317998856,0.06541010333779178,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003752185946394593,-0.004736817104631225],"position_m":[0.2573247814053605,-0.41293681710463126,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a3ecc4b15d4cc2126306e1d47ed3fbd21ce3087a99d5606330ef39c5e20c2c59","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2125/tex_ceiling_textures_6686/tex_floor_textures_9797/tex_table_textures_7181/tex_wall_textures_5728","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3768547224035845330,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3768547224035845330,"visual_seed":3768547224035845330,"scene_id":"lab_003","finished_at":"2026-09-03T09:52:03"} +{"episode_id":"ep_000053","started_at":"2026-09-03T09:53:32","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.4762142431448128,-2.5197104446241,0.71338606911949],"aabb_xy":[[-0.5262142441639482,-2.5561766603619285],[-0.42621424212567766,-2.4832442288862726]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.31071722876046354,0.9577495040903186,0.71338606911949],"aabb_xy":[[-0.37571722971759075,0.905801292156613],[-0.24571722780333635,1.0096977160240241]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.28248687559350905,-0.7708489783426715,0.71338606911949],"aabb_xy":[[-0.29939760802985077,-0.7843211839352859],[-0.2655761431571672,-0.7573767727500569]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.6206138112954123,-1.4953248542653235,0.71338606911949],"aabb_xy":[[0.5756212245769617,-1.540324853539772],[0.6656063980138626,-1.4503248549908745]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.3838581960408255,-0.07043039311027677,0.71338606911949],"aabb_xy":[[-0.4008682933308761,-0.08656488160855068],[-0.3668480987507748,-0.05429590461200283]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.3804584057314595,1.351217968868212,0.71338606911949],"aabb_xy":[[0.31645840405346215,1.302700577388898],[0.44445840740945686,1.3997353603475264]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.15148448751280663,1.1199723470338592,0.71338606911949],"aabb_xy":[[0.13480735151971113,1.103272423059929],[0.16816162350590214,1.1366722710077894]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.41284029335793326,-0.7744121216267561,0.71338606911949],"aabb_xy":[[-0.4589253846126647,-0.8384121188793112],[-0.3667552021032017,-0.710412124374201]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.5196099713782145,-0.2710146836610656,0.71338606911949],"aabb_xy":[[0.501816464443298,-0.2888144292568633],[0.5374034783131308,-0.25321493806526796]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.13450883638663935,-1.4671386740826018,0.71338606911949],"aabb_xy":[[0.09596314356143831,-1.5056844451387905],[0.1730545292118404,-1.428592903026413]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.16538735298905205,-2.171532371914196,0.71338606911949],"aabb_xy":[[0.10138735369488386,-2.23551851228305],[0.2293873522832203,-2.1075462315453417]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.24098478014547992,1.5866782943562243,0.71338606911949],"aabb_xy":[[-0.3025755393694728,1.5226782962471777],[-0.17939402092148712,1.6506782924652714]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.10173853778299113,1.2609433735665552,0.71338606911949],"aabb_xy":[[-0.11051976493022739,1.2521636262780251],[-0.09295731063575492,1.2697231208550857]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.24706116804297973,-1.4310449323577203,0.71338606911949],"aabb_xy":[[-0.2543434844196433,-1.521044935967229],[-0.23977885166631602,-1.341044928748211]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.04601405330085384,-1.2338362539704628,0.71338606911949],"aabb_xy":[[-0.06851405354436924,-1.2460408886302348],[-0.023514053057338453,-1.2216316193106909]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.08567922094069591,1.3525213402464749,0.71338606911949],"aabb_xy":[[0.07958459305257759,1.3439519456948061],[0.09177384882881423,1.3610907347981436]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.4518324814003808,-0.3793492289527416,0.71338606911949],"aabb_xy":[[-0.45717005706638536,-0.4043492298818814],[-0.4464949057343762,-0.3543492280236018]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.12163689341863893,-0.9153040974272728,0.71338606911949],"aabb_xy":[[0.09913689340849062,-0.929400317066876],[0.14413689342878722,-0.9012078777876694]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.6911535342745831,0.9482722860757824,0.71338606911949],"aabb_xy":[[0.6851869953338474,0.9423111414164184],[0.6971200732153189,0.9542334307351464]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.5042958464018197,-2.08061290696116,0.71338606911949],"aabb_xy":[[0.43929584636751695,-2.1273135836414876],[0.5692958464361224,-2.033912230280833]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.3508896922500695,-2.5575345615457525,0.71338606911949],"aabb_xy":[[0.31642721423698167,-2.564198238728675],[0.3853521702631572,-2.5508708843628294]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.0046921720181922755,-0.7854062969402118,0.71338606911949],"aabb_xy":[[-0.049970786899341535,-0.8494062962883955],[0.040586442862956984,-0.7214062975920281]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.44246601383608586,1.5149432268915581,0.71338606911949],"aabb_xy":[[0.4200012438646808,1.4924432260126976],[0.46493078380749103,1.5374432277704186]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[-0.651383676498649,-0.12149441347019785,0.71338606911949],"aabb_xy":[[-0.6594200111999338,-0.12953253277461463],[-0.6433473417973641,-0.11345629416578105]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.06828368457569556,0.857449810303911,0.71338606911949],"aabb_xy":[[-0.12327916239635493,0.8024498088700038],[-0.013288206755036155,0.9124498117378177]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.579999847910758,-2.47716131954477,0.71338606911949],"aabb_xy":[[0.5299998492648367,-2.5270808632042323],[0.6299998465566791,-2.4272417758853075]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[0.5392613400351567,-1.2968356381958654,0.71338606911949],"aabb_xy":[[0.5042613417244611,-1.304550653119411],[0.574261338345852,-1.2891206232723198]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.6135266889335769,1.0817396245919109,0.71338606911949],"aabb_xy":[[0.5435266855420149,1.0464238508884798],[0.6835266923251389,1.1170553982953415]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[-0.04367601902053764,0.9858042938664497,0.71338606911949],"aabb_xy":[[-0.06617601953257823,0.9633124355010512],[-0.021176018508497034,1.0082961522318479]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.5916434989299684,0.2136167398752491,0.71338606911949],"aabb_xy":[[-0.655643496042074,0.16458437008083848],[-0.5276435018178626,0.2626491096696597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7138115454529583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/679.png","name":"679"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5130.png","name":"5130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5268.png","name":"5268"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7709.png","name":"7709"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":731.9549828376639,"rotation_z_degrees":73.70234851766602,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017471660940163707,-0.012153834478435743,-0.014303743693651465]},{"name":"camera_2","offset_m":[-0.00371065301589725,0.006988380620072919,-0.017210295558544628]},{"name":"camera_3","offset_m":[0.01850921744060229,0.00015498432060293,-0.017708321660036785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007431708562445104,0.00020794165712169832,-0.0013623702645503425],"end_effector_yaw_offset_degrees":0.36351823892603385},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011555201779725106,0.0011140174562171818,-0.0006908947249441679],"end_effector_yaw_offset_degrees":-0.9720653198477034},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001535583630978254,-0.0018882157349034477,0.0008977289966741243],"end_effector_yaw_offset_degrees":-0.5006527168896941}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019526570741735883,0.003746511171102967],"position_m":[0.23944734292582642,0.22674651117110298,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004752353455252884,0.004927457685675855],"position_m":[0.1762523534552529,-0.11127254231432414,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004476979691645999,0.002368604350464672],"position_m":[0.333023020308354,0.07226860435046467,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027364248933605603,-0.002953510778204812],"position_m":[0.26043642489336055,-0.41115351077820483,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ab7f5f621e71fe8448101600b80bced1518c067250d1976c8c58428511c34990","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8411/tex_ceiling_textures_7709/tex_floor_textures_5268/tex_table_textures_679/tex_wall_textures_5130","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8929561622203525185,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8929561622203525185,"visual_seed":8929561622203525185,"scene_id":"lab_003","finished_at":"2026-09-03T09:56:12"} +{"episode_id":"ep_000054","started_at":"2026-09-03T09:56:17","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.12058853022650251,1.3484643594914592,0.71338606911949],"aabb_xy":[[-0.13000600479636526,1.33904818235374],[-0.11117105565663976,1.357880536629178]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.4076878800803039,1.5809258991181783,0.71338606911949],"aabb_xy":[[-0.4451878804285316,1.5691345035370947],[-0.37018787973207606,1.5927172946992618]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.44158449541243083,-1.0499763853375665,0.71338606911949],"aabb_xy":[[-0.49155756094494646,-1.0999763851500997],[-0.39161142987991554,-0.9999763855250339]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.6861234481888479,-0.8317528169413415,0.71338606911949],"aabb_xy":[[0.6686234479437984,-0.8492526047809082],[0.7036234484338971,-0.8142530291017746]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.5703079210945268,-0.19209893574705061,0.71338606911949],"aabb_xy":[[-0.6353079237323203,-0.24357853444649757],[-0.5053079184567333,-0.14061933704760365]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.010930901338386034,1.7475447502395123,0.71338606911949],"aabb_xy":[[0.003669653767978622,1.7347577399760028],[0.01819214890879345,1.7603317605030218]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.4373389398696691,-2.3673027302811014,0.71338606911949],"aabb_xy":[[-0.45434903715971975,-2.3834372187793753],[-0.42032884257961844,-2.3511682417828275]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.36040323148343356,-1.7985486417687362,0.71338606911949],"aabb_xy":[[0.32540323235347784,-1.8042938628444],[0.39540323061338917,-1.7928034206930719]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.6638808951105217,-1.1157752339782818,0.71338606911949],"aabb_xy":[[0.6138808947499556,-1.1657552211878845],[0.7138808954710877,-1.0657952467686787]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[0.32579294341440757,-1.3882435007393197,0.71338606911949],"aabb_xy":[[0.24207071791432505,-1.4782435042740156],[0.40951516891448997,-1.2982434972046237]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[-0.5214439021550061,0.6196701280618715,0.71338606911949],"aabb_xy":[[-0.5864439032609495,0.5947047549937433],[-0.45644390104906296,0.6446355011299999]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.389325986278243,1.6092685236579514,0.71338606911949],"aabb_xy":[[0.32532598600426477,1.5592024234606634],[0.4533259865522212,1.6593346238552393]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.5988003572397094,-0.8689228460800198,0.71338606911949],"aabb_xy":[[-0.633800358591191,-0.8892825820368407],[-0.5638003558882275,-0.8485631101231991]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.33563811246358843,1.12815391033322,0.71338606911949],"aabb_xy":[[-0.34109605810060845,1.048153907025561],[-0.3301801668265683,1.2081539136408792]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.3302973047969061,-0.7195293495308759,0.71338606911949],"aabb_xy":[[-0.4152973034889807,-0.7515152129257546],[-0.24529730610483141,-0.6875434861359969]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.5784963673880082,-1.2798280042285224,0.71338606911949],"aabb_xy":[[-0.6023325850286134,-1.369828005037009],[-0.5546601497474033,-1.1898280034200361]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.5746880782204835,1.3234352316086047,0.71338606911949],"aabb_xy":[[-0.5806546171612192,1.3174740869492403],[-0.5687215392797478,1.3293963762679686]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.5817694523459592,0.8454333561083098,0.71338606911949],"aabb_xy":[[-0.6080582766663998,0.8191619224536584],[-0.5554806280255185,0.8717047897629608]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.5140791123427166,0.3922394871036978,0.71338606911949],"aabb_xy":[[0.49657911306462976,0.3749013870373519],[0.5315791116208035,0.4095775871700438]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.002977574086793666,-2.4861542071212392,0.71338606911949],"aabb_xy":[[-0.0320224251060246,-2.4971212531189018],[0.03797757327961193,-2.4751871611235767]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.5054464925892348,0.8104148215761593,0.71338606911949],"aabb_xy":[[0.4254464939323488,0.7959099626518966],[0.5854464912461208,0.8249196805004222]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.641196861437522,-0.519394392337051,0.71338606911949],"aabb_xy":[[-0.6661968607094841,-0.5357397559332133],[-0.6161968621655596,-0.5030490287408886]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[0.6005287592340203,0.17040197077468333,0.71338606911949],"aabb_xy":[[0.5858853536799874,0.15574325111789902],[0.6151721647880534,0.18506069043146758]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.6181282318582415,-2.4288766487858084,0.71338606911949],"aabb_xy":[[0.5681452816707621,-2.4788766484283684],[0.6681111820457207,-2.3788766491432476]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.05461453831587981,-1.2849568692978555,0.71338606911949],"aabb_xy":[[-0.06538751223724759,-1.3199568675168944],[-0.043841564394512034,-1.2499568710788165]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.30247344839108997,-0.5437798123765409,0.71338606911949],"aabb_xy":[[-0.3664734475608599,-0.5905464994955034],[-0.23847344922132005,-0.4970131252575785]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.04500921622128318,1.5019585830662048,0.71338606911949],"aabb_xy":[[-0.024990787170278802,1.466642809362774],[0.11500921961284515,1.5372743567696356]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.5808677095343084,-1.5964360490161833,0.71338606911949],"aabb_xy":[[-0.6041495517324398,-1.6814360503134111],[-0.5575858673361771,-1.511436047718955]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_28","position":[-0.3516744974569781,0.7323783857707977,0.71338606911949],"aabb_xy":[[-0.3968458153051472,0.6683783886262594],[-0.3065031796088092,0.7963783829153364]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_29","position":[0.5044147173528801,-2.26767451202108,0.71338606911949],"aabb_xy":[[0.45660854973911136,-2.3326745147281387],[0.5522208849666487,-2.2026745093140208]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[-0.6078064310083285,-0.4343992819726812,0.71338606911949],"aabb_xy":[[-0.612705723314892,-0.4620762012752499],[-0.602907138701765,-0.40672236267011236]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_31","position":[0.41431297197273786,-0.9266611172484649,0.71338606911949],"aabb_xy":[[0.3493129710156106,-0.9786093291821705],[0.479312972929865,-0.8747129053147593]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[0.503899112528744,0.49747552583018084,0.71338606911949],"aabb_xy":[[0.48361480980534516,0.47719290068747194],[0.5241834152521426,0.5177581509728896]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_33","position":[0.018721467139223624,-1.639488305295095,0.71338606911949],"aabb_xy":[[-0.06127853002035166,-1.6510359062529119],[0.09872146429879891,-1.6279407043372778]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_34","position":[-0.1343695284619424,1.7889214353263978,0.71338606911949],"aabb_xy":[[-0.17186952964673516,1.784503212630337],[-0.09686952727714958,1.793339658022458]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7090029311778486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8738.png","name":"8738"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5463.png","name":"5463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7902.png","name":"7902"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5748.png","name":"5748"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":622.8678056144921,"rotation_z_degrees":172.27681493966958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01549602997146746,-0.016097615099556588,0.00877059888264604]},{"name":"camera_2","offset_m":[0.01544057381232199,-0.009109753896431023,-0.011268351131712779]},{"name":"camera_3","offset_m":[-0.0065169534503229844,0.0051640295796945325,0.018062556774226062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004789610877803359,-0.0016611226723173176,0.001886661867263478],"end_effector_yaw_offset_degrees":0.4880649031567199},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011090739983103648,0.0002800924552471863,-0.0004169821849509634],"end_effector_yaw_offset_degrees":0.41146718253799075},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016314013723460726,-0.00012539126780190682,0.0002441389710006233],"end_effector_yaw_offset_degrees":0.6315248852862254}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00038495828095615105,-0.0041382082689592785],"position_m":[0.24101504171904387,0.21886179173104073,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032905785879130635,0.003979110070895772],"position_m":[0.16820942141208695,-0.11222088992910423,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004956055884634872,-0.0016100189007496536],"position_m":[0.33254394411536514,0.06828998109925034,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005407550171049212,0.0007454183546304893],"position_m":[0.25715924498289505,-0.4074545816453695,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e24f347b7a0c59fec1f8f9a83bdcf124d6312425860016463e27dde904581f3","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1848/tex_ceiling_textures_5748/tex_floor_textures_7902/tex_table_textures_8738/tex_wall_textures_5463","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7443525135462340528,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7443525135462340528,"visual_seed":7443525135462340528,"scene_id":"lab_003","finished_at":"2026-09-03T09:58:51"} +{"episode_id":"ep_000055","started_at":"2026-09-03T10:07:34","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.5092510119106776,-0.6601023152846466,0.71338606911949],"aabb_xy":[[-0.5267509453446608,-0.6776023152048811],[-0.4917510784766941,-0.642602315364412]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.46098836994086734,0.27213992414687604,0.71338606911949],"aabb_xy":[[-0.48482458758147245,0.1821399233383896],[-0.43715215230026233,0.36213992495536257]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.5343302517514201,-0.34001350788724993,0.71338606911949],"aabb_xy":[[0.5234244756638574,-0.42001350428607903],[0.5452360278389828,-0.2600135114884207]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.588614589843305,0.573708955041579,0.71338606911949],"aabb_xy":[[-0.6254092229682112,0.5368030799449967],[-0.5518199567183987,0.6106148301381612]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.06748645625111571,-1.0346450232565059,0.71338606911949],"aabb_xy":[[0.04998645600606632,-1.0521448110960727],[0.08498645649616508,-1.017145235416939]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.6672986918617043,1.0498085222281888,0.71338606911949],"aabb_xy":[[-0.67326523080244,1.0438473775688246],[-0.6613321529209686,1.055769666887553]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.2769663176080571,-1.6609748643383682,0.71338606911949],"aabb_xy":[[0.21696631596513527,-1.7129750136303123],[0.336966319250979,-1.608974715046424]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.494760723929204,-0.8973690913966945,0.71338606911949],"aabb_xy":[[-0.5497562017498634,-0.9523690928306012],[-0.43976524610854456,-0.8423690899627874]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.22532106764126458,0.23467970397518023,0.71338606911949],"aabb_xy":[[-0.23353561275694854,0.22600311367753892],[-0.21710652252558058,0.2433562942728215]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.03069253855938947,-0.8923504254001167,0.71338606911949],"aabb_xy":[[-0.11069253571896476,-0.9038980263579335],[0.049307458600185816,-0.8808028244422994]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.13910822243641008,-0.9178981389758516,0.71338606911949],"aabb_xy":[[0.11077851248786985,-0.9223588811695685],[0.1674379323849503,-0.9134373967821344]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.01923747461274372,-1.7189479809362338,0.71338606911949],"aabb_xy":[[-0.036737473890830596,-1.7362860810025798],[-0.0017374753346568461,-1.7016098808698878]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[-0.5823954981749352,-0.4237992023516881,0.71338606911949],"aabb_xy":[[-0.5941636849695928,-0.5087992022569097],[-0.5706273113802778,-0.33879920244646655]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.3527684524277406,1.2800944757545136,0.71338606911949],"aabb_xy":[[0.30276845285140586,1.230113896802408],[0.4027684520040753,1.3300750547066198]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.5663359979934837,1.237042981125791,0.71338606911949],"aabb_xy":[[0.5250314549297477,1.173042981557674],[0.6076405410572197,1.3010429806939081]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.5038330408754165,-1.5931336679306924,0.71338606911949],"aabb_xy":[[-0.5388330408519123,-1.6025982839783093],[-0.46883304089892064,-1.583669051883076]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.18942716028875528,1.6194541254484105,0.71338606911949],"aabb_xy":[[0.17682446115167885,1.606858729223545],[0.20202985942583176,1.632049521673276]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.5957366245287485,0.45191728689092514,0.71338606911949],"aabb_xy":[[0.5612741465156607,0.44525360970800226],[0.6301991025418362,0.4585809640738479]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.228435700670289,1.6351623337350216,0.71338606911949],"aabb_xy":[[-0.25883381176943254,1.604755431733352],[-0.19803758957114537,1.665569235736691]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.4561665906811798,-2.2291679514410996,0.71338606911949],"aabb_xy":[[0.4133998838017596,-2.2931679548629016],[0.4989332975606,-2.1651679480192967]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.35463942764059353,-1.4648623138794026,0.71338606911949],"aabb_xy":[[-0.3782245511044884,-1.5298623161248344],[-0.3310543041766987,-1.3998623116339708]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.10343039862900372,0.3451026733971858,0.71338606911949],"aabb_xy":[[-0.10827399339023369,0.34025102091820175],[-0.09858680386777374,0.34995432587617]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.34798127298984183,-2.382464429134737,0.71338606911949],"aabb_xy":[[-0.4119812732503126,-2.4274732284876652],[-0.28398127272937096,-2.337455629781809]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[-0.01874366769829594,1.6823019384421074,0.71338606911949],"aabb_xy":[[-0.02931114735639495,1.6717569083290986],[-0.00817618804019693,1.6928469685551157]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.24939946532627733,-0.6033535784738864,0.71338606911949],"aabb_xy":[[0.1994220484610237,-0.6533535799631348],[0.29937688219153086,-0.5533535769846377]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[0.06644126000370809,-2.5115407414936284,0.71338606911949],"aabb_xy":[[0.002441260833938155,-2.5583074286125913],[0.13044125917347804,-2.4647740543746663]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.5103430917553086,-0.5419232697716638,0.71338606911949],"aabb_xy":[[-0.5258988611655739,-0.557473703016071],[-0.4947873223450434,-0.5263728365272566]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.23483136617717615,-2.1756613357466277,0.71338606911949],"aabb_xy":[[-0.24993366763819422,-2.1907628573776887],[-0.21972906471615802,-2.160559814115565]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[0.6419457866631759,-1.0759599853600461,0.71338606911949],"aabb_xy":[[0.6287148411284945,-1.0891874043820453],[0.6551767321978571,-1.0627325663380465]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[-0.25653562967349663,0.783145431227048,0.71338606911949],"aabb_xy":[[-0.3065356283194178,0.7332258875675857],[-0.20653563102757538,0.8330649748865104]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[-0.31188893974607307,-2.215187563895158,0.71338606911949],"aabb_xy":[[-0.32622336487223647,-2.227247779449697],[-0.29755451461990956,-2.203127348340619]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[0.3838870938000294,-0.9511779197573538,0.71338606911949],"aabb_xy":[[0.3198870930965601,-0.9971963022302749],[0.44788709450349884,-0.9051595372844329]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[0.34494774567782294,-1.497719910688784,0.71338606911949],"aabb_xy":[[0.32906325241249773,-1.512072850987608],[0.36083223894314803,-1.48336697038996]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_33","position":[0.6686490303781636,0.3571032885632195,0.71338606911949],"aabb_xy":[[0.6577974241292879,0.3462439978355685],[0.6795006366270391,0.3679625792908705]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_34","position":[0.46311425476773516,-1.7985774488223907,0.71338606911949],"aabb_xy":[[0.39911425765562947,-1.847609818616801],[0.5271142518798408,-1.7495450790279798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.709586642292892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5105.png","name":"5105"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5105.png","name":"5105"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1247.png","name":"1247"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4976.png","name":"4976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7269.png","name":"7269"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5813.png","name":"5813"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":757.5835328733968,"rotation_z_degrees":305.9353069471372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00510810638000006,-0.0015851947705474434,-0.009511838696216617]},{"name":"camera_2","offset_m":[-0.00976416558089977,0.0182052050538349,-0.003914662044437162]},{"name":"camera_3","offset_m":[-0.003437986351422447,-0.013585975090720619,-0.01118124248764683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010527996597683663,-0.0011831335840468927,-0.0008227852332296796],"end_effector_yaw_offset_degrees":0.08481592604819399},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018573064695705066,0.0009183337867993513,0.0007015731719542733],"end_effector_yaw_offset_degrees":-0.8671467013573149},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001716685667819978,-0.0007116676063455576,0.0007114842331672347],"end_effector_yaw_offset_degrees":-0.9291879336828544}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024832991190703087,-0.0014788276128563536],"position_m":[0.2438832991190703,0.22152117238714364,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012244437171431768,0.0008887088694664739],"position_m":[0.17272444371714318,-0.11531129113053352,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016279429128794685,0.0041559887280039195],"position_m":[0.3391279429128795,0.07405598872800392,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013898832030568875,-0.0014729128561274461],"position_m":[0.2563101167969431,-0.40967291285612745,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ca49733ea53d95695435374ce893ddad657e8b06b35b0731f9d564732c463cbf","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5105/tex_ceiling_textures_5813/tex_floor_textures_7269/tex_table_textures_1247/tex_wall_textures_4976","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1823465773019183404,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1823465773019183404,"visual_seed":1823465773019183404,"scene_id":"lab_003","finished_at":"2026-09-03T10:10:10"} +{"episode_id":"ep_000056","started_at":"2026-09-03T10:10:13","dimensions":{"distractor":{"count":23,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.610151854309502,0.16388675144521292,0.71338606911949],"aabb_xy":[[-0.6173956203557474,0.08388675324161055],[-0.6029080882632567,0.2438867496488153]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.5578454465690589,-1.0432658933926715,0.71338606911949],"aabb_xy":[[-0.6278454483778044,-1.0646196621568589],[-0.48784544476031355,-1.0219121246284841]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.361402570330434,1.37455606545864,0.71338606911949],"aabb_xy":[[0.3389025708067265,1.3520601180080187],[0.3839025698541413,1.3970520129092603]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.5585093106594228,1.4172932573223531,0.71338606911949],"aabb_xy":[[-0.5960093121750544,1.406066484306208],[-0.521009309143791,1.4285200303384982]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.3027653050132001,0.7147224065346598,0.71338606911949],"aabb_xy":[[0.29506211433912305,0.7070130358359218],[0.31046849568727714,0.7224317772333978]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.023024346426849363,1.4558370778857284,0.71338606911949],"aabb_xy":[[0.019321085097710494,1.4521350595770106],[0.02672760775598823,1.459539096194446]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.42506894984865773,-0.9623745295240091,0.71338606911949],"aabb_xy":[[0.4000689499161399,-0.9692571977449324],[0.4500689497811757,-0.9554918613030857]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.5262389288797769,-0.4424089958241719,0.71338606911949],"aabb_xy":[[0.5182025941784919,-0.4504471151285887],[0.5342752635810616,-0.43437087651975514]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.26194307265553385,1.6822376374642212,0.71338606911949],"aabb_xy":[[0.2476086475293704,1.670177421909682],[0.2762774977816973,1.6942978530187598]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.5519878732867806,0.8482728376720736,0.71338606911949],"aabb_xy":[[-0.6159878755071876,0.8038997535467854],[-0.48798787106637354,0.892645921797362]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.20916308504298387,-1.97012646945464,0.71338606911949],"aabb_xy":[[0.1291630863860979,-1.9846313283789028],[0.28916308369986987,-1.955621610530377]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.17049123918651388,0.4275160718317297,0.71338606911949],"aabb_xy":[[-0.26049123860488477,0.3941405749875399],[-0.08049123976814299,0.46089156867591935]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.04721637076791507,-0.722421686434265,0.71338606911949],"aabb_xy":[[-0.09721636941383627,-0.7723412300937272],[0.002783627878006123,-0.6725021427748025]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.5474675249650399,-0.3475517849374441,0.71338606911949],"aabb_xy":[[-0.572467524130673,-0.35450403064280067],[-0.5224675257994068,-0.3405995392320875]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.5859179635657137,1.223043388087489,0.71338606911949],"aabb_xy":[[0.5761619740565398,1.2132808540282545],[0.5956739530748876,1.2328059221467234]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.3368524518291738,-2.118902064642754,0.71338606911949],"aabb_xy":[[0.24685244815225554,-2.1803344712198576],[0.42685245550609185,-2.057469658065649]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.3945400942917354,-0.374850705823107,0.71338606911949],"aabb_xy":[[0.37204009428158713,-0.38894692546271026],[0.4170400943018837,-0.3607544861835037]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.10579488145065963,0.8471033921312432,0.71338606911949],"aabb_xy":[[0.041794880042668965,0.7953144406073185],[0.1697948828586503,0.8988923436551679]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.6682296371399965,1.710172279913015,0.71338606911949],"aabb_xy":[[0.6311955277119367,1.6757950725793056],[0.7052637465680561,1.7445494872467244]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.49545453158307845,-0.6986748447674378,0.71338606911949],"aabb_xy":[[-0.5604545297389976,-0.7249710893173499],[-0.43045453342715934,-0.6723786002175255]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.4546192765813557,-2.196096603577221,0.71338606911949],"aabb_xy":[[-0.4767918035580065,-2.218272270733344],[-0.4324467496047048,-2.173920936421098]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.5730034372600353,0.6049584954580456,0.71338606911949],"aabb_xy":[[-0.6630034395940544,0.527476140872933],[-0.4830034349260163,0.6824408500431584]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.5285548958927719,1.417100856271046,0.71338606911949],"aabb_xy":[[0.5060548956492565,1.4048962216112741],[0.5510548961362873,1.429305490930818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7066605399049569,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6089.png","name":"6089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6089.png","name":"6089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3947.png","name":"3947"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2185.png","name":"2185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3723.png","name":"3723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2459.png","name":"2459"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":794.424278993039,"rotation_z_degrees":151.4459190151087,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010134827991530423,0.019693043989485005,0.017405798331784576]},{"name":"camera_2","offset_m":[0.0021285574484618333,0.0164529613184945,-0.01021787619100059]},{"name":"camera_3","offset_m":[0.0036906227570698454,-0.0035926706322665786,0.008465949061063554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013474351058486728,0.001741137206405442,-0.0013532743243241398],"end_effector_yaw_offset_degrees":0.6311854545096485},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018015009052425289,0.0017276471688634993,0.0012086322257713654],"end_effector_yaw_offset_degrees":-0.004483774008113617},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000362865604099523,-4.0461987886640863e-07,-0.0014031271793648052],"end_effector_yaw_offset_degrees":-0.7168272950861492}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019557509665382045,-0.002136515838439087],"position_m":[0.2394442490334618,0.22086348416156093,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004596268807921682,0.0029720645240991347],"position_m":[0.1760962688079217,-0.11322793547590086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004409805361994506,0.002994698781719158],"position_m":[0.33309019463800554,0.07289469878171916,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006196918022350036,0.004721554178168149],"position_m":[0.257080308197765,-0.40347844582183184,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e59d14479a0acd9d80c91e4f68b5d9191de1cfcaf437fb112770501217371962","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6089/tex_ceiling_textures_2459/tex_floor_textures_3723/tex_table_textures_3947/tex_wall_textures_2185","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":72898001924356670,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":72898001924356670,"visual_seed":72898001924356670,"scene_id":"lab_003","finished_at":"2026-09-03T10:12:51"} +{"episode_id":"ep_000057","started_at":"2026-09-03T10:12:53","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.6147395244425553,1.5000308068018842,0.71338606911949],"aabb_xy":[[0.6018676209416152,1.4200308063880478],[0.6276114279434954,1.58003080721572]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.4892461886713188,0.716848771308285,0.71338606911949],"aabb_xy":[[-0.497289548597274,0.6318487702129185],[-0.48120282874536363,0.8018487724036514]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.29000074046483426,-0.15442847540502935,0.71338606911949],"aabb_xy":[[-0.30262752775203056,-0.16397454910660222],[-0.27737395317763786,-0.14488240170345643]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.06445642327318246,-1.2101015385404115,0.71338606911949],"aabb_xy":[[-0.13445641968314423,-1.2305394741920928],[0.005543573136779333,-1.1896636028887293]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.3582204619708864,-2.074335165177427,0.71338606911949],"aabb_xy":[[-0.4034990768520357,-2.1383351645256106],[-0.31294184708973716,-2.010335165829243]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.30976702196193817,-0.9730467252914317,0.71338606911949],"aabb_xy":[[0.28726788623571115,-0.9955467260696944],[0.3322661576881651,-0.9505467245131685]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.13535757164301065,0.5982247176890829,0.71338606911949],"aabb_xy":[[-0.14347122631638776,0.5901189012350537],[-0.12724391696963355,0.6063305341431119]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.12113322383072245,0.9117074705779551,0.71338606911949],"aabb_xy":[[-0.15863322501551522,0.9072892478818945],[-0.08363322264592964,0.9161256932740155]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.2308617380935497,-2.1062885387851282,0.71338606911949],"aabb_xy":[[0.1933617395179289,-2.1190248344486857],[0.2683617366691705,-2.09355224312157]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.33919090840308164,1.6634698779757895,0.71338606911949],"aabb_xy":[[-0.352342154374371,1.638469878219103],[-0.3260396624317923,1.688469877732476]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.11366925074349121,1.5157259615949097,0.71338606911949],"aabb_xy":[[0.10210026999655464,1.490725961477978],[0.1252382314904278,1.5407259617118414]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.2783159220212349,-0.5164175864254394,0.71338606911949],"aabb_xy":[[-0.29024865638306296,-0.5287997392332988],[-0.26638318765940683,-0.5040354336175801]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.4913191242133397,-0.9617643286867767,0.71338606911949],"aabb_xy":[[0.456319125083384,-0.9675095497624407],[0.5263191233432953,-0.9560191076111125]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.5685414551394818,0.6922608755302035,0.71338606911949],"aabb_xy":[[0.5589098189190521,0.6826235627504946],[0.5781730913599114,0.7018981883099125]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.47162060301102304,1.4075893843775833,0.71338606911949],"aabb_xy":[[0.40762060275055223,1.3625805850246553],[0.5356206032714939,1.4525981837305113]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.54762299355317,0.526321813226752,0.71338606911949],"aabb_xy":[[-0.627622990567418,0.5061872615533407],[-0.46762299653892203,0.5464563649001632]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.6627265723758244,-1.3252604277639644,0.71338606911949],"aabb_xy":[[0.653566693431948,-1.3317916458075014],[0.6718864513197012,-1.3187292097204273]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.626716066493362,-0.6347057499884761,0.71338606911949],"aabb_xy":[[0.5767430009608466,-0.684705749801009],[0.6766891320258775,-0.5847057501759432]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.1824968564160323,-0.9625378622841088,0.71338606911949],"aabb_xy":[[-0.20704307203878303,-0.9927867588331459],[-0.15795064079328158,-0.9322889657350718]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.5619937622769247,0.7774202036643816,0.71338606911949],"aabb_xy":[[-0.5838835098658653,0.6874202063751326],[-0.5401040146879837,0.8674202009536308]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.13794943164410978,-2.2269575215530746,0.71338606911949],"aabb_xy":[[0.04794943192093556,-2.250030874088254],[0.2279494313672839,-2.2038841690178943]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.4025055670988089,-2.2132682897724374,0.71338606911949],"aabb_xy":[[0.3525322730955484,-2.2632682903269843],[0.4524788611020693,-2.1632682892178896]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.011326272231780288,1.0423442868335124,0.71338606911949],"aabb_xy":[[-0.026489145208717375,1.0271788295383937],[0.003836600745156794,1.0575097441286312]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.24947182257727463,1.370352126460602,0.71338606911949],"aabb_xy":[[-0.3044650339144114,1.3153521261218084],[-0.19447861124013788,1.4253521267993956]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[0.30000252839584607,-1.2865576164608918,0.71338606911949],"aabb_xy":[[0.22000252513183294,-1.3001176487698052],[0.3800025316598592,-1.2729975841519785]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.5835931959436399,-0.14017750428691755,0.71338606911949],"aabb_xy":[[-0.6435931957902066,-0.19699612647995624],[-0.523593196097073,-0.08335888209387887]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[-0.4055756930076222,-1.7680832660062826,0.71338606911949],"aabb_xy":[[-0.45556880511681414,-1.8180832666804787],[-0.3555825808984303,-1.7180832653320874]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[-0.5307265984748571,-1.1694074403646346,0.71338606911949],"aabb_xy":[[-0.5450610236010206,-1.1814676559191735],[-0.5163921733486937,-1.1573472248100958]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[0.2234826059430164,-1.094261711221955,0.71338606911949],"aabb_xy":[[0.20831043666138307,-1.1094305681501584],[0.23865477522464976,-1.0790928542937517]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[-0.1273596667790592,-1.9704927777726773,0.71338606911949],"aabb_xy":[[-0.1648596667228256,-1.9787858678075136],[-0.08985966683529278,-1.9621996877378405]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[0.6452915095614895,0.4331487065459392,0.71338606911949],"aabb_xy":[[0.6067458167362885,0.3946029354897505],[0.6838372023866905,0.47169447760212785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083382254056956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2127.png","name":"2127"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2127.png","name":"2127"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8157.png","name":"8157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1454.png","name":"1454"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4611.png","name":"4611"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1637.png","name":"1637"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":597.2869413315394,"rotation_z_degrees":245.11589768890158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006780966406428966,-0.017570634231846422,-0.0068423818649221285]},{"name":"camera_2","offset_m":[0.005834661802584927,-0.0049022900026287845,-0.0022970786954914953]},{"name":"camera_3","offset_m":[-0.019898856232207267,0.0028001044845268157,0.00724715448707745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001395689898560629,0.00040465146132645426,0.0016718768746233435],"end_effector_yaw_offset_degrees":0.6901204015882909},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001013792166284702,0.00031119099180655033,-0.0010963201160818325],"end_effector_yaw_offset_degrees":-0.09060484089133025},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009563519615011134,-0.0010240157694217853,0.00048158848815743876],"end_effector_yaw_offset_degrees":-0.2195227249126308}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003502663177931212,-0.0044601264992701626],"position_m":[0.24490266317793122,0.21853987350072984,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005865110022290039,-0.003907103914875426],"position_m":[0.170913488997771,-0.12010710391487542,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00447719902152846,-0.003294516011493184],"position_m":[0.3330228009784716,0.06660548398850683,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.306079829957774e-05,0.0027954382389629587],"position_m":[0.25778306079829955,-0.40540456176103706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"85a66b8ec20065b66a3843a62bcffbccc8a5f0990615278afdbff0cbf5b5747b","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2127/tex_ceiling_textures_1637/tex_floor_textures_4611/tex_table_textures_8157/tex_wall_textures_1454","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7056980335078765144,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7056980335078765144,"visual_seed":7056980335078765144,"scene_id":"lab_003","finished_at":"2026-09-03T10:15:33"} +{"episode_id":"ep_000058","started_at":"2026-09-03T10:15:36","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.5964316364971973,0.5652610980607182,0.71338606911949],"aabb_xy":[[0.5064316370788263,0.5318856012165284],[0.6864316359155681,0.5986365949049078]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.2929242632931192,-2.1646237045458028,0.71338606911949],"aabb_xy":[[-0.3569242618796917,-2.211630667945311],[-0.22892426470654675,-2.1176167411462936]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.651897549526137,0.8136970172317928,0.71338606911949],"aabb_xy":[[0.629988867386786,0.7917963504117019],[0.673806231665488,0.8355976840518834]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.16487933919058284,0.871980137465818,0.71338606911949],"aabb_xy":[[-0.195363589317613,0.8219801376843222],[-0.1343950890635527,0.9219801372473141]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.1341251592251348,-0.3611198121075896,0.71338606911949],"aabb_xy":[[-0.18412516050897473,-0.4110986664982116],[-0.08412515794129481,-0.31114095771696737]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.4213150975312885,-0.5449668455771346,0.71338606911949],"aabb_xy":[[0.41251304222231566,-0.5527781717320636],[0.4301171528402611,-0.5371555194222054]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[0.602448058298048,-0.9852750374018571,0.71338606911949],"aabb_xy":[[0.5678569754440028,-1.050275037686888],[0.6370391411520933,-0.9202750371168259]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.26463118713367845,-2.3930989319470584,0.71338606911949],"aabb_xy":[[-0.32863118918341044,-2.4331934150363663],[-0.20063118508394645,-2.3530044488577504]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.6780841603948848,-1.1230901743758193,0.71338606911949],"aabb_xy":[[0.6430841612020666,-1.1340572203734818],[0.7130841595877031,-1.1121231283781563]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.2333588358757025,0.08426544967148208,0.71338606911949],"aabb_xy":[[-0.29835883403162156,0.0579692051215699],[-0.16835883771978344,0.1105616942213943]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.19710207075665076,-2.490500168961952,0.71338606911949],"aabb_xy":[[-0.2346020715486462,-2.496868009920142],[-0.1596020699646553,-2.4841323280037617]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.20409142511521916,0.5914102036954474,0.71338606911949],"aabb_xy":[[-0.28409142618833955,0.581632157358063],[-0.12409142404209889,0.6011882500328318]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.2017639850663474,-0.8116607509454905,0.71338606911949],"aabb_xy":[[0.13776398867077433,-0.8756240393642241],[0.2657639814619205,-0.747697462526757]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.004104126307186151,-1.15887062349587,0.71338606911949],"aabb_xy":[[-0.019276295588819492,-1.1740394804240735],[0.01106804297444719,-1.1437017665676668]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.009895680556683106,-1.5212162818937573,0.71338606911949],"aabb_xy":[[-0.0701043168469103,-1.6012088530919402],[0.08989567796027652,-1.4412237106955745]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.36165148800654534,-1.7030602581995358,0.71338606911949],"aabb_xy":[[-0.39665148790256416,-1.7114344937114758],[-0.3266514881105264,-1.6946860226875957]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.29778622982356895,0.5852460147643792,0.71338606911949],"aabb_xy":[[0.2914741302872305,0.5794790755111604],[0.3040983293599074,0.591012954017598]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.21260590532833235,-1.7275380487459386,0.71338606911949],"aabb_xy":[[0.14860590821622668,-1.7765704185403492],[0.27660590244043803,-1.678505678951528]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.6640467851840386,1.4565931887523038,0.71338606911949],"aabb_xy":[[0.6415467849405232,1.444388554092532],[0.686546785427554,1.468797823412076]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.589974660951805,0.3416028942974738,0.71338606911949],"aabb_xy":[[-0.612890373836855,0.3186985971610503],[-0.5670589480667552,0.3645071914338973]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.4193307028572912,0.27189288776011455,0.71338606911949],"aabb_xy":[[-0.4493223655911615,0.24189288842331402],[-0.38933904012342085,0.3018928870969151]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.14344283996060703,1.1600471511284023,0.71338606911949],"aabb_xy":[[-0.19057221896244267,1.096047150084],[-0.09631346095877133,1.224047152172804]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.055142418251027614,1.2083350916286317,0.71338606911949],"aabb_xy":[[0.0301424190853945,1.2013828459232752],[0.08014241741666073,1.2152873373339883]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.08143973628554058,-2.4348712310196534,0.71338606911949],"aabb_xy":[[0.017439736011562346,-2.4849373312169414],[0.1454397365595188,-2.3848051308223654]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[-0.5588935434926384,-0.6444152754151737,0.71338606911949],"aabb_xy":[[-0.6238935445985816,-0.669380648483302],[-0.49389354238669503,-0.6194499023470454]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[0.46797530727569514,1.3796542324309757,0.71338606911949],"aabb_xy":[[0.4180020132724346,1.329654231876428],[0.5179486012789555,1.4296542329855226]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.44017128057533145,1.161244657520367,0.71338606911949],"aabb_xy":[[-0.5041712797451015,1.1144779704014043],[-0.37617128140556155,1.2080113446393292]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[-0.5522714769955825,-2.2331755410116543,0.71338606911949],"aabb_xy":[[-0.6172714779527098,-2.28512375294536],[-0.4872714760384554,-2.1812273290779487]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[0.20250126533037793,1.2007863004064618,0.71338606911949],"aabb_xy":[[0.19479807465630092,1.1930769297077237],[0.210204456004455,1.2084956711052]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_29","position":[0.24615974008590347,1.724120285744164,0.71338606911949],"aabb_xy":[[0.16615974142901752,1.709615426819901],[0.32615973874278953,1.7386251446684269]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[-0.12176513477590478,-2.2018094459523105,0.71338606911949],"aabb_xy":[[-0.13261674102478038,-2.2126687366799613],[-0.11091352852702918,-2.1909501552246597]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_31","position":[0.6588399113313581,0.3397840458034116,0.71338606911949],"aabb_xy":[[0.6486868957772086,0.3037145042306712],[0.6689929268855074,0.3758535873761518]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_32","position":[0.7045995758796362,-1.6785607480369353,0.71338606911949],"aabb_xy":[[0.6963850307639521,-1.6872373383345767],[0.71281412099532,-1.669884157739294]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_33","position":[0.015417909663320017,1.064619078761397,0.71338606911949],"aabb_xy":[[-0.04458209119749278,1.01319264875491],[0.07541791052413281,1.1160455087678829]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_34","position":[0.6560293952849934,1.5624479448637554,0.71338606911949],"aabb_xy":[[0.5910293926471999,1.5109683461643084],[0.7210293979227869,1.6139275435632023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7061484538414086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3024.png","name":"3024"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3024.png","name":"3024"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4980.png","name":"4980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2658.png","name":"2658"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6680.png","name":"6680"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2931.png","name":"2931"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":562.7737423997937,"rotation_z_degrees":221.8608447717437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018108214942268667,-0.001258251759955361,0.0037616983188023083]},{"name":"camera_2","offset_m":[0.01931711730836951,0.01146457731017653,-0.005711395131217923]},{"name":"camera_3","offset_m":[-0.01950876949555129,0.01600522903213582,0.018721308872408884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011579000567712465,-0.0017169654299946041,-9.311067905799753e-05],"end_effector_yaw_offset_degrees":0.6314502287653008},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014279949955450589,0.00084754878743179,0.0019402877198100915],"end_effector_yaw_offset_degrees":0.6295960843388115},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001062232715262896,-0.0015029956886097508,-0.0018202426262955741],"end_effector_yaw_offset_degrees":0.9070602426720988}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003830670435873086,0.0045081099110624015],"position_m":[0.2375693295641269,0.2275081099110624,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006331072169028038,0.0033963805630181964],"position_m":[0.17086689278309722,-0.1128036194369818,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004014878773197252,-0.0015204836395858057],"position_m":[0.3334851212268028,0.0683795163604142,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002799345836716425,0.002496141797055422],"position_m":[0.25490065416328356,-0.4057038582029446,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fadb7abfa1d6557f7ad4ba0020b460a3ada82e18561aaebc3da812be54e97ad6","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0069.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3024/tex_ceiling_textures_2931/tex_floor_textures_6680/tex_table_textures_4980/tex_wall_textures_2658","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2940412114246144526,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2940412114246144526,"visual_seed":2940412114246144526,"scene_id":"lab_003","finished_at":"2026-09-03T10:18:17"} +{"episode_id":"ep_000059","started_at":"2026-09-03T10:18:20","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.6778167223703138,0.12531620391824116,0.71338606911949],"aabb_xy":[[-0.6831542980363183,0.10031620298910138],[-0.6724791467043092,0.15031620484738095]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.2441353123417639,-2.26899314384893,0.71338606911949],"aabb_xy":[[0.20763949171448512,-2.3054770862756873],[0.28063113296904263,-2.232509201422172]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.41176064603951423,-1.0492151840301747,0.71338606911949],"aabb_xy":[[-0.4485552791644205,-1.086121059126757],[-0.37496601291460796,-1.0123093089335924]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5205756845961003,1.5859003556934765,0.71338606911949],"aabb_xy":[[0.45557568456179753,1.539199679013149],[0.585575684630403,1.6326010323738036]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.49999770580538483,-0.9087411869657438,0.71338606911949],"aabb_xy":[[0.4649977075352649,-0.9158153146607318],[0.5349977040755047,-0.9016670592707555]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.30653472104472246,0.7873450851102914,0.71338606911949],"aabb_xy":[[0.22653471778687945,0.7073485773183074],[0.38653472430256536,0.8673415929022753]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.6447764773919353,-1.9684015694176733,0.71338606911949],"aabb_xy":[[0.6214946351938039,-2.0534015707149007],[0.6680583195900666,-1.883401568120445]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.23690337951800355,-1.1463795582076195,0.71338606911949],"aabb_xy":[[0.20098987509301383,-1.182293066424374],[0.2728168839429932,-1.110466049990865]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.06165419368201186,0.7479624147114681,0.71338606911949],"aabb_xy":[[0.03873848079696196,0.7250581175750447],[0.08456990656706176,0.7708667118478918]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.507098264500775,-0.13815633320366638,0.71338606911949],"aabb_xy":[[-0.5770982666322044,-0.160918298829362],[-0.43709826236934535,-0.1153943675779707]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.34499327106906713,0.1378507726492142,0.71338606911949],"aabb_xy":[[-0.35822421660374837,0.12462335362721472],[-0.3317623255343858,0.15107819167121356]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.027034072900994355,1.3042916280311934,0.71338606911949],"aabb_xy":[[-0.09103407327852797,1.254546361180381],[0.03696592747653926,1.3540368948820056]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.385591940322519,-1.1697054203627546,0.71338606911949],"aabb_xy":[[0.32559194047595225,-1.2265240425557933],[0.4455919401690858,-1.112886798169716]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.15156036629397185,-1.2608919536258536,0.71338606911949],"aabb_xy":[[-0.20155519922191348,-1.3108919525210971],[-0.10156553336603028,-1.21089195473061]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.17267864108537212,-0.9837304715153747,0.71338606911949],"aabb_xy":[[0.08267864458450035,-1.029642113933833],[0.2626786375862438,-0.9378188290969165]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.11677590130897098,-0.8136156657793518,0.71338606911949],"aabb_xy":[[0.0862916511819408,-0.8636156655608478],[0.14726015143600113,-0.7636156659978559]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.3687292947216717,-1.9768536748813959,0.71338606911949],"aabb_xy":[[-0.41003383778540764,-2.0408536744495125],[-0.32742475165793566,-1.9128536753132785]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.6398202619032622,0.5470520149555798,0.71338606911949],"aabb_xy":[[0.6237583344447446,0.4620520131429879],[0.6558821893617799,0.6320520167681715]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.1348909435334501,-1.9233846963012424,0.71338606911949],"aabb_xy":[[0.12885393053278538,-1.9294113973701907],[0.14092795653411483,-1.9173579952322946]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.09671201321135636,0.6808351487070596,0.71338606911949],"aabb_xy":[[-0.16071201555415793,0.6358942974629271],[-0.032712010868554804,0.7257759999511921]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.3470644755430369,0.8463032093816532,0.71338606911949],"aabb_xy":[[-0.41106447722103423,0.7977858179023389],[-0.2830644738650395,0.8948206008609674]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.0736610618696879,1.4259529585807598,0.71338606911949],"aabb_xy":[[-0.10231039423010412,1.3973073993036838],[-0.04501172950927167,1.4545985178578353]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.4583831851833473,0.35606694997357025,0.71338606911949],"aabb_xy":[[-0.4727176103095108,0.34400673441903135],[-0.4440487600571839,0.36812716552810903]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[-0.37812030054610657,-1.2858541585381318,0.71338606911949],"aabb_xy":[[-0.4357507694333773,-1.3458541574648422],[-0.32048983165883566,-1.225854159611421]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.15362775962833597,1.8148246126390588,0.71338606911949],"aabb_xy":[[0.11612775933616118,1.810783137238455],[0.19112775992051081,1.818866088039662]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[0.28396786968937937,-1.9631001817984886,0.71338606911949],"aabb_xy":[[0.27462086210708414,-1.9774038040161326],[0.2933148772716746,-1.9487965595808445]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.44072838351174204,-0.8813713558166376,0.71338606911949],"aabb_xy":[[-0.474503942702435,-0.8954098510298026],[-0.40695282432104907,-0.8673328606034726]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7088234767931769,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2179.png","name":"2179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2511.png","name":"2511"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5172.png","name":"5172"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2549.png","name":"2549"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":636.7023403200047,"rotation_z_degrees":72.86973180631583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007245979834065736,-0.0021092552004771947,-0.0035885085375470735]},{"name":"camera_2","offset_m":[0.0035147511472084225,-0.01659279415116987,0.006121755112522349]},{"name":"camera_3","offset_m":[-0.013873912098730972,-0.014012123498705367,0.01816140060611533]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011598357949527843,-2.9564610670462267e-05,0.0011305662474575132],"end_effector_yaw_offset_degrees":0.04124200553032398},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004799904387263712,0.0014294792308224879,-0.0009885492450225106],"end_effector_yaw_offset_degrees":0.20129934147081352},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010158778793269321,0.00016580731767367038,-0.0010893175726683442],"end_effector_yaw_offset_degrees":-0.969774695273774}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008254359845584237,0.004081232070171587],"position_m":[0.24222543598455842,0.22708123207017158,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017356052418181713,0.0001863479307722734],"position_m":[0.16976439475818184,-0.11601365206922773,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007059249007460985,0.0002550451154486825],"position_m":[0.3367940750992539,0.07015504511544869,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011044335821719397,0.0002556473176240706],"position_m":[0.25659556641782805,-0.40794435268237594,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"90a6d0bd8f9e66cd81962ed233b85a92858f85643eb900f6f438618b502d7059","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2972/tex_ceiling_textures_2549/tex_floor_textures_5172/tex_table_textures_2179/tex_wall_textures_2511","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8571224369427891783,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8571224369427891783,"visual_seed":8571224369427891783,"scene_id":"lab_003","finished_at":"2026-09-03T10:20:59"} +{"episode_id":"ep_000060","started_at":"2026-09-03T10:21:03","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.5556669653219238,-1.9796125075043598,0.71338606911949],"aabb_xy":[[-0.5899832424965418,-2.0296125074775375],[-0.5213506881473059,-1.9296125075311819]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.11164866323442202,-1.6118320609621808,0.71338606911949],"aabb_xy":[[-0.1295177709888775,-1.6256649689393916],[-0.09377955547996651,-1.5979991529849695]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.1257373662454061,-1.3138319036501576,0.71338606911949],"aabb_xy":[[-0.14901920844353742,-1.3988319049473854],[-0.10245552404727475,-1.2288319023529293]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.0530026753416607,1.7477885119485177,0.71338606911949],"aabb_xy":[[-0.01199732729613278,1.6963089132490707],[0.11800267797945418,1.7992681106479647]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.642765227196321,0.43238689195844504,0.71338606911949],"aabb_xy":[[-0.6545334139909786,0.34738689205322354],[-0.6309970404016636,0.5173868918636667]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.19994526218131004,0.6579223378798389,0.71338606911949],"aabb_xy":[[0.17494526262957155,0.6477798540147042],[0.22494526173304852,0.6680648217449736]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.01649159784842824,-2.294262748292057,0.71338606911949],"aabb_xy":[[0.012413439941378501,-2.2983437285403205],[0.02056975575547798,-2.2901817680437935]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.08367107880473679,1.2468601854603643,0.71338606911949],"aabb_xy":[[-0.006328917696134972,1.2009485430419058],[0.17367107530560852,1.2927718278788223]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.22845155087213398,-2.2619475060042324,0.71338606911949],"aabb_xy":[[0.1634515497661907,-2.286912879072361],[0.29345155197807726,-2.2369821329361046]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.5916250873223927,-1.0322464977510677,0.71338606911949],"aabb_xy":[[0.5764622143454556,-1.0474119550461864],[0.6067879602993298,-1.017081040455949]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.22250544475144918,-1.798452820104368,0.71338606911949],"aabb_xy":[[0.17469927713768052,-1.8634528228114267],[0.27031161236521783,-1.7334528173973087]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.5510373002062343,-0.2252066108009778,0.71338606911949],"aabb_xy":[[0.544942672318116,-0.23377600535264653],[0.5571319280943526,-0.2166372162493091]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.6270954023441919,-1.6515710444503275,0.71338606911949],"aabb_xy":[[0.5920954023676961,-1.6610356604979444],[0.6620954023206878,-1.6421064284027111]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.4055793125219072,-1.3030244858190925,0.71338606911949],"aabb_xy":[[-0.4153353020310811,-1.312787019878327],[-0.3958233230127333,-1.293261951759858]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.583111417069638,-2.35692451395706,0.71338606911949],"aabb_xy":[[-0.6001215143596885,-2.3730590024553333],[-0.5661013197795872,-2.3407900254587855]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.09533730321937839,-0.5978092726861284,0.71338606911949],"aabb_xy":[[-0.14533730488087312,-0.647807714941831],[-0.04533730155788362,-0.5478108304304256]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[-0.3478754587389866,1.0436765973599536,0.71338606911949],"aabb_xy":[[-0.3571690769761372,1.0061765988718196],[-0.33858184050183604,1.0811765958480875]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.56984734920583,0.18245692317114415,0.71338606911949],"aabb_xy":[[0.5495630464824312,0.16217429802843525],[0.5901316519292287,0.20273954831385294]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.02409004863595976,1.407688500645354,0.71338606911949],"aabb_xy":[[-0.09409005023823924,1.3942557074436965],[0.04590995296631972,1.4211212938470117]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.02182198532046542,-1.9995603251281377,0.71338606911949],"aabb_xy":[[-0.025782469090199794,-2.0072281897136586],[-0.017861501550731046,-1.9918924605426171]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7135459096219413,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3638.png","name":"3638"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3638.png","name":"3638"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8709.png","name":"8709"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1678.png","name":"1678"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8887.png","name":"8887"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.704376276706,"rotation_z_degrees":110.82877598695733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012225955544008193,-0.01775919932515884,-0.01935914573866063]},{"name":"camera_2","offset_m":[-0.0005695010815223965,-0.009034090795529153,0.01011494724887469]},{"name":"camera_3","offset_m":[0.0021109995442121325,0.007876677239466966,0.01476675431304177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013639093610868388,-0.00010052664086501869,0.0011510073950711688],"end_effector_yaw_offset_degrees":0.7033521059964551},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.210975679685123e-05,0.001013756322693148,0.0017037630257410352],"end_effector_yaw_offset_degrees":0.5937147020865838},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019404078271454193,-0.001851274074360512,0.0019805910084875443],"end_effector_yaw_offset_degrees":-0.649854207685868}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038148074836064283,0.0016172135588599958],"position_m":[0.23758519251639357,0.22461721355886,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006348777906921088,-0.0013739728732366208],"position_m":[0.17213487779069211,-0.11757397287323662,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003905368193805522,0.001215313335076437],"position_m":[0.3335946318061945,0.07111531333507644,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029188768369294944,-0.0022328305260062033],"position_m":[0.26061887683692947,-0.4104328305260062,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1051e52922ff5c0c315a4779a1e374296ce25002585a689dbe19e90f08934c04","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3638/tex_ceiling_textures_8887/tex_floor_textures_1678/tex_table_textures_8709/tex_wall_textures_8872","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1871875083959449792,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1871875083959449792,"visual_seed":1871875083959449792,"scene_id":"lab_003","finished_at":"2026-09-03T10:23:42"} +{"episode_id":"ep_000061","started_at":"2026-09-03T10:26:33","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.005785295087310183,-1.6461930502641895,0.71338606911949],"aabb_xy":[[-0.05576410359762607,-1.696193050269908],[0.044193513423005704,-1.5961930502584705]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.552332476899533,1.6314842262106182,0.71338606911949],"aabb_xy":[[0.488332474849801,1.5913897431213102],[0.616332478949265,1.6715787092999261]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.6810483247363692,-1.9319301018560144,0.71338606911949],"aabb_xy":[[0.6585835547649641,-1.954430102734875],[0.7035130947077743,-1.909430100977154]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.10868601882059326,0.6440074642551892,0.71338606911949],"aabb_xy":[[-0.16270161510249326,0.5800074613629319],[-0.05467042253869324,0.7080074671474462]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.14746263326404407,0.6942587827212447,0.71338606911949],"aabb_xy":[[0.09246942192690728,0.6392587823824513],[0.20245584460118082,0.7492587830600385]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.6478398344878896,0.516828870748208,0.71338606911949],"aabb_xy":[[-0.6527958546727708,0.49432887054608643],[-0.6428838143030084,0.5393288709503297]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[0.31196671588154246,0.8729893446731372,0.71338606911949],"aabb_xy":[[0.24196671324495606,0.8528844796772715],[0.38196671851812874,0.8930942096690025]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.21553716849096322,0.28760610880191795,0.71338606911949],"aabb_xy":[[-0.2805371695969065,0.26264073573378965],[-0.15053716738501993,0.31257148187004624]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.5489389360420099,-1.7455101755130777,0.71338606911949],"aabb_xy":[[-0.5666145666306083,-1.7631903917924805],[-0.5312633054534116,-1.727829959233675]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.5538059330671639,-0.7234863027756941,0.71338606911949],"aabb_xy":[[-0.5656780160786649,-0.8084863024693445],[-0.5419338500556626,-0.6384863030820438]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.14577526424774512,1.6649501721029991,0.71338606911949],"aabb_xy":[[0.07577526264546566,1.6515173789013415],[0.21577526585002463,1.6783829653046567]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.29233076252959544,-0.38173765289866024,0.71338606911949],"aabb_xy":[[-0.34232559545753705,-0.4317376517939038],[-0.24233592960165384,-0.3317376540034167]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.14264607788707884,1.3134714071769777,0.71338606911949],"aabb_xy":[[-0.1519396961242294,1.2759714086888436],[-0.13335245964992823,1.3509714056651114]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.511393628759373,-2.1296530995987015,0.71338606911949],"aabb_xy":[[-0.5201956840683457,-2.13746442575363],[-0.5025915734504003,-2.121841773443772]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.2659707481447567,-1.8410706193694952,0.71338606911949],"aabb_xy":[[-0.27475197529199297,-1.8498503666580255],[-0.2571895209975205,-1.8322908720809654]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.19018851644222579,-0.7783675092917226,0.71338606911949],"aabb_xy":[[0.11018851785490637,-0.8576831112298835],[0.2701885150295452,-0.6990519073535617]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[-0.21991929792026693,-1.182470654746607,0.71338606911949],"aabb_xy":[[-0.22803295259364406,-1.190576471200636],[-0.21180564324688986,-1.1743648382925778]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.3572729647618891,-1.6325078792311372,0.71338606911949],"aabb_xy":[[0.30727296310039426,-1.6825063214868397],[0.4072729664233838,-1.5825094369754342]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.37721781641757424,0.1778473039092594,0.71338606911949],"aabb_xy":[[-0.4672178158359451,0.14447180706506965],[-0.28721781699920335,0.2112228007534491]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.10306625132344338,-1.4402174904552867,0.71338606911949],"aabb_xy":[[-0.11391785757231895,-1.4510767811829377],[-0.09221464507456775,-1.4293581997276357]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.22177992585479755,0.42304319010809666,0.71338606911949],"aabb_xy":[[-0.28177992610619873,0.368761865071632],[-0.16177992560339635,0.4773245151445613]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.5647596200278053,-2.280321179021335,0.71338606911949],"aabb_xy":[[-0.6197596192043948,-2.3353108537962926],[-0.5097596208512158,-2.2253315042463773]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.15847199428360004,1.4899815616052057,0.71338606911949],"aabb_xy":[[0.13841358267035975,1.4699164746960482],[0.17853040589684033,1.510046648514363]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.5854407544040935,-0.3122803292200227,0.71338606911949],"aabb_xy":[[-0.5986716999387747,-0.32550774824202205],[-0.5722098088694121,-0.2990529101980232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7096909348521644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/415.png","name":"415"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/415.png","name":"415"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4895.png","name":"4895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3657.png","name":"3657"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":570.5569296766118,"rotation_z_degrees":346.3436896530234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009406393112667211,-0.017659790153050272,0.014562693039621242]},{"name":"camera_2","offset_m":[-0.018814976289074734,-0.01839059064491537,0.012020773086926975]},{"name":"camera_3","offset_m":[-0.002217444625090992,0.005994472199602367,0.004199073781828724]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016125751596278133,-0.0002468810738488769,-0.0004196560432445397],"end_effector_yaw_offset_degrees":0.6150173630846756},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001730930769860719,0.001887825404149692,0.00010684964765482518],"end_effector_yaw_offset_degrees":0.01642946232405018},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015975985600981506,-0.0002596543285121439,-0.0009819961189536852],"end_effector_yaw_offset_degrees":0.23531120927792837}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033225186597008547,0.0010221478614603208],"position_m":[0.23807748134029916,0.22402214786146032,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00010810746013611896,0.0022998346822277315],"position_m":[0.17160810746013613,-0.11390016531777226,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011648116937248909,-0.0042449664724251235],"position_m":[0.3386648116937249,0.06565503352757487,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000976856494040175,0.0017127230648254785],"position_m":[0.25867685649404015,-0.4064872769351745,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29e2cf531b1141771e6818d47e1d8af914f58f25726e218cf5daaa314a3394b7","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_415/tex_ceiling_textures_3657/tex_floor_textures_7521/tex_table_textures_4895/tex_wall_textures_3592","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2780181182298937959,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2780181182298937959,"visual_seed":2780181182298937959,"scene_id":"lab_003","finished_at":"2026-09-03T10:28:49"} +{"episode_id":"ep_000062","started_at":"2026-09-03T10:28:52","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.08799302147420351,-1.0274321496821144,0.71338606911949],"aabb_xy":[[-0.1429667435105364,-1.0824321492463476],[-0.03301929943787062,-0.9724321501178812]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.4231679238584998,-0.5757984989493501,0.71338606911949],"aabb_xy":[[0.40625719142215794,-0.5892707045419645],[0.4400786562948415,-0.5623262933567355]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.6457986329274856,1.2571305656581462,0.71338606911949],"aabb_xy":[[0.6306963314664674,1.242029044027084],[0.6609009343885036,1.272232087289208]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.17551531783891106,-1.4956000043278375,0.71338606911949],"aabb_xy":[[0.14092423498486584,-1.560600004612868],[0.21010640069295627,-1.430600004042806]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.07567768481759585,-2.456223558888546,0.71338606911949],"aabb_xy":[[0.05817768455825924,-2.470315101077319],[0.09317768507693248,-2.442132016699774]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.1504712836265093,-0.2590160847525942,0.71338606911949],"aabb_xy":[[-0.1829329845084367,-0.2891489168674968],[-0.1180095827445818,-0.22888325263769155]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.5655917806890778,-2.055612959958648,0.71338606911949],"aabb_xy":[[-0.5847040880470566,-2.0747477388358897],[-0.5464794733310989,-2.0364781810814057]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.49246343598017217,-1.5046556602560677,0.71338606911949],"aabb_xy":[[-0.5500939048674429,-1.5646556591827776],[-0.4348329670929012,-1.4446556613293566]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.1672026571631977,-1.9224248368426329,0.71338606911949],"aabb_xy":[[-0.17448497353986128,-2.012424840452141],[-0.15992034078653397,-1.8324248332331234]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.4147345354343361,0.16667816578995476,0.71338606911949],"aabb_xy":[[-0.45123035606161477,0.1301942233631972],[-0.3782387148070573,0.20316210821671232]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.4460033983860212,0.4228558531990787,0.71338606911949],"aabb_xy":[[-0.4960033978262168,0.3728879287147623],[-0.39600339894582554,0.4728237776833949]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.3474625073339608,0.7384524816232729,0.71338606911949],"aabb_xy":[[0.29233730170436995,0.6784524801819857],[0.4025877129635515,0.79845248306456]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.5616939669291148,-0.02985170028419004,0.71338606911949],"aabb_xy":[[-0.6256939688414572,-0.08576284954220048],[-0.49769396501677254,0.0260594489738204]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.39366374317479913,1.2287504143781987,0.71338606911949],"aabb_xy":[[0.30366374458032924,1.2124998280647779],[0.48366374176926913,1.24500100069162]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.12891488104193138,-2.2377370629481477,0.71338606911949],"aabb_xy":[[0.07392263040642046,-2.2927370646914604],[0.18390713167744235,-2.182737061204835]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.2969956751089149,-1.0431718139484052,0.71338606911949],"aabb_xy":[[-0.3519956733106597,-1.0836937805748426],[-0.24199567690717003,-1.0026498473219674]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.6439728989978113,-1.478349812559067,0.71338606911949],"aabb_xy":[[0.5799728986202777,-1.5280950794098793],[0.7079728993753449,-1.4286045457082548]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.004537405215324086,-1.8239242154033422,0.71338606911949],"aabb_xy":[[-0.059462592087022315,-1.8682906423711987],[0.06853740251767049,-1.7795577884354852]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[0.40704594409693495,-0.9932071644776708,0.71338606911949],"aabb_xy":[[0.3270459455096154,-1.0725227664158317],[0.4870459426842543,-0.91389156253951]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[0.3145499718512683,-2.156489479782922,0.71338606911949],"aabb_xy":[[0.25454997125525214,-2.2113019523281454],[0.3745499724472845,-2.1016770072376985]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.4736297866030186,-1.2476665084493797,0.71338606911949],"aabb_xy":[[0.4654152414873345,-1.2563430987470208],[0.48184433171870245,-1.238989918151738]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.24002570538926948,-1.8446438274604882,0.71338606911949],"aabb_xy":[[0.23611183219384696,-1.8533928428670448],[0.243939578584692,-1.8358948120539311]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.5830766073054434,-2.210392871890212,0.71338606911949],"aabb_xy":[[-0.618076608656925,-2.230752607847033],[-0.5480766059539616,-2.1900331359333913]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.47150152303763315,-1.9317422663394637,0.71338606911949],"aabb_xy":[[0.38181444672951764,-2.0217422665939138],[0.5611885993457486,-1.841742266085013]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[-0.20360099557412792,-2.347050405512355,0.71338606911949],"aabb_xy":[[-0.24110099539116148,-2.351688616823497],[-0.16610099575709436,-2.3424121942012133]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.14736562142438925,-1.3487803288813134,0.71338606911949],"aabb_xy":[[-0.18114118061508222,-1.3628188240944783],[-0.11359006223369628,-1.3347418336681485]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[-0.5206111618361595,-1.0682877607287764,0.71338606911949],"aabb_xy":[[-0.5705844558394199,-1.1182877612833237],[-0.47063786783289896,-1.018287760174229]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[-0.010734103016837082,1.5001820936336752,0.71338606911949],"aabb_xy":[[-0.0477682124448968,1.4658048862999657],[0.026300006411222633,1.5345593009673846]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[0.16754620010030685,-0.6119978728979842,0.71338606911949],"aabb_xy":[[0.13004619999471387,-0.6188200347509653],[0.20504620020589978,-0.605175711045003]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7097186906109412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6357.png","name":"6357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6357.png","name":"6357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7001.png","name":"7001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2480.png","name":"2480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/616.png","name":"616"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":689.327133236082,"rotation_z_degrees":289.90797379200944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021704527377119434,0.005968065135775778,-0.0002159299264671774]},{"name":"camera_2","offset_m":[-0.014580619569569683,-0.005661265202593793,-0.001904807137286725]},{"name":"camera_3","offset_m":[0.014722592321327287,0.014852248011519412,-0.001509236307522848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014467256085894682,-0.00034746607957403426,0.0019253211180223426],"end_effector_yaw_offset_degrees":0.7405485844556072},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008449799980930809,0.0004094225807533985,0.0011791859902081682],"end_effector_yaw_offset_degrees":0.8522633586508677},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016508715087958318,0.0005329446483497962,0.0008038367194617519],"end_effector_yaw_offset_degrees":-0.9269505062859003}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00016796853114229432,0.004504316047777553],"position_m":[0.24123203146885772,0.22750431604777754,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000734541470252318,0.004742086647347674],"position_m":[0.17223454147025233,-0.11145791335265233,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033813797019017046,0.0010109443463979986],"position_m":[0.3341186202980983,0.070910944346398,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003597496117522535,-0.004804184488663647],"position_m":[0.25410250388247746,-0.41300418448866366,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7fdbc2e13407510273663e0f8d83c4996ba4620b23f550b9a7ceef3d03765328","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6357/tex_ceiling_textures_616/tex_floor_textures_7516/tex_table_textures_7001/tex_wall_textures_2480","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2476732159007231602,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2476732159007231602,"visual_seed":2476732159007231602,"scene_id":"lab_003","finished_at":"2026-09-03T10:31:30"} +{"episode_id":"ep_000063","started_at":"2026-09-03T10:31:33","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.4679665443354084,-0.9449741235923685,0.71338606911949],"aabb_xy":[[0.43296654520545275,-0.9507193446680325],[0.5029665434653641,-0.9392289025167043]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.5558990695544852,-0.5873520358792979,0.71338606911949],"aabb_xy":[[-0.5933990710701168,-0.5985788088954429],[-0.5183990680388534,-0.5761252628631528]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[-0.08397233979793894,1.779689017971236,0.71338606911949],"aabb_xy":[[-0.14797234007191717,1.729622917773948],[-0.019972339523960714,1.8297551181685239]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.016901221128728938,-0.507977205822959,0.71338606911949],"aabb_xy":[[-0.020815094324151462,-0.5167262212295158],[-0.012987347933306415,-0.49922819041640226]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.25626692636432613,-0.4919477349356116,0.71338606911949],"aabb_xy":[[-0.2927627469916048,-0.5284316773623692],[-0.21977110573704733,-0.4554637925088541]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.4059823015737902,-0.42864269245095965,0.71338606911949],"aabb_xy":[[-0.41009825168586284,-0.4327582474838051],[-0.4018663514617175,-0.4245271374181141]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.571884478951344,-1.979505730738536,0.71338606911949],"aabb_xy":[[0.5653828424433394,-1.9892735527648457],[0.5783861154593486,-1.9697379087122262]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.10579704827550362,1.3588743966344126,0.71338606911949],"aabb_xy":[[0.040797047169560355,1.3339090235662845],[0.1707970493814469,1.383839769702541]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.24195263781627918,-1.0511747554928317,0.71338606911949],"aabb_xy":[[-0.29195263883541445,-1.0876409712306596],[-0.19195263679714394,-1.0147085397550037]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.3440142148806826,-1.3229679833462509,0.71338606911949],"aabb_xy":[[0.2800142115909745,-1.3663029023501683],[0.40801421817039074,-1.279633064342333]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.30189474594493726,1.4498974662880877,0.71338606911949],"aabb_xy":[[0.27938105412148007,1.37989746568708],[0.32440843776839445,1.519897466889095]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.6038068382269748,0.2128901986320817,0.71338606911949],"aabb_xy":[[-0.6283530538497255,0.18264130208304463],[-0.5792606226042241,0.24313909518111876]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.49901261145404163,0.27597244262662457,0.71338606911949],"aabb_xy":[[-0.5027158727831804,0.27227042431790666],[-0.49530935012490274,0.2796744609353424]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.37731400560656586,-1.852329441594933,0.71338606911949],"aabb_xy":[[-0.38530749540184794,-1.8603275735354088],[-0.36932051581128383,-1.8443313096544576]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.6697389019984044,-2.5790173795969795,0.71338606911949],"aabb_xy":[[0.6322389008136113,-2.583435602293039],[0.7072389031831969,-2.574599156900918]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.3192225179457628,0.14530987368521942,0.71338606911949],"aabb_xy":[[-0.347552227894303,0.14084913149150238],[-0.29089280799722256,0.1497706158789365]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.4444327195464963,-1.9546884548162229,0.71338606911949],"aabb_xy":[[0.4069327193746244,-1.98738919019913],[0.48193271971836826,-1.9219877194333157]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.3012314805560117,-2.2276202409790518,0.71338606911949],"aabb_xy":[[0.2212314794828914,-2.237398287316436],[0.38123148162913206,-2.2178421946416673]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.213096309421134,-1.9140737928328848,0.71338606911949],"aabb_xy":[[0.1430963072897044,-1.9368357584585802],[0.2830963115525635,-1.891311827207189]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.3737511030836386,0.7389114009865967,0.71338606911949],"aabb_xy":[[-0.4287433537191497,0.683911399243284],[-0.31875885244812774,0.7939114027299097]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.5000443059052929,-1.9623343718541935,0.71338606911949],"aabb_xy":[[-0.5175910008214119,-1.9998343734184447],[-0.482497610989174,-1.9248343702899422]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.5137113825669033,0.09792540915089232,0.71338606911949],"aabb_xy":[[-0.5288742555438405,0.08275995185577358],[-0.4985485095899663,0.1130908664460111]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.5654683114156407,-2.2093946114234364,0.71338606911949],"aabb_xy":[[0.5429683118919331,-2.2318905588740567],[0.5879683109393479,-2.186898663972815]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.20481886992352977,-0.9632541117981193,0.71338606911949],"aabb_xy":[[-0.24231887021570456,-0.9672955871987229],[-0.16731886963135492,-0.9592126363975156]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.1381657378796859,-0.785892736950029,0.71338606911949],"aabb_xy":[[-0.14306503018624936,-0.8135696562525978],[-0.13326644557312237,-0.7582158176474603]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.327775569170319,-2.436523150747329,0.71338606911949],"aabb_xy":[[-0.3927755718081125,-2.4880027494467765],[-0.26277556653252554,-2.3850435520478825]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.4727870651816146,1.5977008430942443,0.71338606911949],"aabb_xy":[[0.4087870658874464,1.5337147027253901],[0.5367870644757828,1.6616869834630985]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[0.27116562980035797,-1.8322203517930693,0.71338606911949],"aabb_xy":[[0.19116562653634478,-1.8457803841019826],[0.35116563306437104,-1.818660319484156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7144694349412365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4327.png","name":"4327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4327.png","name":"4327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2351.png","name":"2351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4725.png","name":"4725"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6425.png","name":"6425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3361.png","name":"3361"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":536.1311286362566,"rotation_z_degrees":21.15304811594196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018918268482797155,0.004906065080843666,0.005137057749640694]},{"name":"camera_2","offset_m":[0.003317530106227772,-0.009768590169280897,0.008320932703933782]},{"name":"camera_3","offset_m":[-0.003130559739391515,-0.013643363450921955,0.009114834496621066]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006652907751604894,0.0014724582741250983,-0.0013540374203971951],"end_effector_yaw_offset_degrees":0.8316461777867017},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00020033334603481844,0.0006087878345764569,-0.0011018405701823943],"end_effector_yaw_offset_degrees":0.19847204613642822},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004769256006902584,0.0013004693850260894,0.0010540701998345697],"end_effector_yaw_offset_degrees":0.4564943353556148}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006214622495769699,0.004259074936614934],"position_m":[0.24077853775042304,0.22725907493661493,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004037876276993187,-0.003878933672815552],"position_m":[0.1755378762769932,-0.12007893367281555,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00022848504222678333,-0.0002055182872723058],"position_m":[0.3377284850422268,0.0696944817127277,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049329882864041314,-0.0009682700556715067],"position_m":[0.26263298828640413,-0.4091682700556715,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f1076fa8d412b1beacc2dfac96f21fb659ca02d82f2a35a895d05ed04d3f3a77","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4327/tex_ceiling_textures_3361/tex_floor_textures_6425/tex_table_textures_2351/tex_wall_textures_4725","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1330748522312822206,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1330748522312822206,"visual_seed":1330748522312822206,"scene_id":"lab_003","finished_at":"2026-09-03T10:34:10"} +{"episode_id":"ep_000064","started_at":"2026-09-03T10:38:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[0.5381043007087074,-1.0873552613678035,0.71338606911949],"aabb_xy":[[0.5069573818651243,-1.1573552600546104],[0.5692512195522905,-1.017355262680996]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.3668554596091917,1.7241837318859123,0.71338606911949],"aabb_xy":[[-0.4468554582660777,1.7096788729616494],[-0.2868554609523057,1.7386885908101752]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.44499200745830253,-1.2564303613576913,0.71338606911949],"aabb_xy":[[-0.45298549725358467,-1.2644284932981669],[-0.4369985176630206,-1.2484322294172157]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.6588447465582271,1.4468670437932238,0.71338606911949],"aabb_xy":[[-0.6628052303279613,1.4391991792077035],[-0.6548842627884927,1.4545349083787447]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.4348126165349726,-1.0746859264079285,0.71338606911949],"aabb_xy":[[0.41570030917699374,-1.0938207052851703],[0.45392492389295147,-1.0555511475306862]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.0023019888014985668,1.754487980859475,0.71338606911949],"aabb_xy":[[-0.0723019909329281,1.7317260152337794],[0.06769801332993097,1.7772499464851708]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.5740735750228347,-2.4129051598154523,0.71338606911949],"aabb_xy":[[0.5666611194814463,-2.4187563702370802],[0.5814860305642232,-2.4070539493938243]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.28766981270475295,-1.3608090268019641,0.71338606911949],"aabb_xy":[[-0.2957975008980662,-1.3697226352126717],[-0.2795421245114398,-1.3518954183912566]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.3263059259270529,0.6387137114208739,0.71338606911949],"aabb_xy":[[0.3088752108480463,0.6214415967570229],[0.34373664100605933,0.6559858260847246]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[-0.6183248064125841,-0.09757573825833665,0.71338606911949],"aabb_xy":[[-0.6734500120421748,-0.15757573969962377],[-0.5631996007829932,-0.0375757368170495]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.6510791981393522,-1.5468448720231096,0.71338606911949],"aabb_xy":[[-0.6636818972764288,-1.5594402682479749],[-0.6384764990022759,-1.534249475798244]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.37852433463571183,-0.18551774693534817,0.71338606911949],"aabb_xy":[[-0.3960243348950485,-0.19960928912412085],[-0.3610243343763752,-0.17142620474657558]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.12158717236966987,0.5842869928766667,0.71338606911949],"aabb_xy":[[-0.21158717178804076,0.5509114960324769],[-0.031587172951298995,0.6176624897208564]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.3826237872797833,1.2955579878227965,0.71338606911949],"aabb_xy":[[0.37918311103972624,1.2916965548484323],[0.3860644635198406,1.2994194207971612]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.48159345078871474,0.5364542438579001,0.71338606911949],"aabb_xy":[[0.41659344978821417,0.48566787870322503],[0.5465934517892153,0.5872406090125749]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.6169716199921598,0.6784345166945243,0.71338606911949],"aabb_xy":[[-0.6519716191849779,0.6674674706968615],[-0.5819716207993414,0.6894015626921868]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.19696712387480664,-0.23670070702752044,0.71338606911949],"aabb_xy":[[-0.2138778563111484,-0.2501729126201349],[-0.18005639143846483,-0.22322850143490588]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.2154079489528158,-1.5691248371556417,0.71338606911949],"aabb_xy":[[0.1804079490567969,-1.5774990726675815],[0.25040794884883466,-1.5607506016437014]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.49665657993232193,-2.4850760986644653,0.71338606911949],"aabb_xy":[[-0.5766565804025379,-2.4933868062788136],[-0.41665657946210605,-2.476765391050117]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.4729653505442737,-1.9479859343796173,0.71338606911949],"aabb_xy":[[-0.5629653470451453,-1.9938975767980749],[-0.3829653540434019,-1.9020742919611584]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.31538963965581557,1.1536745901084813,0.71338606911949],"aabb_xy":[[0.2732052254949849,1.0896745898312699],[0.35757405381664636,1.2176745903856923]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7117791310116938,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3297.png","name":"3297"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3297.png","name":"3297"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/155.png","name":"155"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7903.png","name":"7903"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.156829387156,"rotation_z_degrees":183.03346083859526,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009472032135758384,-0.002389099529399124,-0.01557251063784284]},{"name":"camera_2","offset_m":[-0.007668615655417125,0.01812094724623606,-0.009445118311292307]},{"name":"camera_3","offset_m":[0.004777344006396664,0.008588730902107423,-0.004234367935138653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013170344475960873,-0.00032409611478328776,0.0013591261747041132],"end_effector_yaw_offset_degrees":0.2940993115357349},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009341951856318791,-0.0009224796892489168,-0.0009485098512562527],"end_effector_yaw_offset_degrees":-0.794576226767727},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000468585835526821,-0.0006403944522781484,-0.0012354899164543388],"end_effector_yaw_offset_degrees":0.22868267545897059}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00320155481725896,-1.7679245623118678e-05],"position_m":[0.24460155481725895,0.22298232075437688,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026479123786961488,0.0043271297519020075],"position_m":[0.17414791237869617,-0.11187287024809799,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002365591057380897,0.0028353084190315464],"position_m":[0.33513440894261914,0.07273530841903154,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004902671011565304,0.003703749463285601],"position_m":[0.2626026710115653,-0.4044962505367144,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5463208041b51ae1ef6b113d274904b412c164721ee1fa634acde65483ccf8da","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3297/tex_ceiling_textures_680/tex_floor_textures_7903/tex_table_textures_3592/tex_wall_textures_155","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":834958386432594947,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":834958386432594947,"visual_seed":834958386432594947,"scene_id":"lab_003","finished_at":"2026-09-03T10:41:15"} +{"episode_id":"ep_000065","started_at":"2026-09-03T10:41:18","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.5413744426839093,-1.9329415236178824,0.71338606911949],"aabb_xy":[[0.4913744432437136,-1.9829094481021985],[0.5913744421241048,-1.8829735991335659]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.4630095828335452,1.0787361347372428,0.71338606911949],"aabb_xy":[[0.454881894640232,1.0698225263265353],[0.47113727102685843,1.0876497431479508]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.6180765848528973,-1.0251896950060126,0.71338606911949],"aabb_xy":[[0.5540765834449066,-1.0769786465299371],[0.682076586260888,-0.9734007434820878]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.5827800301457278,1.1435598725563074,0.71338606911949],"aabb_xy":[[0.5327807549772916,1.0935598712803603],[0.6327793053141639,1.1935598738322546]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.07823722139138056,-0.11002666820813412,0.71338606911949],"aabb_xy":[[-0.1060822581719877,-0.1408111669464458],[-0.05039218461077345,-0.07924216946982243]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.6345660646324813,1.3996220112605582,0.71338606911949],"aabb_xy":[[-0.6595660645649993,1.3927393430396346],[-0.6095660646999636,1.4065046794814813]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.4890184687302033,0.022136726701350362,0.71338606911949],"aabb_xy":[[-0.5224586439262228,-0.011306899129579719],[-0.45557829353418366,0.05558035253228043]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[-0.5481341091937645,-1.7435423856660814,0.71338606911949],"aabb_xy":[[-0.5613650547284457,-1.7567698046880809],[-0.5349031636590831,-1.730314966644082]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.6802725685257731,-1.643223255353786,0.71338606911949],"aabb_xy":[[0.6557589444287673,-1.6674878486558224],[0.704786192622779,-1.6189586620517495]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.1906072327647138,0.991143099514491,0.71338606911949],"aabb_xy":[[0.14784052588529364,0.9271430960926885],[0.23337393964413403,1.0551431029362934]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.6493636161235969,-0.5802717699614237,0.71338606911949],"aabb_xy":[[0.6430515165872586,-0.5860387092146425],[0.6556757156599353,-0.5745048307082049]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.21441493943659207,1.6857621818267243,0.71338606911949],"aabb_xy":[[0.19698422435758553,1.668490067162873],[0.23184565451559855,1.7030342964905747]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.5807560818735513,0.7750853002156939,0.71338606911949],"aabb_xy":[[0.5257560836718065,0.7345633335892563],[0.6357560800752962,0.8156072668421315]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.6845193249051902,-0.4453019989820981,0.71338606911949],"aabb_xy":[[-0.6936792038490667,-0.45183321702563506],[-0.6753594459613135,-0.43877078093856103]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.47914410094351,-1.1945542546827188,0.71338606911949],"aabb_xy":[[-0.5691440976791202,-1.247737718000013],[-0.38914410420789974,-1.141370791365424]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.0668173185220865,0.587771732200618,0.71338606911949],"aabb_xy":[[-0.13081731889962012,0.5380264653498056],[-0.002817318144552869,0.6375169990514301]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.44906128612938034,0.46820791551640273,0.71338606911949],"aabb_xy":[[0.379061283492794,0.4481030505205372],[0.5190612887659667,0.48831278051226823]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.5750689115365792,1.300579206499414,0.71338606911949],"aabb_xy":[[0.5150689098936575,1.2485790572074695],[0.6350689131795012,1.352579355791358]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.06277151770515133,-2.245946680959275,0.71338606911949],"aabb_xy":[[-0.11274458323766681,-2.2959466807718085],[-0.01279845217263587,-2.1959466811467427]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.013903113005456769,1.203158219675431,0.71338606911949],"aabb_xy":[[-0.040112483276443234,1.1391582167831735],[0.06791870928735677,1.2671582225676878]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.5145577915452524,0.25736398793411785,0.71338606911949],"aabb_xy":[[0.48209609066332487,0.2272311558192152],[0.5470194924271797,0.28749682004902044]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.34481052935733675,0.06961447505589691,0.71338606911949],"aabb_xy":[[-0.36069502262266195,0.05526153475707285],[-0.32892603609201165,0.08396741535472096]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.5825402609527517,0.5662137252664348,0.71338606911949],"aabb_xy":[[0.5732466427156011,0.5287137267783009],[0.5918338791899023,0.6037137237545687]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.6099511122121364,1.0878331005571122,0.71338606911949],"aabb_xy":[[-0.6140869685448367,1.0503331011127552],[-0.6058152558794363,1.1253331000014692]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.06864812970317924,-0.8910279204473659,0.71338606911949],"aabb_xy":[[-0.07949973595205484,-0.9018872111750169],[-0.05779652345430364,-0.8801686297197149]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.1734633512580417,-0.5220998202680729,0.71338606911949],"aabb_xy":[[-0.20777962843265962,-0.5720998202412505],[-0.13914707408342375,-0.47209982029489506]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.28401226808054025,-1.7765637948195998,0.71338606911949],"aabb_xy":[[0.2379271768258088,-1.840563792072155],[0.33009735933527173,-1.7125637975670447]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.394056476277862,-2.063142239499799,0.71338606911949],"aabb_xy":[[0.3899783183708123,-2.0672232197480622],[0.3981346341849118,-2.059061259251535]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[-0.17336062408449937,0.7264013651736358,0.71338606911949],"aabb_xy":[[-0.18214185123173562,0.7176216178851057],[-0.16457939693726317,0.735181112462166]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.38397530993574547,0.6635057964006994,0.71338606911949],"aabb_xy":[[0.3339978930704918,0.6135057949114509],[0.433952726800999,0.713505797889948]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.019891741341953484,-1.5750737759689684,0.71338606911949],"aabb_xy":[[-0.015108260009528246,-1.5954335119257892],[0.05489174269343522,-1.5547140400121475]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_31","position":[-0.532659392488477,-2.1488612599891104,0.71338606911949],"aabb_xy":[[-0.5452620916255535,-2.161456656213976],[-0.5200566933514006,-2.136265863764245]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_32","position":[0.1850732667380841,0.7555367636094568,0.71338606911949],"aabb_xy":[[0.14915976231309439,0.7196232553927021],[0.22098677116307378,0.7914502718262114]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_33","position":[-0.6690053124251842,-0.6775063348191648,0.71338606911949],"aabb_xy":[[-0.6797782863465519,-0.7125063330382038],[-0.6582323385038163,-0.6425063366001258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7096693875557435,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3161.png","name":"3161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3161.png","name":"3161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5961.png","name":"5961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7389.png","name":"7389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/994.png","name":"994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5187.png","name":"5187"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":823.5770281967634,"rotation_z_degrees":264.49652895653776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00718444091662088,0.0021708168780737273,0.012892371651497866]},{"name":"camera_2","offset_m":[0.005474463746028918,-0.004686932688864909,0.003695477424860618]},{"name":"camera_3","offset_m":[-0.019057752125966415,-0.01292544813663946,0.015544080837458379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008506516682040167,-0.0011004827066211375,0.00032736762883413175],"end_effector_yaw_offset_degrees":0.8683111416697851},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006660502693665636,-0.0013312962098943832,0.001595683926369339],"end_effector_yaw_offset_degrees":0.32560031196998707},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015759609542189339,0.000934219015302923,0.001131776164493069],"end_effector_yaw_offset_degrees":-0.5544914135909105}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027394433028039523,0.0006082196521230024],"position_m":[0.24413944330280396,0.22360821965212302,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004154608217745541,-0.0012195054837445952],"position_m":[0.17191546082177456,-0.1174195054837446,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003031643801823935,-0.0018148047123609022],"position_m":[0.34053164380182394,0.06808519528763911,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031505986788924164,0.004879363322025419],"position_m":[0.2608505986788924,-0.4033206366779746,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1eec7b8dceb98b2995d1afafef5a6d58edbddd2d9ab7bafee101c9572b307a0c","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3161/tex_ceiling_textures_5187/tex_floor_textures_994/tex_table_textures_5961/tex_wall_textures_7389","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":683785632976813872,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":683785632976813872,"visual_seed":683785632976813872,"scene_id":"lab_003","finished_at":"2026-09-03T10:44:02"} +{"episode_id":"ep_000066","started_at":"2026-09-03T10:44:04","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.44316071074693264,-0.9446695573270099,0.71338606911949],"aabb_xy":[[-0.4781607098768883,-0.950414778402674],[-0.408160711616977,-0.9389243362513457]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.22490420054262383,-1.9376520275334017,0.71338606911949],"aabb_xy":[[0.14490419911249663,-2.017169182546011],[0.30490420197275103,-1.858134872520792]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.1851677735967977,-0.14405810304925515,0.71338606911949],"aabb_xy":[[-0.22016777186691758,-0.1511322307442433],[-0.15016777532667777,-0.13698397535426698]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.6421325930258048,-0.16341061638511745,0.71338606911949],"aabb_xy":[[-0.6515500675956676,-0.17282679352283647],[-0.6327151184559421,-0.15399443924739842]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.22571281221861816,-1.6462166311855548,0.71338606911949],"aabb_xy":[[0.1994239878981775,-1.672488064840206],[0.2520016365390588,-1.6199451975309036]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.08266623710383714,-1.0963760239894365,0.71338606911949],"aabb_xy":[[-0.11857974152882683,-1.1322895322061908],[-0.04675273267884747,-1.0604625157726817]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.1868878665601169,1.5438507434921749,0.71338606911949],"aabb_xy":[[0.12288786629964611,1.4988419441392467],[0.2508878668205877,1.5888595428451027]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.14434589001226883,-2.187164716053,0.71338606911949],"aabb_xy":[[-0.19432884019974814,-2.23716471569556],[-0.09436293982478948,-2.1371647164104393]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.036125988852166446,-1.368290037857468,0.71338606911949],"aabb_xy":[[-0.04899789235310658,-1.4482900382713044],[-0.023254085351226302,-1.2882900374436321]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.15619001278036015,-1.0029204320183076,0.71338606911949],"aabb_xy":[[0.0711900143629369,-1.0877947274805926],[0.24119001119778335,-0.9180461365560226]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.5273213283156757,0.7194201918425702,0.71338606911949],"aabb_xy":[[0.4935457691249827,0.7053816966294052],[0.5610968875063687,0.7334586870557352]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.39242582709515594,-2.1538504768440467,0.71338606911949],"aabb_xy":[[0.37897930046111267,-2.167320328497138],[0.40587235372919933,-2.1403806251909554]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.5150275536314479,0.417818541959762,0.71338606911949],"aabb_xy":[[-0.5494899010295895,0.38332465956193923],[-0.48056520623330595,0.4523124243575846]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.17921848468742085,0.17669550637885134,0.71338606911949],"aabb_xy":[[-0.24921848681885037,0.15393354075315566],[-0.10921848255599129,0.19945747200454697]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.6148014682701313,-2.501602623486699,0.71338606911949],"aabb_xy":[[-0.6227954568478345,-2.5096027035817885],[-0.6068074796924278,-2.4936025433916074]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.22861772369022398,-1.147515364818878,0.71338606911949],"aabb_xy":[[-0.24773003104820285,-1.1666501436961203],[-0.20950541633224512,-1.1283805859416363]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.6592591152689938,0.05059250382803526,0.71338606911949],"aabb_xy":[[-0.6762692125590445,0.03445801532976134],[-0.6422490179789432,0.06672699232630919]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.10500017070206646,1.5877715314097336,0.71338606911949],"aabb_xy":[[-0.1600001689038113,1.5472495647832958],[-0.050000172500321634,1.628293498036171]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.20868224855134493,-0.8863528306512989,0.71338606911949],"aabb_xy":[[-0.2195227267778598,-0.9035391119419478],[-0.19784177032483,-0.8691665493606502]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.5414594044481779,-1.805542160172478,0.71338606911949],"aabb_xy":[[-0.6214594014112169,-1.8826178018162512],[-0.4614594074851386,-1.7284665185287043]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.25972745041598677,0.9087529810174604,0.71338606911949],"aabb_xy":[[0.24185834266153128,0.8949200730402496],[0.27759655817044226,0.9225858889946714]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[0.543262769537249,-1.499898861886154,0.71338606911949],"aabb_xy":[[0.535269279741967,-1.50789699382663],[0.5512562593325311,-1.4919007299456786]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.4907263051048952,-1.5746602759731125,0.71338606911949],"aabb_xy":[[-0.5807263074389142,-1.6521426305582252],[-0.40072630277087606,-1.4971779213879999]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.3987765920291803,1.3897738229302252,0.71338606911949],"aabb_xy":[[-0.43221676722519986,1.356330197099295],[-0.36533641683316065,1.423217448761155]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.6101790299201069,1.293989069981707,0.71338606911949],"aabb_xy":[[0.5601797547516708,1.2439890687057598],[0.6601783050885431,1.343989071257654]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.5018701430757955,-0.28291539671553956,0.71338606911949],"aabb_xy":[[-0.565870143453329,-0.33266066356635177],[-0.43787014269826174,-0.23317012986472724]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.3081581099603026,0.9646503324174436,0.71338606911949],"aabb_xy":[[-0.3721581121807096,0.9202772482921554],[-0.24415810773989555,1.0090234165427319]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[0.4323954605766096,0.25172015780120693,0.71338606911949],"aabb_xy":[[0.4078818364796038,0.22745556449917048],[0.4569090846736155,0.2759847511032434]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_28","position":[-0.5594453905946718,-2.207790136292067,0.71338606911949],"aabb_xy":[[-0.6494453942715898,-2.2692225428691706],[-0.4694453869177534,-2.146357729714962]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[-0.45823989303837986,-2.392809778958377,0.71338606911949],"aabb_xy":[[-0.46237574937108006,-2.430309778402734],[-0.45410403670567967,-2.35530977951402]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_30","position":[0.17754090094717034,-2.264929791036754,0.71338606911949],"aabb_xy":[[0.15999420603105138,-2.3024297926010053],[0.19508759586328925,-2.2274297894725024]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_31","position":[-0.6407508111576797,-1.1964966103085901,0.71338606911949],"aabb_xy":[[-0.6947664074395796,-1.260496613200847],[-0.5867352148757796,-1.1324966074163327]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_32","position":[-0.48720299434287906,-1.2408789342265032,0.71338606911949],"aabb_xy":[[-0.5122029935085122,-1.2478311799318598],[-0.46220299517724595,-1.2339266885211466]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_33","position":[0.3788165967419539,-2.556608645722405,0.71338606911949],"aabb_xy":[[0.3563174610157269,-2.5791086465006683],[0.40131573246818086,-2.534108644944143]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7099563381921232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6960.png","name":"6960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3343.png","name":"3343"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":605.3868329167761,"rotation_z_degrees":275.46399371638364,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01753370671610206,0.005160919292588419,-0.012729787040695415]},{"name":"camera_2","offset_m":[0.0017517816826926602,-0.0009527551388853646,0.004290588973109629]},{"name":"camera_3","offset_m":[-0.01533544376487805,-0.018364089292046897,-0.01879074864992629]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00033508369349095316,0.0013871088661144555,-0.00044629682144840723],"end_effector_yaw_offset_degrees":0.41972773197488045},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014915808026131272,-0.0007704740864840503,0.0017110424618169023],"end_effector_yaw_offset_degrees":0.35449479902639314},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00113178477032409,0.0005159080580079099,0.0013847521926286539],"end_effector_yaw_offset_degrees":-0.33301316075113974}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-5.0263479394716676e-05,0.0034322156810577846],"position_m":[0.2413497365206053,0.22643221568105779,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003338581493383381,-0.0008904902429088205],"position_m":[0.16816141850661664,-0.11709049024290882,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009739264399948686,-0.0018630751793952838],"position_m":[0.33652607356000513,0.06803692482060472,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014358647751635456,-0.0021778292301156],"position_m":[0.25626413522483643,-0.4103778292301156,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7599fb87952c9e91f64fda6afd9a2a49b63ea39eab7cba9711692a76f71c97ee","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2577/tex_ceiling_textures_7931/tex_floor_textures_6119/tex_table_textures_6960/tex_wall_textures_3343","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6885868826880565388,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6885868826880565388,"visual_seed":6885868826880565388,"scene_id":"lab_003","finished_at":"2026-09-03T10:46:39"} +{"episode_id":"ep_000067","started_at":"2026-09-03T10:48:10","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.015741863603239703,-2.1225382238131236,0.71338606911949],"aabb_xy":[[-0.05020421100138149,-2.1570321062109454],[0.0187204837949021,-2.0880443414153]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.5844298565290512,-0.6451104602773319,0.71338606911949],"aabb_xy":[[-0.6344229686382432,-0.6951104609515275],[-0.5344367444198594,-0.5951104596031362]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.11917548831130886,0.6777733667828794,0.71338606911949],"aabb_xy":[[0.05517549188398699,0.630603742960783],[0.1831754847386308,0.7249429906049759]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.4574399793529542,1.2329219641374456,0.71338606911949],"aabb_xy":[[0.40743997833381895,1.1964557483996177],[0.5074399803720895,1.2693881798752735]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.5303393145429514,1.4804784283379733,0.71338606911949],"aabb_xy":[[0.4663393112532433,1.4371435093340557],[0.5943393178326595,1.523813347341891]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[0.5934358523898913,1.3685040859998767,0.71338606911949],"aabb_xy":[[0.5759359189559078,1.351004086079642],[0.6109357858238745,1.386004085920111]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.5644792633452508,1.3092666771086412,0.71338606911949],"aabb_xy":[[-0.5931285957056669,1.2806211178315654],[-0.5358299309848344,1.337912236385717]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.5125687123993687,-1.2091836560200013,0.71338606911949],"aabb_xy":[[-0.5295788096894193,-1.2253181445182753],[-0.495558615109318,-1.1930491675217274]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[-0.4953598880692899,-2.0954090848382556,0.71338606911949],"aabb_xy":[[-0.5453598890198226,-2.126958231841777],[-0.44535988711875696,-2.063859937834734]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.372614780310845,1.6328529062903478,0.71338606911949],"aabb_xy":[[-0.3806087688885483,1.6248528261952573],[-0.3646207917331415,1.640852986385438]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.185064812356168,-1.9207496171984637,0.71338606911949],"aabb_xy":[[0.16147968889227315,-1.9857496194438953],[0.20864993582006286,-1.8557496149530317]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.06721122541475155,1.4844296380161812,0.71338606911949],"aabb_xy":[[-0.12880198463874437,1.4204296399071346],[-0.005620466190758747,1.5484296361252283]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.40419549108599384,0.5982616393624247,0.71338606911949],"aabb_xy":[[-0.4681954924939845,0.5464726878385],[-0.34019548967800317,0.6500505908863494]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.6999881249555031,-1.2874998603625931,0.71338606911949],"aabb_xy":[[0.6833109889624075,-1.3041997843365234],[0.7166652609485985,-1.2707999363886628]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.1604764372894053,0.05876024495387089,0.71338606911949],"aabb_xy":[[-0.17294379539914095,0.04629492032054738],[-0.14800907917966966,0.07122556958719439]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.28181570788889526,0.8967695362789234,0.71338606911949],"aabb_xy":[[-0.2936877909003964,0.811769536585273],[-0.26994362487739415,0.9817695359725737]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.3450798738319982,-1.0205517835754303,0.71338606911949],"aabb_xy":[[-0.35310614446262417,-1.0293032785527831],[-0.3370536032013722,-1.011800288598078]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.4879716151525938,1.4123479278009872,0.71338606911949],"aabb_xy":[[-0.49677367046156645,1.404536601646058],[-0.47916955984362103,1.4201592539559162]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.3001810537121503,-1.5845154536851669,0.71338606911949],"aabb_xy":[[-0.3088790160028656,-1.596640427992642],[-0.291483091421435,-1.5723904793776926]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.16549182897707182,-2.254437423855866,0.71338606911949],"aabb_xy":[[0.1578675608868936,-2.26207064739241],[0.1731160970672501,-2.2468042003193225]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.23819318093808117,-2.1023790185575066,0.71338606911949],"aabb_xy":[[-0.29582364982535203,-2.1623790174842163],[-0.18056271205081031,-2.042379019630795]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.6592832525558044,0.5140538743545013,0.71338606911949],"aabb_xy":[[-0.6817832530678449,0.4915620159891029],[-0.6367832520437637,0.5365457327198996]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.09630874481384999,1.1270189815704597,0.71338606911949],"aabb_xy":[[0.07742436104533978,1.1081330567901069],[0.1151931285823602,1.1459049063508124]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.6685240198601441,0.29707778080731684,0.71338606911949],"aabb_xy":[[-0.6773052470073804,0.2882980335187867],[-0.6597427927129078,0.305857528095847]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.3382392040522811,-0.10506470531427636,0.71338606911949],"aabb_xy":[[-0.34909081030115674,-0.1159239960419274],[-0.32738759780340554,-0.09420541458662536]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[0.07369488486203268,1.51525395549957,0.71338606911949],"aabb_xy":[[0.06082298136109255,1.4352539550857337],[0.08656678836297282,1.595253955913406]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.5114734791911282,-0.9222070460065983,0.71338606911949],"aabb_xy":[[-0.5179751156991329,-0.9319748680329081],[-0.5049718426831237,-0.9124392239802885]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[-0.4223220174393327,0.9346693130651782,0.71338606911949],"aabb_xy":[[-0.45911665056423895,0.8977634379685959],[-0.3855273843144264,0.9715751881617605]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.39842123987971556,-0.25294865141156375,0.71338606911949],"aabb_xy":[[0.394507366684293,-0.2616976668181205],[0.40233511307513803,-0.244199636005007]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[0.22712756975981252,0.9167790422221698,0.71338606911949],"aabb_xy":[[0.1371275732589407,0.8708673998037115],[0.31712756626068417,0.962690684640628]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7054911955324248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2115.png","name":"2115"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2115.png","name":"2115"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/835.png","name":"835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8071.png","name":"8071"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2014.png","name":"2014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7984.png","name":"7984"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":550.1211177607754,"rotation_z_degrees":328.10710724778806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019953137363352,-0.00330233420844709,0.017992890343341384]},{"name":"camera_2","offset_m":[-0.019908421058840973,0.010098284695234449,0.0015296628293527542]},{"name":"camera_3","offset_m":[-0.01583946765019298,-0.004549873701428831,-0.007535841599622933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00044517468658943657,-0.000727529341142548,-0.0002563245740316647],"end_effector_yaw_offset_degrees":0.9156836889073701},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00033710254136828737,-5.5498351479029004e-05,0.0005309882735311817],"end_effector_yaw_offset_degrees":-0.026846241593594167},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00038948015261418604,-0.0012133491922031064,-0.0018056524656066717],"end_effector_yaw_offset_degrees":0.5832697343665798}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003462500471512959,-0.00024437685996717053],"position_m":[0.23793749952848706,0.22275562314003283,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004665344465860551,-0.0030531636296702914],"position_m":[0.17616534446586057,-0.11925316362967028,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004531450635940011,-0.0027700978896164196],"position_m":[0.33296854936406,0.06712990211038358,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028260902043470482,0.003602990769363673],"position_m":[0.25487390979565294,-0.40459700923063635,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ec7f5ea94f121099fff17b5881fed4dae025c7cdf8cc0853910c681e894de645","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2115/tex_ceiling_textures_7984/tex_floor_textures_2014/tex_table_textures_835/tex_wall_textures_8071","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8752317118531477659,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8752317118531477659,"visual_seed":8752317118531477659,"scene_id":"lab_003","finished_at":"2026-09-03T10:50:46"} +{"episode_id":"ep_000068","started_at":"2026-09-03T10:50:49","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.1569826497735316,-1.8327198569065382,0.71338606911949],"aabb_xy":[[0.07198265135610837,-1.9175941523688231],[0.24198264819095483,-1.7478455614442532]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.4562062008128973,0.7476145872937074,0.71338606911949],"aabb_xy":[[-0.5111984514484083,0.6926145855503948],[-0.4012139501773864,0.8026145890370204]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.47542854720680006,-1.5709223141918134,0.71338606911949],"aabb_xy":[[0.46997060156977993,-1.650922317499472],[0.48088649284382007,-1.4909223108841538]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.39172577871110326,-0.8808969079910509,0.71338606911949],"aabb_xy":[[-0.39584172882317586,-0.8850124630238964],[-0.38760982859903054,-0.8767813529582053]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.3337991778446616,1.5193241370065365,0.71338606911949],"aabb_xy":[[-0.3987991804824551,1.4678445383070895],[-0.26879917520686814,1.5708037357059834]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.001303586086576769,0.8044843608136056,0.71338606911949],"aabb_xy":[[-0.01563801121274022,0.7924241452590668],[0.013030839039586684,0.8165445763681445]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.2865792441618408,1.6044310989029813,0.71338606911949],"aabb_xy":[[0.22157924320471353,1.5524828869692757],[0.35157924511896793,1.6563793108366869]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.11242311672401151,-2.119158010788847,0.71338606911949],"aabb_xy":[[-0.1774231178299548,-2.144123383856975],[-0.04742311561806822,-2.0941926377207185]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.4646038448613675,-1.1427028733997036,0.71338606911949],"aabb_xy":[[-0.47584890043198536,-1.1539446711237988],[-0.4533587892907497,-1.1314610756756083]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.3265500605922666,1.7052045121653179,0.71338606911949],"aabb_xy":[[-0.33454404916997,1.6972044320702273],[-0.3185560720145632,1.713204592260408]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[-0.15438267664329097,-0.6842258642997752,0.71338606911949],"aabb_xy":[[-0.21838267855563334,-0.7401370135577856],[-0.09038267473094866,-0.6283147150417647]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.07544799746654829,-2.4165371749315963,0.71338606911949],"aabb_xy":[[-0.08154262535466662,-2.425106569483265],[-0.06935336957842998,-2.4079677803799275]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.5058754903580589,-1.98778924536651,0.71338606911949],"aabb_xy":[[0.4941073035634015,-2.072789245271732],[0.5176436771527165,-1.9027892454612887]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.10406467937665809,0.7746920850342782,0.71338606911949],"aabb_xy":[[0.0815646791331427,0.7624874503745063],[0.12656467962017348,0.7868967196940502]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[-0.20164262298640484,0.9873918447014223,0.71338606911949],"aabb_xy":[[-0.21106009755626756,0.977975667563703],[-0.19222514841654206,0.9968080218391411]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.5099404044690437,1.2223679594858408,0.71338606911949],"aabb_xy":[[-0.5599233546565229,1.17236795984328],[-0.45995745428156426,1.2723679591284007]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.11247900592064641,1.5998658863455613,0.71338606911949],"aabb_xy":[[-0.1619594271346052,1.5358658884327094],[-0.06299858470668762,1.663865884258413]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.6069107709392046,0.3651892906677312,0.71338606911949],"aabb_xy":[[-0.6669107725821265,0.31318914137578696],[-0.5469107692962828,0.41718943995967533]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.2604418823805377,0.36897205627047347,0.71338606911949],"aabb_xy":[[-0.2929035832624651,0.3388392241555707],[-0.22798018149861018,0.399104888385376]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.20715664933589262,0.6392595659481306,0.71338606911949],"aabb_xy":[[-0.25214923605434303,0.5942595666736817],[-0.16216406261744218,0.6842595652225792]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.49310686666564285,-1.037601279864505,0.71338606911949],"aabb_xy":[[0.4851133768703609,-1.0455994118049805],[0.5011003564609249,-1.0296031479240293]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.4390185515932501,-0.25523766981078877,0.71338606911949],"aabb_xy":[[0.41036921923283387,-0.2838832290878645],[0.4676678839536663,-0.22659211053371292]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.6329099138010841,-1.797520235085229,0.71338606911949],"aabb_xy":[[-0.6517942975695944,-1.8164061598655818],[-0.614025530032574,-1.7786343103048763]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.14026188984857801,-0.07327071440788302,0.71338606911949],"aabb_xy":[[-0.20426189219137958,-0.11821156565201552],[-0.07626188750577646,-0.028329863163750534]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[-0.09064961947484573,-1.7141567145002614,0.71338606911949],"aabb_xy":[[-0.14562334151117862,-1.7691567140644946],[-0.03567589743851285,-1.6591567149360282]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_25","position":[-0.4519452159844385,-1.4149337072764434,0.71338606911949],"aabb_xy":[[-0.4869452158804573,-1.423307942788383],[-0.41694521608841956,-1.4065594717645034]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[-0.18825348032691291,1.2518557294797508,0.71338606911949],"aabb_xy":[[-0.22256975750153085,1.201855729506573],[-0.15393720315229498,1.3018557294529285]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.6074773980916872,-0.7514769988881931,0.71338606911949],"aabb_xy":[[0.5730149200785993,-0.7581406760711158],[0.6419398761047749,-0.7448133217052701]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[0.5407740773783203,0.46743430482916937,0.71338606911949],"aabb_xy":[[0.5057740791082004,0.4603601771341812],[0.5757740756484402,0.47450843252415753]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[0.502271984800138,1.5197143542182547,0.71338606911949],"aabb_xy":[[0.42227198783709885,1.442638712574481],[0.5822719817631772,1.596789995862028]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_30","position":[0.4875670855074621,-0.4654632574883708,0.71338606911949],"aabb_xy":[[0.4175670828708756,-0.48556812248423625],[0.5575670881440483,-0.44535839249250525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7044412017194382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5685.png","name":"5685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5685.png","name":"5685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4016.png","name":"4016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2605.png","name":"2605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1913.png","name":"1913"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":607.3915002301916,"rotation_z_degrees":83.32866848067987,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01193264933218884,-0.0006350461569519343,-0.006101716464039977]},{"name":"camera_2","offset_m":[0.015240597194819305,-0.01390141972553446,-0.01472980210842652]},{"name":"camera_3","offset_m":[0.009927598277470345,-0.016946462835404102,0.017257965238933307]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014918039947261206,0.0017371989728854537,-0.0007685864068740652],"end_effector_yaw_offset_degrees":0.06376902811851215},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019065221941780095,0.00011144771462910132,-0.0008371209947357356],"end_effector_yaw_offset_degrees":0.12268589477125746},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009347733500272052,-0.00011660934497582649,0.00099692559436931],"end_effector_yaw_offset_degrees":-0.9830864939594917}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037682645585366227,0.0008534542089515774],"position_m":[0.23763173544146338,0.22385345420895159,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014353093395613513,0.0032896383069375276],"position_m":[0.17293530933956136,-0.11291036169306247,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00011452447959793294,0.0006147916051634818],"position_m":[0.3373854755204021,0.07051479160516348,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003967328016866898,0.0038039681791885065],"position_m":[0.2537326719831331,-0.4043960318208115,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f85de663a6444998dbd7a0c8240eca9360828751e52026a5cb15e2cec2dffa2","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5685/tex_ceiling_textures_9763/tex_floor_textures_1913/tex_table_textures_4016/tex_wall_textures_2605","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":3380234444924743575,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":3380234444924743575,"visual_seed":3380234444924743575,"scene_id":"lab_003","finished_at":"2026-09-03T10:53:20"} +{"episode_id":"ep_000069","started_at":"2026-09-03T10:53:23","dimensions":{"distractor":{"count":34,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.026724258129863343,1.290059862484842,0.71338606911949],"aabb_xy":[[-0.11672425754823423,1.2566843656406523],[0.06327574128850755,1.3234353593290318]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.27055516732673457,-0.7896598732526754,0.71338606911949],"aabb_xy":[[-0.31157311071310545,-0.8396598738836327],[-0.2295372239403637,-0.7396598726217181]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.4073743392962528,-2.2377837566334535,0.71338606911949],"aabb_xy":[[-0.4650048081835236,-2.2977837555601637],[-0.3497438704089819,-2.1777837577067425]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.3442336171271825,1.1970457856026084,0.71338606911949],"aabb_xy":[[0.26423361996760714,1.1854981846447914],[0.4242336142867577,1.2085933865604255]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.13929011756950127,1.0937773324364213,0.71338606911949],"aabb_xy":[[-0.20329011897749188,1.0419883809124963],[-0.07529011616151056,1.1455662839603458]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.532064277788056,0.41519587861316776,0.71338606911949],"aabb_xy":[[-0.612064274751095,0.3381202369693942],[-0.4520642808250167,0.4922715202569411]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.5461737428107762,1.1000039366648844,0.71338606911949],"aabb_xy":[[-0.5686737428209245,1.085907717025281],[-0.523673742800628,1.1141001563044877]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[0.5185940951892336,-0.1472633548140716,0.71338606911949],"aabb_xy":[[0.4685990842297817,-0.19726335384966337],[0.5685891061486857,-0.09726335577847992]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.5914292026200647,-0.8477603681264203,0.71338606911949],"aabb_xy":[[0.5539292018280693,-0.8541282090846104],[0.6289292034120602,-0.8413925271682302]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.30638165492962144,-0.9823283643434446,0.71338606911949],"aabb_xy":[[0.2563816539104862,-1.0187945800812725],[0.3563816559487567,-0.9458621486056168]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.3013791396125606,1.0648306630322422,0.71338606911949],"aabb_xy":[[0.297465266417138,1.0560816476256851],[0.30529301280798304,1.0735796784387988]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.39560696431763115,1.6448657421287236,0.71338606911949],"aabb_xy":[[-0.48529404062574666,1.554865741874273],[-0.30591988800951575,1.7348657423831741]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.6585877199586708,1.6690459859745288,0.71338606911949],"aabb_xy":[[-0.686432756739278,1.6382614872362173],[-0.6307426831780637,1.6998304847128407]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.6008793364557138,-0.12804534004988666,0.71338606911949],"aabb_xy":[[-0.6351762474734542,-0.162342226259828],[-0.5665824254379731,-0.09374845383994526]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.5283079113053739,-1.0872051995335446,0.71338606911949],"aabb_xy":[[0.5203139227276705,-1.0952052796286347],[0.5363018998830773,-1.079205119438454]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[-0.10838719817311682,0.45012718428045684,0.71338606911949],"aabb_xy":[[-0.19838719789629095,0.42705383174527695],[-0.018387198449942615,0.4732005368156366]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.4961034987957406,0.5720265072048623,0.71338606911949],"aabb_xy":[[-0.5136034980738274,0.5546884071385163],[-0.47860349951765363,0.5893646072712082]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.5174979929753734,-0.7133083197305834,0.71338606911949],"aabb_xy":[[-0.5874979893853349,-0.733746255382265],[-0.4474979965654114,-0.6928703840789016]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.1632028664053351,-0.4680420853097833,0.71338606911949],"aabb_xy":[[-0.1671633501750695,-0.4757099498953039],[-0.15924238263560075,-0.4603742207242627]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.5812564686556164,-0.033108635278618515,0.71338606911949],"aabb_xy":[[-0.5987564020895997,-0.05060863519885306],[-0.5637565352216329,-0.015608635358383971]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.23539770054429687,-1.3471626718025214,0.71338606911949],"aabb_xy":[[-0.28537076607681233,-1.3971626716150543],[-0.18542463501178139,-1.2971626719899885]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.17592149721428962,0.9132774538210713,0.71338606911949],"aabb_xy":[[0.11192150010218394,0.8642450840266608],[0.2399214943263953,0.962309823615482]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.360263375038,0.733019067625404,0.71338606911949],"aabb_xy":[[0.3298652639388564,0.7026121656237344],[0.3906614861371436,0.7634259696270734]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[0.2763540327012032,1.3788726574070078,0.71338606911949],"aabb_xy":[[0.1963540347204181,1.371271116445156],[0.3563540306819882,1.38647419836886]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[0.5528680570159907,1.4624438732648648,0.71338606911949],"aabb_xy":[[0.5455857406393269,1.3724438696553556],[0.5601503733926542,1.5524438768743736]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.20228813387265676,-2.3825083731302272,0.71338606911949],"aabb_xy":[[-0.25009430148642536,-2.447508375837286],[-0.15448196625888808,-2.3175083704231683]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.3260550423406904,-0.08248004144462584,0.71338606911949],"aabb_xy":[[-0.3505686664376962,-0.10674463474666229],[-0.30154141824368447,-0.05821544814258939]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[-0.4551577200169372,0.24057466328677624,0.71338606911949],"aabb_xy":[[-0.46478935623736684,0.23093735050706732],[-0.4455260837965076,0.25021197606648515]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[0.06827997622862247,-2.2113504365075354,0.71338606911949],"aabb_xy":[[0.02973428340342143,-2.249896207563724],[0.1068256690538235,-2.1728046654513467]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_29","position":[0.3431880472630442,1.7162196188535321,0.71338606911949],"aabb_xy":[[0.3382320270781631,1.6937196186514105],[0.3481440674479254,1.7387196190556538]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_30","position":[-0.32242650768467535,0.9011771871085106,0.71338606911949],"aabb_xy":[[-0.37242134061261695,0.8511771882132672],[-0.27243167475673374,0.9511771860037542]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_31","position":[-0.4910815735549748,-1.4913065781047243,0.71338606911949],"aabb_xy":[[-0.5810815700558464,-1.5372182205231824],[-0.40108157705410297,-1.4453949356862659]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_32","position":[0.33524285045345725,-0.5441679768691614,0.71338606911949],"aabb_xy":[[0.3002428521427618,-0.5518829917927072],[0.3702428487641527,-0.5364529619456159]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_33","position":[-0.3627264116224077,1.3047216593991595,0.71338606911949],"aabb_xy":[[-0.3890152359428483,1.2784502257445083],[-0.336437587301967,1.3309930930538107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7107488646229965,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7582.png","name":"7582"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7582.png","name":"7582"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8362.png","name":"8362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9447.png","name":"9447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4256.png","name":"4256"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9556.png","name":"9556"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.1272196547413,"rotation_z_degrees":280.5697394423955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013019955445631823,-0.016313837115288256,-0.011803813807844708]},{"name":"camera_2","offset_m":[0.0074162839690165155,0.015519685102800235,-0.011401185818249423]},{"name":"camera_3","offset_m":[-0.016896423868218546,0.01698723671904927,-0.01565014571342041]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018268486857417417,0.0015302400460611106,0.0018610839400149647],"end_effector_yaw_offset_degrees":0.45656146843677714},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008750553739158633,-0.000913792759416598,-0.0010551883607786455],"end_effector_yaw_offset_degrees":0.39837990795542355},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00033024016520356815,0.0005574204892361766,-0.0015584254413406056],"end_effector_yaw_offset_degrees":-0.05276121952537083}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003998250131043146,0.0004025327468328869],"position_m":[0.24539825013104316,0.2234025327468329,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0034605013398199885,0.0038059337131454906],"position_m":[0.17496050133982,-0.11239406628685451,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045698413688300835,-0.004332126444444767],"position_m":[0.3329301586311699,0.06556787355555524,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002359581748038485,0.0018455424404797147],"position_m":[0.26005958174803845,-0.40635445755952027,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c0e83f4ca302acb5ced007e77e2a3f9a8a97bfb328cc6412b46affd5a0f714a1","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7582/tex_ceiling_textures_9556/tex_floor_textures_4256/tex_table_textures_8362/tex_wall_textures_9447","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":493265494082627395,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":493265494082627395,"visual_seed":493265494082627395,"scene_id":"lab_003","finished_at":"2026-09-03T10:56:07"} +{"episode_id":"ep_000070","started_at":"2026-09-03T10:59:12","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.3473531181282323,0.9253138324554162,0.71338606911949],"aabb_xy":[[-0.3901198250076525,0.8613138290336138],[-0.30458641124881214,0.9893138358772187]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.5081116880654307,-2.355379877576387,0.71338606911949],"aabb_xy":[[-0.5182647036195799,-2.3914494191491262],[-0.4979586725112811,-2.3193103360036456]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.1254793048472448,-0.05324961405878259,0.71338606911949],"aabb_xy":[[-0.13276162122390842,-0.14324961766829156],[-0.11819698847058112,0.0367503895507264]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.2633898274614523,-1.2921938977352045,0.71338606911949],"aabb_xy":[[-0.27101409555163053,-1.2998271212717483],[-0.25576555937127404,-1.2845606741986608]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.3510611854867136,-1.7391132761401797,0.71338606911949],"aabb_xy":[[-0.3860611837568335,-1.7461874038351677],[-0.3160611872165937,-1.7320391484451914]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.2615111063068225,-1.8138339247636281,0.71338606911949],"aabb_xy":[[0.2362902694469828,-1.8390576756165147],[0.2867319431666621,-1.7886101739107412]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.2808402460407529,-2.16369376879779,0.71338606911949],"aabb_xy":[[-0.2916918522896285,-2.174553059525441],[-0.2699886397918773,-2.1528344780701394]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.5282957083290738,-1.7617248414687814,0.71338606911949],"aabb_xy":[[-0.613295706746497,-1.8465991369310664],[-0.44329570991165057,-1.6768505460064964]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.5848908602151253,-0.10783089858929529,0.71338606911949],"aabb_xy":[[0.5272603913278542,-0.16783089751600586],[0.6425213291023959,-0.04783089966258468]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.026420910427464972,1.3905194328121553,0.71338606911949],"aabb_xy":[[-0.09042091080499859,1.3407741659613428],[0.037579089950068645,1.4402646996629673]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.2076301820575132,0.5592311435657664,0.71338606911949],"aabb_xy":[[-0.2676301823089144,0.5049498185293019],[-0.14763018180611204,0.6135124686022312]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.6574746452125577,-1.5104986783322674,0.71338606911949],"aabb_xy":[[0.63926882155131,-1.5215240789142592],[0.6756804688738054,-1.499473277750276]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.44679082309007756,1.4311085641129444,0.71338606911949],"aabb_xy":[[-0.4967908244509649,1.3811306595375288],[-0.39679082172919045,1.48108646868836]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.27557656979359635,0.6261148476480107,0.71338606911949],"aabb_xy":[[0.21398581056960353,0.562114849538964],[0.33716732901758917,0.6901148457570577]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.3883478094247651,-0.07224135728067127,0.71338606911949],"aabb_xy":[[-0.46834781049788543,-0.08201940361805571],[-0.30834780835164477,-0.06246331094328683]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[0.6014170490225976,-0.4943702768210514,0.71338606911949],"aabb_xy":[[0.5837842134290699,-0.5119932228366744],[0.6190498846161251,-0.4767473308054284]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.21975791365536984,-0.1572035501719351,0.71338606911949],"aabb_xy":[[-0.23581984111388749,-0.2422035519845269],[-0.2036959861968522,-0.07220354835934327]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.08246657092907339,1.0863245662605068,0.71338606911949],"aabb_xy":[[-0.0012556545710090822,0.9963245627258108],[0.16618879642915585,1.1763245697952027]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.26939685071805364,-0.8053364903321367,0.71338606911949],"aabb_xy":[[-0.2818642088277893,-0.8178018149654602],[-0.256929492608318,-0.7928711656988132]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.0865904419239365,-0.8344725905467765,0.71338606911949],"aabb_xy":[[-0.15659044352621598,-0.8479053837484339],[-0.01659044032165702,-0.8210397973451188]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.4150019970838117,-1.466517210241634,0.71338606911949],"aabb_xy":[[0.385034440173986,-1.4965172105395197],[0.44496955399363736,-1.4365172099437482]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.676871256964048,-0.39752330796655144,0.71338606911949],"aabb_xy":[[-0.6943712572233848,-0.4116148501553242],[-0.6593712567047115,-0.38343176577777893]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[0.012484087437590774,-1.207790893771323,0.71338606911949],"aabb_xy":[[-0.032794527443558485,-1.2717908931195068],[0.05776270231874003,-1.1437908944231394]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[-0.5239262270514464,0.6320045841166748,0.71338606911949],"aabb_xy":[[-0.573921059979388,0.5820045852214313],[-0.4739313941235048,0.6820045830119184]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.060321672488081846,-2.2734731825087975,0.71338606911949],"aabb_xy":[[-0.08282167273159724,-2.2856778171685694],[-0.03782167224456645,-2.2612685478490255]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.009564638905406486,-2.157735092934679,0.71338606911949],"aabb_xy":[[-0.018724517849283084,-2.1642663109782156],[-0.000404759961529888,-2.151203874891142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7053356770271688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1120.png","name":"1120"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1120.png","name":"1120"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3398.png","name":"3398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5481.png","name":"5481"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3195.png","name":"3195"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":837.1990924770832,"rotation_z_degrees":299.1887176410014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015590081751890788,-0.015143285804095057,-0.009376021618377037]},{"name":"camera_2","offset_m":[0.004991533354462625,-0.0018452978083142585,-0.011075056901299077]},{"name":"camera_3","offset_m":[-0.011961646702164087,0.015099720717380073,0.018111216009998734]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008256182513088541,-0.0014079296691739658,-0.001388273311388313],"end_effector_yaw_offset_degrees":0.7612679521415318},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009870277714306526,0.001955455759957099,0.0006473116732925574],"end_effector_yaw_offset_degrees":0.10798208383019547},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-3.724734718972122e-05,-0.0018998200585819602,0.0018796788124738465],"end_effector_yaw_offset_degrees":-0.8504739102712442}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00045422955646245555,-0.002260635460192373],"position_m":[0.24094577044353754,0.22073936453980764,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018370472068967693,0.003275320714430632],"position_m":[0.17333704720689677,-0.11292467928556936,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002807621525441513,0.0049456598178604675],"position_m":[0.33778076215254416,0.07484565981786047,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004285084515992341,0.0017967631797417907],"position_m":[0.25341491548400763,-0.4064032368202582,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6f217913479717b5d5769e1c6f531b115d5142f32aaf7504fd449d0613d96309","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1120/tex_ceiling_textures_3195/tex_floor_textures_5481/tex_table_textures_7436/tex_wall_textures_3398","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8226950901387479969,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8226950901387479969,"visual_seed":8226950901387479969,"scene_id":"lab_003","finished_at":"2026-09-03T11:01:48"} +{"episode_id":"ep_000071","started_at":"2026-09-03T11:04:58","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.2839142946312233,-2.34983538804683,0.71338606911949],"aabb_xy":[[0.24891429473520446,-2.3582096235587695],[0.3189142945272422,-2.3414611525348894]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.615071890240632,0.17689794910574097,0.71338606911949],"aabb_xy":[[0.5350718932775927,0.09982230746196749],[0.6950718872036711,0.2539735907495144]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.6959554113114625,1.690020369477239,0.71338606911949],"aabb_xy":[[0.6834880532017269,1.6775550448439158],[0.7084227694211982,1.7024856941105628]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.5527532772141591,-0.6112047235024205,0.71338606911949],"aabb_xy":[[-0.6103837461014299,-0.671204722429131],[-0.49512280832688815,-0.5512047245757098]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.3452936903096455,-0.9847497870847877,0.71338606911949],"aabb_xy":[[0.2952936889487583,-1.0347276916602033],[0.39529369167053274,-0.9347718825093722]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.7035365743936735,0.9413142616889423,0.71338606911949],"aabb_xy":[[0.6844242670356946,0.9221794828117003],[0.7226488817516523,0.9604490405661843]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.4151853683768838,1.0643949937563084,0.71338606911949],"aabb_xy":[[0.40714903367559896,1.0563568744518916],[0.42322170307816864,1.0724331130607252]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.5279310192355511,0.524946797312281,0.71338606911949],"aabb_xy":[[-0.5367122463827875,0.516167050023751],[-0.5191497920883149,0.5337265446008113]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.6008674666945841,-2.2753558570269816,0.71338606911949],"aabb_xy":[[0.5458674670728383,-2.3303395498144543],[0.65586746631633,-2.220372164239509]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.5815937569598505,-1.4784185944093378,0.71338606911949],"aabb_xy":[[-0.6160561043579922,-1.51291247680716],[-0.5471314095617086,-1.4439247120115146]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.25578047561685724,0.9184246037563066,0.71338606911949],"aabb_xy":[[0.2207804773061618,0.910709588832761],[0.2907804739275527,0.9261396186798523]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[0.4939741363763701,-2.1002739950627975,0.71338606911949],"aabb_xy":[[0.4714741361328547,-2.11247862972257],[0.5164741366198855,-2.088069360403026]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.5608654224052353,-1.5928243256759032,0.71338606911949],"aabb_xy":[[-0.6408654256692484,-1.6063843579848163],[-0.48086541914122216,-1.5792642933669896]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.24443753363637782,1.0771978861869593,0.71338606911949],"aabb_xy":[[-0.2866219477972086,1.0131978859097481],[-0.2022531194755471,1.1411978864641705]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.02221425805066002,-1.775582466863159,0.71338606911949],"aabb_xy":[[0.01137377982414511,-1.7927687481538077],[0.03305473627717492,-1.7583961855725099]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.24858647383513433,-1.8323220484409397,0.71338606911949],"aabb_xy":[[-0.25658046241283766,-1.8403221285360298],[-0.24059248525743088,-1.8243219683458491]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.11185894458041001,1.003883882566614,0.71338606911949],"aabb_xy":[[0.10481863464687304,0.9238838831669429],[0.11889925451394702,1.0838838819662857]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.620571978825863,0.5958940771485763,0.71338606911949],"aabb_xy":[[0.5706892819481668,0.5458940779023017],[0.6704546757035592,0.6458940763948512]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.1488468347539399,-2.1224883174353164,0.71338606911949],"aabb_xy":[[-0.18634683525129814,-2.1264570009834354],[-0.11134683425658165,-2.1185196338871983]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.30442962565347836,-0.20327593124067533,0.71338606911949],"aabb_xy":[[-0.320491553111996,-0.28827593305326715],[-0.2883676981949607,-0.11827592942808353]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.44136241936946013,0.005569542885061729,0.71338606911949],"aabb_xy":[[-0.5113624209717396,-0.007863250316595849],[-0.37136241776718065,0.019002336086719307]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.2851804814499873,0.5164451651060857,0.71338606911949],"aabb_xy":[[-0.34518048204600343,0.46163269256086226],[-0.22518048085397108,0.5712576376513092]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.15894271091079937,-1.0894056847982454,0.71338606911949],"aabb_xy":[[0.13644271109689698,-1.0938803011687261],[0.18144271072470175,-1.0849310684277647]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.2972771487979754,-1.884466038779245,0.71338606911949],"aabb_xy":[[0.28412590282668604,-1.9094660385359319],[0.31042839476926476,-1.8594660390225588]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[0.5137880376177733,1.0679354820799927,0.71338606911949],"aabb_xy":[[0.46430761640381457,1.0039354841671408],[0.5632684588317322,1.1319354799928445]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[0.6465273218559948,-0.6106076510278742,0.71338606911949],"aabb_xy":[[0.6290966067769882,-0.6278797656917249],[0.6639580369350012,-0.5933355363640233]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.12888183939050757,-1.1385315264479974,0.71338606911949],"aabb_xy":[[-0.20887566296906582,-1.218531529040839],[-0.048888015811949376,-1.0585315238551558]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[0.48503645379936966,-1.9154070966592274,0.71338606911949],"aabb_xy":[[0.4674581516104228,-1.9329815862333322],[0.5026147559883165,-1.8978326070851221]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.1412528730911108,-0.7509576461344052,0.71338606911949],"aabb_xy":[[-0.14995083538182608,-0.7630826204418801],[-0.1325549108003955,-0.7388326718269306]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[0.5171289097855174,1.496146017895478,0.71338606911949],"aabb_xy":[[0.4946324883516533,1.4736460180887307],[0.5396253312193815,1.5186460177022256]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_30","position":[-0.28345818537349976,-1.949640637970194,0.71338606911949],"aabb_xy":[[-0.3534581871822452,-1.9709944067343814],[-0.21345818356475432,-1.9282868692060067]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[-0.4541967823236258,-1.3573361221739262,0.71338606911949],"aabb_xy":[[-0.465558516976912,-1.368704588580214],[-0.44283504767033965,-1.3459676557676379]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[0.39539571168303067,-1.3855959468384955,0.71338606911949],"aabb_xy":[[0.38454410543415507,-1.3964552375661465],[0.40624731793190627,-1.3747366561108445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7086048168301446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4036.png","name":"4036"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4036.png","name":"4036"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3687.png","name":"3687"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8318.png","name":"8318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3346.png","name":"3346"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3017.png","name":"3017"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":652.5776713072335,"rotation_z_degrees":118.68113829730237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00823734934833864,0.0017095154409171517,0.01660032673323281]},{"name":"camera_2","offset_m":[0.0016814426463045117,-0.0025701270825576814,0.00905237407728739]},{"name":"camera_3","offset_m":[-0.0020246664505565795,-0.013798134777246208,-0.016376571808436595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005568648482784165,-0.0009376466287856831,-0.0017590911973306622],"end_effector_yaw_offset_degrees":0.5528469126864766},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016341909216632442,-0.0010201106138088866,0.0011882807766725283],"end_effector_yaw_offset_degrees":0.960286401374671},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004792413422227558,-0.0010412095716307204,-0.0019241837794608313],"end_effector_yaw_offset_degrees":-0.30710913019408914}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007669913884916458,0.002744967037568654],"position_m":[0.24063300861150835,0.22574496703756866,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004460663933533925,-0.004620523426964267],"position_m":[0.17596066393353393,-0.12082052342696427,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003967606651378159,-2.0565484220117294e-05],"position_m":[0.3414676066513782,0.06987943451577988,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019730680495941857,-0.0005969148370630973],"position_m":[0.2557269319504058,-0.4087969148370631,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7903725562a04756ba379fc2967c5c961cc0de58bf12759fb7d1ba41f644e3d5","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4036/tex_ceiling_textures_3017/tex_floor_textures_3346/tex_table_textures_3687/tex_wall_textures_8318","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6642470302621128219,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6642470302621128219,"visual_seed":6642470302621128219,"scene_id":"lab_003","finished_at":"2026-09-03T11:07:32"} +{"episode_id":"ep_000072","started_at":"2026-09-03T11:09:03","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.1357174264814136,0.9478561758988318,0.71338606911949],"aabb_xy":[[-0.17321742665328554,0.9151554405159243],[-0.09821742630954167,0.9805569112817387]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.27858127865220933,-2.0952497990235655,0.71338606911949],"aabb_xy":[[-0.3425812818708472,-2.1419729109225742],[-0.21458127543357147,-2.0485266871245575]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.013938014350927563,1.344935158549661,0.71338606911949],"aabb_xy":[[-0.03685372723597747,1.3220308614132377],[0.008977698534122338,1.3678394556860847]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.6172396379141754,-0.0599029895795522,0.71338606911949],"aabb_xy":[[0.5947396383904678,-0.08239893703017295],[0.6397396374378826,-0.03740704212893141]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.014498826000516996,-1.8538340130697697,0.71338606911949],"aabb_xy":[[-0.04950117470295236,-1.8998523955426911],[0.07849882670398635,-1.8078156305968491]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.1144525699283051,1.6807736242940199,0.71338606911949],"aabb_xy":[[0.024765493620189663,1.5907736240395693],[0.20413964623642056,1.7707736245484704]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.0022248777112100493,-2.0032366039343925,0.71338606911949],"aabb_xy":[[-0.02228328932445034,-2.02330169084355],[0.01783353390203024,-1.983171517025235]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.5519318404097651,-0.27080007999282696,0.71338606911949],"aabb_xy":[[0.5372884348557321,-0.2854587996496112],[0.566575245963798,-0.2561413603360426]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.6041831416602419,-1.3245491984416777,0.71338606911949],"aabb_xy":[[0.5944271521510679,-1.334311732500912],[0.6139391311694157,-1.314786664382443]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.5661215123427303,1.2640098866199194,0.71338606911949],"aabb_xy":[[0.4761215137482604,1.2477593003064986],[0.6561215109372003,1.2802604729333407]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.2921812285055924,-2.456750733457896,0.71338606911949],"aabb_xy":[[-0.309191325795643,-2.47288522195617],[-0.2751711312155417,-2.4406162449596223]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.497611749815032,-1.0774660385419257,0.71338606911949],"aabb_xy":[[-0.5388605608449466,-1.132466038054143],[-0.45636293878511724,-1.022466039029708]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.35581355769826284,0.9838468534611806,0.71338606911949],"aabb_xy":[[0.3440453709036053,0.8988468535559593],[0.36758174449292036,1.0688468533664024]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.23103027917492058,-1.0447600547310012,0.71338606911949],"aabb_xy":[[0.21547450976465538,-1.0603104879754084],[0.2465860485851859,-1.029209621486594]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.7138878834531317,0.6486232515835089,0.71338606911949],"aabb_xy":[[0.7051739144031971,0.6261232509243204],[0.7226018525030661,0.6711232522426969]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.1431480772878322,-1.6551632233674138,0.71338606911949],"aabb_xy":[[-0.16442608543130446,-1.720163225693487],[-0.12187006914435997,-1.5901632210413408]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.2160152815527846,1.1927130093824516,0.71338606911949],"aabb_xy":[[-0.24649953167981473,1.1427130096009557],[-0.18553103142575442,1.2427130091639476]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.10953332820548767,-2.5001662087548495,0.71338606911949],"aabb_xy":[[0.07523641718774703,-2.5344630949647904],[0.1438302392232283,-2.4658693225449078]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.05852531056167687,-1.3711919353280269,0.71338606911949],"aabb_xy":[[0.04507878392763353,-1.384661786981118],[0.0719718371957202,-1.3577220836749357]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[-0.3791461361371777,0.5335149005788837,0.71338606911949],"aabb_xy":[[-0.3830600093326002,0.5247658851723269],[-0.37523226294175516,0.5422639159854405]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.318049527693099,-1.3741982885940036,0.71338606911949],"aabb_xy":[[0.30544682855602256,-1.386793684818869],[0.3306522268301755,-1.3616028923691381]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.35878793215861066,-1.700029991535724,0.71338606911949],"aabb_xy":[[-0.4087879315988062,-1.74999791602004],[-0.308787932718415,-1.6500620670514075]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.16267563286071607,0.2784316330619183,0.71338606911949],"aabb_xy":[[-0.21264869839323156,0.22843163324938542],[-0.11270256732820061,0.3284316328744512]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.13603602431418516,1.7580211756569137,0.71338606911949],"aabb_xy":[[-0.20003602074150706,1.7108515518348173],[-0.07203602788686325,1.8051907994790102]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.352756502884468,-0.488255742001662,0.71338606911949],"aabb_xy":[[-0.3640015584550858,-0.49949753972575733],[-0.34151144731385014,-0.47701394427756677]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_25","position":[-0.6158768823370941,-1.964042135734401,0.71338606911949],"aabb_xy":[[-0.6659743463181679,-2.0280421362442125],[-0.5657794183560206,-1.900042135224589]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[0.6851098468577268,1.7657890162278904,0.71338606911949],"aabb_xy":[[0.6731771124958988,1.753406863420031],[0.697042581219555,1.7781711690357498]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7095302421121729,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1018.png","name":"1018"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1018.png","name":"1018"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5184.png","name":"5184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1267.png","name":"1267"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9164.png","name":"9164"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":522.2325949875392,"rotation_z_degrees":53.39219790732607,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01837860738382017,0.019507587107805268,0.008005469433509195]},{"name":"camera_2","offset_m":[0.005304752817036268,0.012508957115742712,-0.017228761103487165]},{"name":"camera_3","offset_m":[-0.007496561872964729,0.0016780329951888717,0.006745646070062231]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011969893250492769,-0.0018962009538440678,0.0014910566137747772],"end_effector_yaw_offset_degrees":-0.2516032044358387},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008395570116435016,-0.0016197294380707055,9.513138751926758e-05],"end_effector_yaw_offset_degrees":-0.17318713463837088},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-9.643254100496676e-05,-0.0019141314777476248,0.0003091372591587137],"end_effector_yaw_offset_degrees":-0.8257040528241346}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00040776925244261335,0.002017253719442293],"position_m":[0.24099223074755738,0.22501725371944228,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007336310726968375,0.0016253390464531694],"position_m":[0.17223363107269685,-0.11457466095354683,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024496663110472935,0.004284852548419686],"position_m":[0.33994966631104734,0.0741848525484197,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002104565608828498,0.003613129520136797],"position_m":[0.2598045656088285,-0.4045868704798632,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8b600380bde364729865bc01f657baa77d2c44182a07619b0194c33e8eaefd6f","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1018/tex_ceiling_textures_9164/tex_floor_textures_3492/tex_table_textures_5184/tex_wall_textures_1267","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5250969896839023417,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5250969896839023417,"visual_seed":5250969896839023417,"scene_id":"lab_003","finished_at":"2026-09-03T11:11:40"} +{"episode_id":"ep_000073","started_at":"2026-09-03T11:13:10","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.1348082680605296,-0.19753814125153912,0.71338606911949],"aabb_xy":[[-0.15235496297664855,-0.23503814281579039],[-0.11726157314441069,-0.16003813968728786]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.5200752463475145,0.8907319222284968,0.71338606911949],"aabb_xy":[[-0.536137173806032,0.8057319204159048],[-0.5040133188889967,0.9757319240410884]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.6335259492625587,1.5752296522148295,0.71338606911949],"aabb_xy":[[0.6110268135363317,1.5527296514365667],[0.6560250849887856,1.5977296529930927]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.24117295393988858,-0.7724086624936184,0.71338606911949],"aabb_xy":[[0.18604774831029777,-0.8324086639349054],[0.2962981595694793,-0.7124086610523311]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.5824869836016636,-2.4817720462812063,0.71338606911949],"aabb_xy":[[-0.5993977160380053,-2.4952442518738205],[-0.5655762511653217,-2.468299840688591]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.2121408737901591,1.5725622461749222,0.71338606911949],"aabb_xy":[[0.14714087563424005,1.5462660016250098],[0.27714087194607817,1.5988584907248342]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.24905598093322617,-1.1711088051065859,0.71338606911949],"aabb_xy":[[-0.2572705260489101,-1.179785395404227],[-0.2408414358175422,-1.1624322148089443]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.5473151330076922,-0.13635544000364241,0.71338606911949],"aabb_xy":[[0.5393216432124103,-0.14435357194411808],[0.5553086228029743,-0.12835730806316675]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.01705803519241511,-2.3684435124858303,0.71338606911949],"aabb_xy":[[0.0036115085583717788,-2.3819133641389216],[0.030504561826458443,-2.354973660832739]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.47563296606108985,1.6924515707218588,0.71338606911949],"aabb_xy":[[-0.5306329642628347,1.6519296040954212],[-0.420632967859345,1.7329735373482964]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[-0.07433593846907138,1.7690404594224867,0.71338606911949],"aabb_xy":[[-0.14433593487903315,1.7486025237708045],[-0.004335942059109587,1.789478395074168]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.2818539123406764,-0.49432612630443007,0.71338606911949],"aabb_xy":[[-0.29935391260001304,-0.5084176684932027],[-0.2643539120813398,-0.4802345841156575]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.4571412102801983,-1.9286147650633467,0.71338606911949],"aabb_xy":[[-0.5371412072432373,-2.00569040670712],[-0.37714121331715905,-1.8515391234195735]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.32449008607667595,1.7651233255769134,0.71338606911949],"aabb_xy":[[0.31312835142338974,1.7537548591706251],[0.33585182072996206,1.7764917919832013]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[0.32969998733363415,-1.2238674660006028,0.71338606911949],"aabb_xy":[[0.2656999851132271,-1.268240550125891],[0.3936999895540412,-1.1794943818753145]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.1470601229995646,1.7709834701011586,0.71338606911949],"aabb_xy":[[0.137428486779135,1.7613461573214497],[0.15669175921999423,1.7806207828808676]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.37753535343382105,1.2118208203038412,0.71338606911949],"aabb_xy":[[0.3440951782378014,1.1783771944729107],[0.4109755286298406,1.2452644461347708]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.03140976366608794,1.0489983869441524,0.71338606911949],"aabb_xy":[[0.008494050781038038,1.026094089807729],[0.05432547655113785,1.071902684080576]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[-0.01442542324954299,-0.5924380226993433,0.71338606911949],"aabb_xy":[[-0.022468783175498164,-0.6774380237947099],[-0.006382063323587815,-0.507438021603977]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.5497225092293623,1.3578343337219332,0.71338606911949],"aabb_xy":[[0.489722508977961,1.3035530086854683],[0.6097225094807633,1.4121156587583976]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.13119563545916502,-1.4399951525642858,0.71338606911949],"aabb_xy":[[-0.13665358109618508,-1.519995155871945],[-0.12573768982214495,-1.3599951492566267]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.5836718811734241,0.3101358719954108,0.71338606911949],"aabb_xy":[[0.5748906540261879,0.3013561247068807],[0.5924531083206604,0.318915619283941]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.6872788527202114,0.3211173688100568,0.71338606911949],"aabb_xy":[[0.6504283047832238,0.2836173679870231],[0.724129400657199,0.35861736963309054]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7063334303255049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1424.png","name":"1424"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1424.png","name":"1424"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4660.png","name":"4660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6094.png","name":"6094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2528.png","name":"2528"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":811.195967121218,"rotation_z_degrees":216.96276554720484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016425887620339457,-0.009275442109218903,0.013542357336038879]},{"name":"camera_2","offset_m":[0.009296432266872035,0.016890242872129823,-0.0026292896303325083]},{"name":"camera_3","offset_m":[-0.006668146092496486,-0.009034901936864239,0.0040463890577186815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015700456162723551,-0.0003620244878154923,-0.0010775958188471236],"end_effector_yaw_offset_degrees":0.9541373789231704},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006795931422201805,-0.0008615266338404175,0.0018912978221776499],"end_effector_yaw_offset_degrees":0.04743045780442845},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011243813168130552,0.0006171651719018593,0.0015491296117082693],"end_effector_yaw_offset_degrees":-0.27479888171703637}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008773627308770382,0.0010226332413303023],"position_m":[0.24227736273087705,0.22402263324133032,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0049610286300194135,0.0004245377349166345],"position_m":[0.17646102863001942,-0.11577546226508337,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018856050194652131,-0.0022686476504754105],"position_m":[0.3356143949805348,0.0676313523495246,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024486723954338196,0.002673894470461761],"position_m":[0.25525132760456615,-0.40552610552953827,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"77dad9a181fbc1f6de200422972a05622ce330383eddf2360f14311262e6374e","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1424/tex_ceiling_textures_2528/tex_floor_textures_6094/tex_table_textures_2932/tex_wall_textures_4660","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5252883406552233930,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5252883406552233930,"visual_seed":5252883406552233930,"scene_id":"lab_003","finished_at":"2026-09-03T11:15:44"} +{"episode_id":"ep_000074","started_at":"2026-09-03T11:15:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.6897355473535784,-1.6484900939799565,0.71338606911949],"aabb_xy":[[0.685100432201345,-1.6523574290571053],[0.6943706625058117,-1.6446227589028077]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.2893045596073227,-0.5726472468711208,0.71338606911949],"aabb_xy":[[0.28131106981204074,-0.5806453788115965],[0.2972980494026048,-0.5646491149306453]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.6321344464021753,-2.444020755725379,0.71338606911949],"aabb_xy":[[-0.6369780411634054,-2.4488724082043634],[-0.6272908516409454,-2.439169103246395]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.16082422952688835,-2.0240587413584423,0.71338606911949],"aabb_xy":[[0.1321748971664721,-2.052704300635518],[0.18947356188730455,-1.9954131820813665]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.11759482681978684,-0.39006592766261683,0.71338606911949],"aabb_xy":[[-0.152185909673832,-0.45506592794764783],[-0.08300374396574159,-0.3250659273775857]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[0.34610046517428694,1.7251920005414951,0.71338606911949],"aabb_xy":[[0.328553770258168,1.6876919989772436],[0.3636471600904059,1.7626920021057462]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.49895823700220365,-1.740959943920958,0.71338606911949],"aabb_xy":[[0.4489634040742621,-1.7909599428162017],[0.5489530699301453,-1.6909599450257147]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.29483300431023635,-0.1846189084946488,0.71338606911949],"aabb_xy":[[-0.3648330077017983,-0.21993468219807963],[-0.22483300091867434,-0.1493031347912179]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.41214813527984684,-0.48238241735732856,0.71338606911949],"aabb_xy":[[0.377685657266759,-0.48904609454025144],[0.44661061329293456,-0.4757187401744058]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.6677461831776716,-0.10466291646022086,0.71338606911949],"aabb_xy":[[0.6318326787526819,-0.14057642467697548],[0.7036596876026612,-0.06874940824346623]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.5922013938089299,1.268500445587459,0.71338606911949],"aabb_xy":[[0.50220139521446,1.2522498592740379],[0.6822013924033998,1.28475103190088]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.05373861878942221,-2.223092400560926,0.71338606911949],"aabb_xy":[[-0.10372156897690152,-2.273092400203486],[-0.003755668601942867,-2.173092400918365]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.5178582155806779,1.651092084605461,0.71338606911949],"aabb_xy":[[-0.5304609147177544,1.6384966883805958],[-0.5052555164436014,1.6636874808303268]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.5454684779211401,-0.557918178303074,0.71338606911949],"aabb_xy":[[0.5275993701666846,-0.5717510862802848],[0.5633375856755956,-0.544085270325863]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.46872915764952694,1.7596350085675918,0.71338606911949],"aabb_xy":[[0.4312291564647341,1.755216785871531],[0.5062291588343196,1.764053231263652]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.5706056356479621,0.1636659062191157,0.71338606911949],"aabb_xy":[[0.5612586280656668,0.14936228400147167],[0.5799526432302573,0.17796952843675973]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.34092010692306296,0.7156015544901289,0.71338606911949],"aabb_xy":[[0.3360208146164994,0.68792463518756],[0.3458193992296264,0.7432784737926975]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.47799311238140463,-1.908579072077834,0.71338606911949],"aabb_xy":[[-0.5419931116755728,-1.9725652124466881],[-0.4139931130872364,-1.8445929317089798]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.17564888936450707,1.2063168667231183,0.71338606911949],"aabb_xy":[[0.11064888836400655,1.1555305015684432],[0.24064889036500758,1.257103231877793]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.16163945504641997,-1.6096785626350827,0.71338606911949],"aabb_xy":[[-0.22563945234876637,-1.6540449896029392],[-0.09763945774407357,-1.5653121356672257]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.04875964234780261,-0.8514965990564547,0.71338606911949],"aabb_xy":[[0.03125964208846599,-0.8655881412452274],[0.06625964260713924,-0.8374050568676822]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.4096366854071458,-2.5528795890601845,0.71338606911949],"aabb_xy":[[0.4040550137730171,-2.5653795888779594],[0.41521835704127463,-2.540379589242409]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.34868191559211986,-1.3023507176308085,0.71338606911949],"aabb_xy":[[-0.35464845453285565,-1.3083118622901724],[-0.3427153766513841,-1.2963895729714445]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.44831877433959977,-2.1240412890028715,0.71338606911949],"aabb_xy":[[0.4133187760694798,-2.1311154166978596],[0.4833187726097196,-2.1169671613078833]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.5454903959959634,-0.09535741722864666,0.71338606911949],"aabb_xy":[[-0.5684061088810133,-0.11826171436507017],[-0.5225746831109135,-0.07245312009222316]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.06459773554695147,-0.1222950571771162,0.71338606911949],"aabb_xy":[[-0.07201019108833993,-0.12814626759874415],[-0.057185280005562986,-0.11644384675548825]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[-0.48121872504775765,1.0856452476897394,0.71338606911949],"aabb_xy":[[-0.5045005672458889,1.000645246392511],[-0.45793688284962625,1.1706452489869672]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.6645382302353218,-2.201328586105055,0.71338606911949],"aabb_xy":[[0.6519114429481254,-2.2108746598066276],[0.6771650175225181,-2.191782512403482]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_28","position":[-0.621782277621136,-1.1412886280307684,0.71338606911949],"aabb_xy":[[-0.6867822802589295,-1.192768226730215],[-0.5567822749833425,-1.0898090293313212]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[-0.01341280425676139,1.7874270473344338,0.71338606911949],"aabb_xy":[[-0.02304444047719101,1.7777897345547247],[-0.0037811680363317723,1.7970643601141425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7078328117876274,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2382.png","name":"2382"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2382.png","name":"2382"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5279.png","name":"5279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9474.png","name":"9474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7402.png","name":"7402"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":729.0795752556602,"rotation_z_degrees":74.99238119034553,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01630676092971057,-0.004951738870049299,0.01034053741541752]},{"name":"camera_2","offset_m":[0.010822510519191399,-0.0180995246325876,0.01937088839046212]},{"name":"camera_3","offset_m":[-0.014311533747035173,0.013089813925156315,0.006310465844006394]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001959430848100712,0.0018710071721826206,-0.0003876239188046911],"end_effector_yaw_offset_degrees":-0.2567977195344946},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003259608399431139,5.0992751707611226e-05,0.0008318427140864698],"end_effector_yaw_offset_degrees":-0.9067678142529274},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016805806126197523,-0.0015469412339183916,0.0016871568622635062],"end_effector_yaw_offset_degrees":-0.7060699705669511}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001941279877151281,0.0011565681185997656],"position_m":[0.2433412798771513,0.22415656811859977,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017358707444258205,0.0002444495758441049],"position_m":[0.1697641292555742,-0.1159555504241559,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004989147948101563,0.0009689615472289834],"position_m":[0.3424891479481016,0.07086896154722899,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007607251404788632,0.002470272890809746],"position_m":[0.2569392748595211,-0.40572972710919025,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7d65c1b19df67cffe26070a19d8c5c128e63f2efc0c4a0ca815b63748fff48a3","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2382/tex_ceiling_textures_7402/tex_floor_textures_3633/tex_table_textures_5279/tex_wall_textures_9474","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5201866717226466411,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5201866717226466411,"visual_seed":5201866717226466411,"scene_id":"lab_003","finished_at":"2026-09-03T11:18:25"} +{"episode_id":"ep_000075","started_at":"2026-09-03T11:18:28","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.24748181854425727,0.7354691932106072,0.71338606911949],"aabb_xy":[[-0.27248181847677516,0.728586524989684],[-0.22248181861173938,0.7423518614315306]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.2073588444639154,1.5726533491838297,0.71338606911949],"aabb_xy":[[0.1612737532091839,1.5086533519312744],[0.2534439357186469,1.6366533464363846]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.38836697164392775,-1.0533103612884442,0.71338606911949],"aabb_xy":[[0.3795857444966916,-1.0620901085769747],[0.39714819879116403,-1.0445306139999142]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.5781167070772337,0.7756134529494862,0.71338606911949],"aabb_xy":[[0.528116707637038,0.7256455284651699],[0.6281167065174292,0.8255813774338026]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.27868470120156386,-2.3983795376789048,0.71338606911949],"aabb_xy":[[0.21368470024443662,-2.4503277496126104],[0.343684702158691,-2.346431325745199]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.11862217646668416,1.7492029457581864,0.71338606911949],"aabb_xy":[[0.068622901298248,1.6992029444822396],[0.16862145163512032,1.799202947034134]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.21913250390448114,1.6388878922833308,0.71338606911949],"aabb_xy":[[-0.2991325071623241,1.5588913844913468],[-0.1391325006466382,1.7188844000753147]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.25758083041329005,1.0056634478699937,0.71338606911949],"aabb_xy":[[-0.3475808301364642,0.9825900953348138],[-0.16758083069011584,1.0287368004051733]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.6365250520691311,1.6729069727710013,0.71338606911949],"aabb_xy":[[-0.6445185418644133,1.6649088408305261],[-0.6285315622738492,1.6809051047114774]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.45617023344521374,-0.04019696327020705,0.71338606911949],"aabb_xy":[[-0.5161702339530666,-0.09704369695612834],[-0.39617023293736076,0.016649770415714246]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.4003510173714082,0.7878754185057142,0.71338606911949],"aabb_xy":[[0.3922373626980311,0.779769602051685],[0.4084646720447853,0.7959812349597432]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.3402506977710725,-1.2416109978844232,0.71338606911949],"aabb_xy":[[-0.36476432186807833,-1.2658755911864594],[-0.3157370736740666,-1.2173464045823865]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.4871026030182386,0.08542272873951218,0.71338606911949],"aabb_xy":[[0.4646026030080903,0.0713265090999089],[0.5096026030283869,0.09951894837911546]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.5500077928164415,-0.9272547321433882,0.71338606911949],"aabb_xy":[[0.5254615771936908,-0.9575036286924253],[0.5745540084391922,-0.8970058355943512]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.059501486003939674,0.7284208631021682,0.71338606911949],"aabb_xy":[[-0.004498514270038556,0.6783547629048803],[0.1235014862779179,0.7784869632994562]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.4526924701880093,-2.1835604449984833,0.71338606911949],"aabb_xy":[[-0.5226924717902888,-2.196993238200141],[-0.38269246858572986,-2.1701276517968258]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.4221559055905637,1.3731539626738,0.71338606911949],"aabb_xy":[[0.3421559053169567,1.3002044148480831],[0.5021559058641707,1.4461035104995166]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.6103144453586062,-0.7440980424709127,0.71338606911949],"aabb_xy":[[-0.619731919928469,-0.7535142196086316],[-0.6008969707887435,-0.7346818653331936]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.011557997189755365,-2.453993476895418,0.71338606911949],"aabb_xy":[[-0.03344200427647349,-2.4989933337568986],[0.056557998655984223,-2.4089936200339372]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.18649983633045242,-0.3451250028218489,0.71338606911949],"aabb_xy":[[-0.19063569266315264,-0.3826250022662059],[-0.18236397999775225,-0.3076250033774919]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.18511126767616048,-1.4675844870231454,0.71338606911949],"aabb_xy":[[0.1051112706619125,-1.4877190386965564],[0.26511126469040847,-1.4474499353497339]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7112484049262894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7306.png","name":"7306"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7306.png","name":"7306"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2745.png","name":"2745"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4701.png","name":"4701"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7910.png","name":"7910"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":735.69766277143,"rotation_z_degrees":91.40807387346757,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002613840453293239,-0.007716780179853177,0.011948502887579909]},{"name":"camera_2","offset_m":[-0.0063930080488614136,0.00040913993020566877,-0.006135982178101336]},{"name":"camera_3","offset_m":[-0.018830054777412807,-0.0038682004651122495,0.017829128380904242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009593124715583877,-0.0003960144010216307,-0.0016042701927443891],"end_effector_yaw_offset_degrees":0.5761743274763276},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013719027536881557,-0.0005233795916045607,0.00166509454983885],"end_effector_yaw_offset_degrees":0.052099408052910245},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00020126843838454362,0.00016902227180946644,0.0013293237565832057],"end_effector_yaw_offset_degrees":-0.6382683204508872}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005148957497510256,0.0036383771936270718],"position_m":[0.24088510425024898,0.2266383771936271,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030691614259698947,0.0028170318650046202],"position_m":[0.1745691614259699,-0.11338296813499538,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002514657748058192,-0.0021180041302024857],"position_m":[0.3349853422519418,0.06778199586979752,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009317850856092229,-0.0037003770843417483],"position_m":[0.2567682149143908,-0.41190037708434174,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"08c7b3fbbf7dc5dc62ec785dcbd3eb94597ac7d8fb963b49dccd040d26f59193","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7306/tex_ceiling_textures_7910/tex_floor_textures_4701/tex_table_textures_9145/tex_wall_textures_2745","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5052386022906441466,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5052386022906441466,"visual_seed":5052386022906441466,"scene_id":"lab_003","finished_at":"2026-09-03T11:21:19"} +{"episode_id":"ep_000076","started_at":"2026-09-03T11:22:39","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.5573336963227831,0.8681246009488395,0.71338606911949],"aabb_xy":[[0.5323336970508208,0.8517792373526769],[0.5823336955947453,0.8844699645450016]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.3011412000420577,-1.6423782410214687,0.71338606911949],"aabb_xy":[[0.2361411974042642,-1.6938578397209156],[0.3661412026798512,-1.5908986423220217]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.36984160179697456,1.5273962210656644,0.71338606911949],"aabb_xy":[[-0.4338416020574454,1.4823874217127362],[-0.30584160153650375,1.5724050204185922]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.14658116967556967,1.6058580443402195,0.71338606911949],"aabb_xy":[[0.11793183731515341,1.5772124850631435],[0.17523050203598586,1.634503603617295]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.5255659047322307,-0.3814932219670286,0.71338606911949],"aabb_xy":[[-0.548065904255938,-0.4039891694176494],[-0.5030659052085232,-0.35899727451640784]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.1600688448925205,1.760300073875595,0.71338606911949],"aabb_xy":[[-0.17440327001868397,1.7482398583210563],[-0.14573441976635707,1.772360289430134]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.23702301467254616,1.0763462844768825,0.71338606911949],"aabb_xy":[[0.1670230128638007,1.0549925157126951],[0.3070230164812916,1.09770005324107]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.6408518317929499,-2.251461655455844,0.71338606911949],"aabb_xy":[[0.576851829743218,-2.2915561385451517],[0.704851833842682,-2.211367172366536]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.10750029601794964,-0.7280123991176173,0.71338606911949],"aabb_xy":[[0.09082316002485412,-0.7447123230915476],[0.12417743201104513,-0.711312475143687]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.16506277061601204,-1.1932147359780567,0.71338606911949],"aabb_xy":[[0.10106277132184383,-1.2572008763469111],[0.22906276991018026,-1.1292285956092027]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.30304068435642845,0.8305475704033167,0.71338606911949],"aabb_xy":[[-0.3335249344834586,0.7805475706218208],[-0.2725564342293983,0.8805475701848127]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.5858448464438628,-2.0474820796939115,0.71338606911949],"aabb_xy":[[-0.6319299376985943,-2.111482076946466],[-0.5397597551891313,-1.9834820824413562]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.4419843059307198,-1.9880979468472173,0.71338606911949],"aabb_xy":[[0.42419079899580336,-2.005897692443015],[0.45977781286563624,-1.9702982012514196]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.3874143500654046,-2.1639244161313145,0.71338606911949],"aabb_xy":[[0.32241435190948553,-2.1902206606812267],[0.45241434822132365,-2.1376281715814023]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.11470377973743706,-2.1286676474725112,0.71338606911949],"aabb_xy":[[0.10986018497620709,-2.1335192999514954],[0.11954737449866704,-2.123815994993527]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.3704653917210997,0.1661247535373671,0.71338606911949],"aabb_xy":[[-0.3785017264223845,0.15808663423295033],[-0.3624290570198148,0.1741628728417839]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.5164950800562422,0.3133759686340256,0.71338606911949],"aabb_xy":[[0.4814950817455468,0.30566095371047997],[0.5514950783669377,0.32109098355757126]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.08162054747188674,0.4237737819636229,0.71338606911949],"aabb_xy":[[-0.14162054797973964,0.3669270482777017],[-0.021620546964033812,0.4806205156495443]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.21563299677818337,-0.8513193682171081,0.71338606911949],"aabb_xy":[[0.1556329965267822,-0.9056006932535726],[0.27563299702958455,-0.7970380431806433]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.3658410380363992,-0.5747393503697862,0.71338606911949],"aabb_xy":[[0.28584103660627197,-0.6542565053823957],[0.44584103946652637,-0.4952221953571767]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.018913175749542543,1.7058940935499982,0.71338606911949],"aabb_xy":[[-0.06016198677945726,1.6508940940377803],[0.02233563528037219,1.7608940930622152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7121857572686481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2919.png","name":"2919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2919.png","name":"2919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4183.png","name":"4183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9088.png","name":"9088"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":559.1768080436062,"rotation_z_degrees":220.4536683505922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015883508151064183,-0.005416917254497137,0.01668252874591367]},{"name":"camera_2","offset_m":[-0.018887227370279744,-0.018917574460499013,-0.011227058692155803]},{"name":"camera_3","offset_m":[0.018199831591581266,-0.004847614747049622,-0.014122478747938878]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003517764808982245,0.0013053060045681375,-0.0006845038118365018],"end_effector_yaw_offset_degrees":0.45124525080426414},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010274517394475344,0.0005349744723021008,0.0011349427746851566],"end_effector_yaw_offset_degrees":-0.1024689502451579},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00011730249221127316,0.001409780286806308,-0.00011037795121462057],"end_effector_yaw_offset_degrees":0.11813896854665984}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003892999331691331,0.003881385262591775],"position_m":[0.24529299933169132,0.22688138526259177,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004138202392354973,0.003972384193862197],"position_m":[0.16736179760764505,-0.1122276158061378,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029790410132996773,0.0010475221834496248],"position_m":[0.33720209589867006,0.07094752218344963,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037010578060960144,0.001257440379380634],"position_m":[0.261401057806096,-0.40694255962061937,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"962bdd09571c1ffe57e49b4f8290d04873de97a5c6100a8f0431c6e30d49cbae","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2919/tex_ceiling_textures_9088/tex_floor_textures_3958/tex_table_textures_6821/tex_wall_textures_4183","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":2505001608522814233,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":2505001608522814233,"visual_seed":2505001608522814233,"scene_id":"lab_003","finished_at":"2026-09-03T11:24:48"} +{"episode_id":"ep_000077","started_at":"2026-09-03T11:24:51","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.62443602499041,-0.9077370723384564,0.71338606911949],"aabb_xy":[[0.5604360276880636,-0.952103499306313],[0.6884360222927564,-0.8633706453705995]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.5104861517769173,-0.6599439881943507,0.71338606911949],"aabb_xy":[[0.4464861484872091,-0.7032789071982682],[0.5744861550666253,-0.616609069190433]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.5322262074489448,0.40645249204749057,0.71338606911949],"aabb_xy":[[0.516164279990427,0.32145249023489864],[0.5482881349074623,0.4914524938600823]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.6818368272222821,-1.5001591069052997,0.71338606911949],"aabb_xy":[[0.6709963489957672,-1.517345388195948],[0.692677305448797,-1.4829728256146506]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.29575422368117804,0.3089188357199868,0.71338606911949],"aabb_xy":[[-0.37575422584394047,0.22896365209384317],[-0.2157542215184155,0.3888740193461304]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.5800988628326234,0.6326072254419577,0.71338606911949],"aabb_xy":[[-0.6026125546560804,0.5626072248409502],[-0.557585171009166,0.7026072260429652]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.42536334575440743,1.192810501624657,0.71338606911949],"aabb_xy":[[-0.43859429128908867,1.1795830826026574],[-0.4121324002197261,1.2060379206466563]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.623296241166563,1.5295237721905468,0.71338606911949],"aabb_xy":[[0.6162559312330261,1.4495237727908759],[0.6303365511001001,1.6095237715902189]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.1927354169271367,-2.124559348267414,0.71338606911949],"aabb_xy":[[0.16773541737539818,-2.134701832132549],[0.21773541647887515,-2.1144168644022794]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.008880704444815368,1.71769202968466,0.71338606911949],"aabb_xy":[[-0.02543557272980257,1.6676920297114823],[0.043196981619433306,1.7676920296578378]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.20601104844861995,1.6183308239726126,0.71338606911949],"aabb_xy":[[-0.23945122364463953,1.5848871981416823],[-0.17257087325260032,1.6517744498035425]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.08898513244428052,-0.7170815528215013,0.71338606911949],"aabb_xy":[[0.03399288180876959,-0.7720815545648143],[0.1439773830797915,-0.6620815510781887]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.4021208395383802,1.2787553637039109,0.71338606911949],"aabb_xy":[[0.370973920694797,1.2087553650171037],[0.43326775838196324,1.348755362390718]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[0.5491847751892835,0.9343009455211329,0.71338606911949],"aabb_xy":[[0.5116847748971087,0.9302594701205293],[0.5866847754814584,0.9383424209217366]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.3665714952301802,-1.6732242535968016,0.71338606911949],"aabb_xy":[[0.3165982012269197,-1.7232242541513487],[0.41654478923344057,-1.623224253042254]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.6350564049903853,-1.4420257579291038,0.71338606911949],"aabb_xy":[[-0.645908011239261,-1.4528850486567548],[-0.6242047987415098,-1.4311664672014528]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.006425748252568475,-2.4310177392275567,0.71338606911949],"aabb_xy":[[-0.0486994573770223,-2.4910177406688434],[0.06155095388215925,-2.371017737786269]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.5897748336698728,1.33875910723058,0.71338606911949],"aabb_xy":[[-0.6116645812588136,1.2487591099413309],[-0.567885086080932,1.4287591045198291]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.5598152923175119,1.0845297454285543,0.71338606911949],"aabb_xy":[[-0.6098152939790065,1.0345313031728514],[-0.5098152906560169,1.1345281876842568]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.4465115809799225,0.7837810156800624,0.71338606911949],"aabb_xy":[[0.4090115808743295,0.7769588538270813],[0.4840115810855154,0.7906031775330435]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.02085042133596804,1.4122226863026563,0.71338606911949],"aabb_xy":[[-0.04949975369638426,1.3835771270255806],[0.007798911024448189,1.4408682455797321]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[0.15554819967962008,1.5235227664903914,0.71338606911949],"aabb_xy":[[0.09054819867911956,1.4727364013357165],[0.2205482006801206,1.5743091316450664]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.3855737356381759,-2.187674743751345,0.71338606911949],"aabb_xy":[[0.3215737335884439,-2.2277692268406524],[0.44957373768790787,-2.1475802606620364]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[0.5514798713301863,-2.08612744122893,0.71338606911949],"aabb_xy":[[0.4974642750482863,-2.150127444121187],[0.6054954676120863,-2.0221274383366725]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.36121490027416564,1.6395984803882473,0.71338606911949],"aabb_xy":[[-0.3665474149287786,1.6342741521430117],[-0.35588238561955265,1.6449228086334828]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.643614253519204,-2.0905432196961495,0.71338606911949],"aabb_xy":[[-0.6806483629472637,-2.1249204270298585],[-0.6065801440911442,-2.0561660123624397]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7127046649749784,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5094.png","name":"5094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9361.png","name":"9361"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9454.png","name":"9454"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":563.0157752240259,"rotation_z_degrees":307.57806781548646,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009073971379299307,-0.008660350322558115,0.0007973955760320929]},{"name":"camera_2","offset_m":[-0.0007246142779168269,-0.0002593532864362223,-0.01199350247660862]},{"name":"camera_3","offset_m":[0.006272698376554992,0.008107233642965849,-0.011225874165723017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001861975542720989,-0.0012348075336234916,0.0008884241851153628],"end_effector_yaw_offset_degrees":0.6590369277479311},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00048187525679704076,-0.0003203495072201777,-0.0018669093539693375],"end_effector_yaw_offset_degrees":-0.5646411156908295},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[6.536975551390666e-05,-0.0003937898063766693,-0.0018410389897503734],"end_effector_yaw_offset_degrees":-0.32782823055772536}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007844176252360946,0.00018474429460826804],"position_m":[0.2406155823747639,0.22318474429460827,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005716448374506033,-0.0032293841059231132],"position_m":[0.17092835516254942,-0.11942938410592312,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012121407420963883,-0.0028441517452180887],"position_m":[0.33871214074209643,0.06705584825478192,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002801193528309298,-0.0009364915239956726],"position_m":[0.2605011935283093,-0.40913649152399567,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f0753d548f54ec43525441d2fd72f9f4a7c4f799d26ccb1e8a5be70aa825af0","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0097.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6311/tex_ceiling_textures_9454/tex_floor_textures_2390/tex_table_textures_5094/tex_wall_textures_9361","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5502722292714730737,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5502722292714730737,"visual_seed":5502722292714730737,"scene_id":"lab_003","finished_at":"2026-09-03T11:27:04"} +{"episode_id":"ep_000078","started_at":"2026-09-03T11:27:08","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.39986266138094634,-1.1249064968720832,0.71338606911949],"aabb_xy":[[-0.4051951760355593,-1.1302308251173188],[-0.39453014672633335,-1.1195821686268477]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.6702427341618244,1.5362562260298227,0.71338606911949],"aabb_xy":[[-0.6810943404107,1.5253969353021715],[-0.6593911279129488,1.5471155167574735]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.6458865936292193,-0.42492630339417437,0.71338606911949],"aabb_xy":[[-0.6493272698692765,-0.42878773636853895],[-0.6424459173891621,-0.42106487041981]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.29410986961582175,-1.0957904260383058,0.71338606911949],"aabb_xy":[[0.2636256194887916,-1.1457904258198017],[0.3245941197428519,-1.0457904262568098]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.38290992266171536,-0.6588542450056727,0.71338606911949],"aabb_xy":[[-0.4179099240131971,-0.6792139809624935],[-0.3479099213102336,-0.6384945090488519]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.5065479296623059,-0.4923797933610081,0.71338606911949],"aabb_xy":[[0.48944585170393773,-0.5094865988922779],[0.523650007620674,-0.47527298782973837]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.4337447286662929,0.5904321494210207,0.71338606911949],"aabb_xy":[[-0.4562447284801953,0.58595753305054],[-0.41124472885239055,0.5949067657915015]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.20006059410058846,-1.46694533405861,0.71338606911949],"aabb_xy":[[-0.2501580580816621,-1.5309453345684216],[-0.14996313011951484,-1.402945333548798]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.18138219221161322,1.1086308126656381,0.71338606911949],"aabb_xy":[[-0.1990150278051408,1.091007866650015],[-0.16374935661808565,1.1262537586812609]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.4418990464118155,-0.4870252082070907,0.71338606911949],"aabb_xy":[[-0.4832035894755514,-0.5510252077752077],[-0.40059450334807944,-0.4230252086389735]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.566661114545004,-0.6973245705635225,0.71338606911949],"aabb_xy":[[0.5166611135944711,-0.7288737175670438],[0.6166611154955367,-0.665775423560001]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.5770387738219551,1.753246550459402,0.71338606911949],"aabb_xy":[[0.5689110856286419,1.7443329420486944],[0.5851664620152683,1.76216015887011]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.608662640286177,-2.312106738570381,0.71338606911949],"aabb_xy":[[0.5625775490314454,-2.376106735822936],[0.6547477315409084,-2.2481067413178257]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.6660414115615203,1.7677100037272724,0.71338606911949],"aabb_xy":[[0.6377117016129801,1.7632492615335555],[0.6943711215100605,1.7721707459209897]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.4027179185550805,1.0665244937308374,0.71338606911949],"aabb_xy":[[-0.4827179157146557,1.05497689277302],[-0.32271792139550515,1.0780720946886542]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.237807202984674,1.6035647533424027,0.71338606911949],"aabb_xy":[[-0.3028072040906173,1.5785993802742744],[-0.17280720187873072,1.628530126410531]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.1146692590121633,0.5480450878839607,0.71338606911949],"aabb_xy":[[-0.14844481820285627,0.5340065926707956],[-0.08089369982147032,0.5620835830971257]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.15868474336849847,-0.9890600756369956,0.71338606911949],"aabb_xy":[[0.09868474250768565,-1.0404865056434818],[0.21868474422931125,-0.9376336456305091]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.4600394208669356,-1.6719466766907825,0.71338606911949],"aabb_xy":[[0.4024089519796647,-1.7319466756174924],[0.5176698897542065,-1.6119466777640712]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.4747877085403698,-1.207023211611335,0.71338606911949],"aabb_xy":[[0.4372877083684979,-1.239723946994242],[0.5122877087122417,-1.1743224762284277]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7060640108959658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1759.png","name":"1759"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1759.png","name":"1759"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7722.png","name":"7722"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2062.png","name":"2062"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/866.png","name":"866"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":526.8084505052284,"rotation_z_degrees":18.858586021758082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018870908731415104,0.009747648917102045,0.016995406757867825]},{"name":"camera_2","offset_m":[0.007108643372420852,0.0009800076748542122,0.0062846496510803665]},{"name":"camera_3","offset_m":[0.009877123982054436,0.019084577164375813,0.01835171232827482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011763658885203172,-2.92338310142865e-05,-0.00025735027040386525],"end_effector_yaw_offset_degrees":-0.05615909145579101},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018417327844983502,-0.0008405258743003632,0.0008761168859279362],"end_effector_yaw_offset_degrees":-0.757668323029683},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010211712608651845,0.0017954148203681922,0.00036246507313297555],"end_effector_yaw_offset_degrees":-0.29091585953412546}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031016764675757635,-0.003839614455254301],"position_m":[0.23829832353242425,0.2191603855447457,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0039418055354255655,-0.00451514616164108],"position_m":[0.16755819446457446,-0.12071514616164108,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00050385060208912,-0.0009738229026621794],"position_m":[0.3369961493979109,0.06892617709733782,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00279202659022621,0.002653564867036935],"position_m":[0.2549079734097738,-0.40554643513296307,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dabf204d031b5097479a1ff26c4e2106e7ad66c66d7778e8205d45122cc59207","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0098.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1759/tex_ceiling_textures_866/tex_floor_textures_2062/tex_table_textures_7722/tex_wall_textures_2922","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1394150342934197547,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1394150342934197547,"visual_seed":1394150342934197547,"scene_id":"lab_003","finished_at":"2026-09-03T11:29:47"} +{"episode_id":"ep_000079","started_at":"2026-09-03T11:29:50","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.5315376401316324,-2.3025392683744204,0.71338606911949],"aabb_xy":[[-0.5485477374216831,-2.3186737568726943],[-0.5145275428415818,-2.2864047798761464]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.2655419689271272,-1.6728549342959833,0.71338606911949],"aabb_xy":[[0.24863123649078542,-1.6863271398885977],[0.28245270136346895,-1.6593827287033684]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.6111182825117085,-1.3322914911156698,0.71338606911949],"aabb_xy":[[-0.6159618772729385,-1.337143143594654],[-0.6062746877504785,-1.3274398386366857]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.39589925962947925,0.8823240503034202,0.71338606911949],"aabb_xy":[[0.35839925933730443,0.8782825749028166],[0.43339925992165407,0.8863655257040238]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.0864412892972447,-2.287911973514239,0.71338606911949],"aabb_xy":[[0.07356938579630455,-2.367911973928075],[0.09931319279818483,-2.2079119731004027]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.3391718137855742,-1.279211251824164,0.71338606911949],"aabb_xy":[[-0.394165025122711,-1.3342112521629577],[-0.28417860244843746,-1.2242112514853705]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.7037768099196731,-0.4862258882927253,0.71338606911949],"aabb_xy":[[0.6859077021652175,-0.5000587962699361],[0.7216459176741284,-0.4723929803155143]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.5113252198031137,-1.1337802980157414,0.71338606911949],"aabb_xy":[[0.5021653408592371,-1.1403115160592785],[0.5204850987469903,-1.1272490799722044]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.30538992240728313,-1.908116582806138,0.71338606911949],"aabb_xy":[[0.29660869526004696,-1.9168963300946682],[0.3141711495545194,-1.8993368355176081]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.4791658854407984,0.133975770964609,0.71338606911949],"aabb_xy":[[-0.5431658877835999,0.08903491972047652],[-0.4151658830979968,0.1789166222087415]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.5503568070043324,-0.3678462313877975,0.71338606911949],"aabb_xy":[[-0.587856807668911,-0.3835332893880196],[-0.5128568063397536,-0.35215917338757524]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.1542688912851542,1.0395107433897528,0.71338606911949],"aabb_xy":[[-0.21826888839725989,0.9904783735953422],[-0.09026889417304851,1.0885431131841634]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.06415802244261148,-1.1653697614784575,0.71338606911949],"aabb_xy":[[-0.14415801940565065,-1.2424454031222307],[0.015841974520427682,-1.0882941198346838]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.6255735162996736,-1.565638095920154,0.71338606911949],"aabb_xy":[[0.6055151046864333,-1.5857031828293113],[0.6456319279129139,-1.5455730090109965]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.5624599310421046,0.5962851832021396,0.71338606911949],"aabb_xy":[[-0.5665957873748048,0.5587851837577827],[-0.5583240747094044,0.6337851826464967]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.01546986909689263,1.5923437297358114,0.71338606911949],"aabb_xy":[[0.000367567635874531,1.577242208104749],[0.03057217055791072,1.6074452513668729]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.20770543782327583,0.5728441635270443,0.71338606911949],"aabb_xy":[[-0.25768424633359166,0.5228441635213255],[-0.15772662931295992,0.6228441635327631]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.13559682070215984,1.276486313737506,0.71338606911949],"aabb_xy":[[-0.15470912806013867,1.257351534860264],[-0.11648451334418095,1.295621092614748]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.19891047158496988,-1.7983959402278944,0.71338606911949],"aabb_xy":[[-0.23337281898311166,-1.8328898226257164],[-0.16444812418682805,-1.763902057830071]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.4123865016010835,1.0315210384000113,0.71338606911949],"aabb_xy":[[0.3963245741425658,0.9465210365874194],[0.42844842905960107,1.116521040212603]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[0.4654840421539941,0.5449892769633324,0.71338606911949],"aabb_xy":[[0.42020542727284477,0.48098927761514887],[0.5107626570351433,0.6089892763115162]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.6330167846858146,1.056654738305017,0.71338606911949],"aabb_xy":[[0.5730167844344133,1.0023734132685522],[0.6930167849372156,1.1109360633414815]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.11608425936285083,0.7211379015655526,0.71338606911949],"aabb_xy":[[-0.16596695624054703,0.6711379023192778],[-0.06620156248515463,0.7711379008118274]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[0.19187007076415663,0.9841645650527377,0.71338606911949],"aabb_xy":[[0.12687006965821335,0.9591991919846093],[0.2568700718700999,1.009129938120866]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[-0.04137454427821197,-1.014952097920951,0.71338606911949],"aabb_xy":[[-0.0763745442547078,-1.0244167139685676],[-0.006374544301716134,-1.0054874818733344]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[0.362980575432422,-2.1693072727576226,0.71338606911949],"aabb_xy":[[0.3580812831258585,-2.1969841920601914],[0.3678798677389855,-2.141630353455054]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7080524298998807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5878.png","name":"5878"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5878.png","name":"5878"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3639.png","name":"3639"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/15.png","name":"15"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4723.png","name":"4723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":753.529253490693,"rotation_z_degrees":173.78807528845311,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017735204737989754,0.011649165352907467,-0.006743736311304524]},{"name":"camera_2","offset_m":[-0.018755822150780532,-0.01368716681168387,-0.013461207745393016]},{"name":"camera_3","offset_m":[0.012197169310922396,0.018438064462627513,0.018260378072918772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001567886629849944,0.0007573054969728567,0.0005642013343114343],"end_effector_yaw_offset_degrees":-0.18446515980768208},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015784810255910955,0.001828994757169758,-0.0005457924725005246],"end_effector_yaw_offset_degrees":-0.3013655239762647},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013923919304205897,-0.0007188835307949289,0.0009141728849044557],"end_effector_yaw_offset_degrees":0.6949593856285585}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028372540579941386,-0.0021806874624981055],"position_m":[0.23856274594200585,0.2208193125375019,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00144203053030017,0.0028191895055530184],"position_m":[0.17005796946969984,-0.11338081049444698,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00040921072862289826,-0.004047838746722859],"position_m":[0.33709078927137714,0.06585216125327714,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003720923656705729,0.0026428520651658443],"position_m":[0.2573279076343294,-0.40555714793483416,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5f482995fb466636740094323ee05e86a2454897cababb09455a735a84181596","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5878/tex_ceiling_textures_3544/tex_floor_textures_4723/tex_table_textures_3639/tex_wall_textures_15","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8829144901516221816,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8829144901516221816,"visual_seed":8829144901516221816,"scene_id":"lab_003","finished_at":"2026-09-03T11:32:22"} +{"episode_id":"ep_000080","started_at":"2026-09-03T11:32:25","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[-0.6660610575961327,0.897955900859488,0.71338606911949],"aabb_xy":[[-0.6912818944559722,0.8727321500066011],[-0.6408402207362929,0.9231796517123746]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.3039301134652379,-1.1294613375761438,0.71338606911949],"aabb_xy":[[0.29132741432816145,-1.1420567338010092],[0.31653281260231436,-1.1168659413512783]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.4183480018705299,1.2387225496223868,0.71338606911949],"aabb_xy":[[0.33462577637044744,1.1487225460876906],[0.5020702273706124,1.3287225531570825]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.4233204742928983,0.886124928445629,0.71338606911949],"aabb_xy":[[-0.4321017014401346,0.877345181157099],[-0.41453924714566215,0.8949046757341593]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.38875048006470747,1.0450603895019404,0.71338606911949],"aabb_xy":[[0.3642368559677016,1.0207957961999041],[0.41326410416171333,1.069324982803977]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.29096225422750155,-0.8848653195435214,0.71338606911949],"aabb_xy":[[0.2797171986568837,-0.8961071172676167],[0.3022073097981194,-0.8736235218194262]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.047121708071648616,-0.7886128974750086,0.71338606911949],"aabb_xy":[[0.02083288375120795,-0.8148843311296597],[0.07341053239208926,-0.7623414638203573]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.22893098425831027,-0.2906053546045624,0.71338606911949],"aabb_xy":[[-0.2664309850503057,-0.2969731955627524],[-0.19143098346631482,-0.28423751364637223]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.005082819487519319,0.9808920414590618,0.71338606911949],"aabb_xy":[[-0.021759955480614823,0.9641921174851317],[0.011594316505576185,0.9975919654329922]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.6594522141902017,1.1767350384371738,0.71338606911949],"aabb_xy":[[-0.6635681643022744,1.172619483404328],[-0.6553362640781291,1.180850593470019]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.5619034098191038,-0.8973148049372814,0.71338606911949],"aabb_xy":[[0.5206545987891888,-0.9523148044494989],[0.6031522208490183,-0.842314805425064]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[-0.386784488603817,-0.15088421615224323,0.71338606911949],"aabb_xy":[[-0.42328030923109566,-0.1873681585790008],[-0.3502886679765382,-0.11440027372548567]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.5047629957931796,0.953475423279488,0.71338606911949],"aabb_xy":[[-0.5223096907092986,0.9159754217152368],[-0.4872163008770607,0.9909754248437393]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.2591109950070923,1.1344862772025777,0.71338606911949],"aabb_xy":[[-0.32311099822573014,1.0877631653035693],[-0.19511099178845442,1.181209389101586]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.539183821467907,0.04019292322643109,0.71338606911949],"aabb_xy":[[-0.55382722702194,0.0255342035696468],[-0.524540415913874,0.05485164288321536]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.24884857381877507,-0.7112547456647809,0.71338606911949],"aabb_xy":[[-0.3088485746795878,-0.7626811756712671],[-0.18884857295796226,-0.6598283156582944]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.4503048910835997,0.10192156352909798,0.71338606911949],"aabb_xy":[[-0.46851071474484746,0.09089616294710634],[-0.4320990674223521,0.11294696411108962]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.5365918359673907,-0.12806775336753962,0.71338606911949],"aabb_xy":[[0.5269601997469611,-0.13770506614724853],[0.5462234721878203,-0.1184304405878307]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.5964185041396608,0.4941790760504099,0.71338606911949],"aabb_xy":[[0.5677691717792446,0.46553351677333404],[0.625067836500077,0.5228246353274857]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.3679790992726949,-1.5780371288223054,0.71338606911949],"aabb_xy":[[-0.4179741102321469,-1.6280371278578973],[-0.3179840883132428,-1.528037129786714]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.06325454982261791,-0.4328649401609548,0.71338606911949],"aabb_xy":[[-0.07196851887255239,-0.4553649408201429],[-0.054540580772683415,-0.41036493950176645]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.481940314431925,0.36048862951705285,0.71338606911949],"aabb_xy":[[-0.4994403146769743,0.342988841677486],[-0.46444031418687554,0.3779884173566197]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.17536654457597467,-1.6894120814211742,0.71338606911949],"aabb_xy":[[0.15773370898244707,-1.7070350274367971],[0.19299938016950222,-1.6717891354055512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083325906437126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2429.png","name":"2429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2429.png","name":"2429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5236.png","name":"5236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9509.png","name":"9509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":828.8514975030059,"rotation_z_degrees":351.3192533884685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014435211115772933,0.018202988862632895,0.0012514373284720041]},{"name":"camera_2","offset_m":[-0.017718572201360354,-0.0020650718952959363,-0.009295098747483879]},{"name":"camera_3","offset_m":[0.003558273593065566,-0.000894765130918896,-0.01153413284931808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011596640323321755,-0.00024664012322935143,-0.0007097331891115105],"end_effector_yaw_offset_degrees":0.7104328865540062},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014400269613851374,0.0016329565827671037,0.0011573673887087725],"end_effector_yaw_offset_degrees":-0.489578082241386},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00013514092488328558,-0.0006424402809396068,-0.0014956352652835268],"end_effector_yaw_offset_degrees":0.6198462255232}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015543243071496236,0.0022808957444777787],"position_m":[0.23984567569285037,0.2252808957444778,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004886554505652252,-0.00124585567279057],"position_m":[0.16661344549434776,-0.11744585567279056,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004929188478190928,-0.0003237245874470329],"position_m":[0.3325708115218091,0.06957627541255297,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001970433509135511,-0.00012113323170979788],"position_m":[0.2557295664908645,-0.4083211332317098,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"79bf75c00c7fef580f5f5a51bdc14cd52b4fb78e1c2c5514e429e95d04d03b35","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0100.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2429/tex_ceiling_textures_7868/tex_floor_textures_9509/tex_table_textures_4222/tex_wall_textures_5236","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":5734937988991990047,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":5734937988991990047,"visual_seed":5734937988991990047,"scene_id":"lab_003","finished_at":"2026-09-03T11:35:00"} +{"episode_id":"ep_000081","started_at":"2026-09-03T11:35:03","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.15687213451760784,1.520621082643666,0.71338606911949],"aabb_xy":[[0.1193721337256124,1.5142532416854753],[0.1943721353096033,1.5269889236018557]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.1091622318023715,-1.0512247744963863,0.71338606911949],"aabb_xy":[[-0.164162230978961,-1.1062144492713437],[-0.054162232625782,-0.9962350997214284]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.5331623888839182,-1.5333636271500701,0.71338606911949],"aabb_xy":[[-0.5405748444253067,-1.5392148375716979],[-0.5257499333425297,-1.527512416728442]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[-0.45092895323822835,-0.5038114087887964,0.71338606911949],"aabb_xy":[[-0.5209289550469738,-0.5251651775529838],[-0.38092895142948285,-0.482457640024609]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.2340819222620833,-2.266895085188124,0.71338606911949],"aabb_xy":[[-0.28809751854398324,-2.3308950880803807],[-0.18006632598018327,-2.2028950822958664]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.29931619706460466,1.628993164114291,0.71338606911949],"aabb_xy":[[0.2643161987539092,1.6212781491907453],[0.3343161953753001,1.6367081790378366]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.46911624578263855,-0.9422303046717939,0.71338606911949],"aabb_xy":[[0.4347999686080206,-0.9922303046449715],[0.5034325229572565,-0.8922303046986161]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.14162096261852164,-1.5108955713015264,0.71338606911949],"aabb_xy":[[-0.16684179947836128,-1.536119322154413],[-0.11640012575868196,-1.4856718204486394]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.395264587007647,0.9262294645452585,0.71338606911949],"aabb_xy":[[0.36096767598990637,0.8919325783353171],[0.4295614980253876,0.9605263507551998]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.0697862041648335,-1.8266399246431209,0.71338606911949],"aabb_xy":[[-0.08746183475343183,-1.8443201409225234],[-0.05211057357623517,-1.8089597083637179]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.25475657169266075,1.1604892684799069,0.71338606911949],"aabb_xy":[[0.24605860940194546,1.1483642941724321],[0.26345453398337604,1.1726142427873816]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.24054616894622916,0.873036180382917,0.71338606911949],"aabb_xy":[[0.22344409098786103,0.8559293748516473],[0.2576482469045973,0.8901429859141868]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.5485465117344936,0.9200413967525911,0.71338606911949],"aabb_xy":[[-0.6385465114576677,0.8969680442174113],[-0.4585465120113194,0.943114749287771]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.46566804296402475,0.2992216365867493,0.71338606911949],"aabb_xy":[[-0.5296680450137567,0.25912715349744125],[-0.4016680409142928,0.3393161196760572]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.13796737886980193,0.6677281368075128,0.71338606911949],"aabb_xy":[[-0.15261078442383488,0.6530694171507285],[-0.12332397331576891,0.682386856464297]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.2805647185838907,-0.9806578242862765,0.71338606911949],"aabb_xy":[[-0.3445647178780589,-1.0446439646551307],[-0.21656471928972248,-0.9166716839174223]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.32555565856804586,-1.7887614587034373,0.71338606911949],"aabb_xy":[[-0.36055565776086407,-1.7997285047010998],[-0.29055565937522754,-1.7777944127057743]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[0.15255605836571018,-1.0955815417270696,0.71338606911949],"aabb_xy":[[0.092556057769694,-1.150394014272293],[0.21255605896172636,-1.040769069181846]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.5254445774293144,-2.1536101374647223,0.71338606911949],"aabb_xy":[[0.4879445767647356,-2.169297195464944],[0.562944578093893,-2.1379230794644997]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.4889528404291281,-2.374012813456022,0.71338606911949],"aabb_xy":[[-0.5088438803094685,-2.386668624740719],[-0.469061800548788,-2.3613570021713253]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.5973109711526359,0.8401353323239804,0.71338606911949],"aabb_xy":[[0.5932328132455862,0.8360543520757171],[0.6013891290596856,0.8442163125722437]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.3496456736215302,-0.7245574164739268,0.71338606911949],"aabb_xy":[[-0.40727614250880095,-0.7845574154006372],[-0.2920152047342593,-0.6645574175472161]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[0.07980404413168962,-1.851414539185424,0.71338606911949],"aabb_xy":[[0.06923656447359061,-1.8619595692984325],[0.09037152378978863,-1.8408695090724154]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.6050168700835341,-1.711264739664244,0.71338606911949],"aabb_xy":[[-0.660016868285279,-1.7517867062906816],[-0.5500168718817893,-1.6707427730378064]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[0.07449117263477645,1.719476960235991,0.71338606911949],"aabb_xy":[[0.04584184027436021,1.690831400958915],[0.10314050499519266,1.7481225195130665]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.27759345524693474,-2.4569102057223655,0.71338606911949],"aabb_xy":[[-0.36759345466530563,-2.4902857025665552],[-0.18759345582856385,-2.423534708878176]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.633179763578984,-1.770659218408261,0.71338606911949],"aabb_xy":[[0.5956797636352176,-1.7789523084430974],[0.6706797635227504,-1.7623661283734242]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[0.23125738419036934,-1.5081731999291161,0.71338606911949],"aabb_xy":[[0.19023944080399846,-1.5581732005600735],[0.2722753275767402,-1.4581731992981588]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[-0.5283149269168501,-1.4276519984516476,0.71338606911949],"aabb_xy":[[-0.5983149233268117,-1.4480899341033289],[-0.45831493050688815,-1.4072140627999654]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[0.543930353087636,1.0988963055078749,0.71338606911949],"aabb_xy":[[0.5070798051506484,1.0613963046848411],[0.5807809010246237,1.1363963063309086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.708231421426914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1508.png","name":"1508"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1508.png","name":"1508"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7100.png","name":"7100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2292.png","name":"2292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5820.png","name":"5820"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":684.2562569505596,"rotation_z_degrees":109.17516790020461,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005438956281198493,-0.006020734397156535,0.0007496498016562152]},{"name":"camera_2","offset_m":[-0.006971246912513376,-0.0018249305606573042,0.018696396012552057]},{"name":"camera_3","offset_m":[0.0196938104918226,0.00830497275117437,-0.012490503132960913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00080846685253035,-0.0003661205261197803,-0.0015097495286761652],"end_effector_yaw_offset_degrees":-0.42768101066804665},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019211770081411454,-0.0007938771064423639,0.0017201974005173959],"end_effector_yaw_offset_degrees":0.5107744548586106},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016922308578929265,-0.0006761548678676443,-0.0007270828168030987],"end_effector_yaw_offset_degrees":-0.2647735492193559}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004350867544522905,-0.003661183826484714],"position_m":[0.2457508675445229,0.21933881617351528,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004534906078553867,-0.003406469969325343],"position_m":[0.16696509392144615,-0.11960646996932534,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00024087783094782142,-0.0019289914163563749],"position_m":[0.3372591221690522,0.06797100858364363,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00403916739715689,-0.002863564793989661],"position_m":[0.2536608326028431,-0.41106356479398964,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bf372aceb3146bd11a280ba8cf81308f4e638a72b658f963b1d7268a909a5b0b","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1508/tex_ceiling_textures_5820/tex_floor_textures_2292/tex_table_textures_7100/tex_wall_textures_1152","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1308269864285344018,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1308269864285344018,"visual_seed":1308269864285344018,"scene_id":"lab_003","finished_at":"2026-09-03T11:37:34"} +{"episode_id":"ep_000082","started_at":"2026-09-03T11:37:37","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.2170855393468109,-1.6049862015606777,0.71338606911949],"aabb_xy":[[-0.2970855373275959,-1.6125877425225297],[-0.13708554136602585,-1.5973846605988258]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.5448732028314767,-2.238976110482849,0.71338606911949],"aabb_xy":[[-0.5817237507684643,-2.276476111305883],[-0.5080226548944891,-2.2014761096598154]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.5194146351668527,1.6895897679648866,0.71338606911949],"aabb_xy":[[0.4819146350612597,1.6827676061119055],[0.5569146352724456,1.6964119298178677]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5392648809689964,-1.7511662402882149,0.71338606911949],"aabb_xy":[[0.47426488093469366,-1.7978669169685422],[0.6042648810032991,-1.7044655636078876]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.4107568285375637,1.5913761683442869,0.71338606911949],"aabb_xy":[[-0.42825682781565055,1.5740380682779407],[-0.3932568292594768,1.6087142684106326]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.01042910472539138,-1.8557993960992685,0.71338606911949],"aabb_xy":[[-0.10042910414376227,-1.8891748929434582],[0.07957089469297951,-1.8224238992550787]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.6919609980683417,0.41691765838008177,0.71338606911949],"aabb_xy":[[0.6826139904860464,0.40261403616243774],[0.7013080056506369,0.4312212805977258]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.44797589867339727,1.1869061858034793,0.71338606911949],"aabb_xy":[[0.43782288311924783,1.1508366442307387],[0.4581289142275466,1.2229757273762194]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.46796838856418843,-0.40482143281348604,0.71338606911949],"aabb_xy":[[-0.4853991036431949,-0.4220935474773368],[-0.45053767348518187,-0.38754931814963517]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.2292741774497632,-1.5588841391519663,0.71338606911949],"aabb_xy":[[0.13958710114164774,-1.6488841394064169],[0.31896125375787865,-1.4688841388975158]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.6003175351569755,1.0868650853803512,0.71338606911949],"aabb_xy":[[-0.6643175383756135,1.0401419734813429],[-0.5363175319383378,1.1335881972793596]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.648905771965467,0.2719384856004665,0.71338606911949],"aabb_xy":[[0.6357545259941777,0.24693848584378003],[0.6620570179367564,0.2969384853571531]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.2686476611221014,0.9447109005614522,0.71338606911949],"aabb_xy":[[-0.31874512510317504,0.8807109000516404],[-0.2185501971410278,1.008710901071264]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.1884160033523451,-0.9408241755246294,0.71338606911949],"aabb_xy":[[0.12441600297481148,-0.9905694423754415],[0.2524160037298787,-0.891078908673817]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.43963632756603627,0.2468181484524603,0.71338606911949],"aabb_xy":[[-0.4891167487799951,0.18281815053960845],[-0.39015590635207753,0.31081814636531213]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.14532153945704096,1.5579975144993372,0.71338606911949],"aabb_xy":[[0.0653215383839206,1.5482194681619528],[0.22532154053016126,1.5677755608367216]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.6645467496449804,1.4023707927384015,0.71338606911949],"aabb_xy":[[0.6270467481293487,1.3911440197222564],[0.7020467511606121,1.4135975657545465]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.5687871789489984,0.3871638355845679,0.71338606911949],"aabb_xy":[[-0.6030840899667389,0.35286694937462654],[-0.5344902679312578,0.4214607217945093]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.06135540460350619,-2.181087672252628,0.71338606911949],"aabb_xy":[[0.03270607224308996,-2.2097332315297034],[0.09000473696392242,-2.1524421129755518]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.5770189503775593,-1.391586000511764,0.71338606911949],"aabb_xy":[[0.5120189477397659,-1.443065599211211],[0.6420189530153528,-1.340106401812317]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.17333028452121924,-1.2205976371092833,0.71338606911949],"aabb_xy":[[-0.2108302843382528,-1.2252358484204253],[-0.13583028470418568,-1.2159594257981416]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.39256335771974954,-2.341212563413223,0.71338606911949],"aabb_xy":[[-0.41445310530869034,-2.431212560702472],[-0.37067361013080874,-2.2512125661239737]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.521108802976946,-0.6184439446861707,0.71338606911949],"aabb_xy":[[-0.5811088038377585,-0.669870374692657],[-0.461108802116133,-0.5670175146796842]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.3375388319141921,1.4453309145137863,0.71338606911949],"aabb_xy":[[0.24753883219101788,1.422257561978606],[0.4275388316373662,1.4684042670489657]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.03014230041923449,1.208868994668582,0.71338606911949],"aabb_xy":[[0.01857331967229792,1.1838689945516503],[0.041711281166171066,1.2338689947855137]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[-0.038013030820608695,-0.978053767146619,0.71338606911949],"aabb_xy":[[-0.09300624215774544,-1.0330537674854128],[0.016980180516528064,-0.9230537668078255]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[-0.4283156933551882,-0.9825415836189528,0.71338606911949],"aabb_xy":[[-0.4495937014986604,-1.0475415859450259],[-0.4070376852117159,-0.9175415812928798]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[-0.5060050874945623,-2.0957284487209864,0.71338606911949],"aabb_xy":[[-0.5139990760722657,-2.1037285288160765],[-0.4980110989168589,-2.0877283686258963]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.5411002827073667,-1.896517246407027,0.71338606911949],"aabb_xy":[[-0.6211002829809735,-1.9694667942327435],[-0.4611002824337596,-1.82356769858131]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_29","position":[-0.17109644399910062,-0.4118897607165892,0.71338606911949],"aabb_xy":[[-0.2510964454292278,-0.49140691572919865],[-0.0910964425689734,-0.3323726057039797]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[0.6150077306451285,-1.0134446267886381,0.71338606911949],"aabb_xy":[[0.5697291157639792,-1.0774446261368216],[0.6602863455262777,-0.9494446274404542]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[0.24556419834456233,1.7051851658222126,0.71338606911949],"aabb_xy":[[0.20806419992116199,1.6920209518543818],[0.2830641967679627,1.7183493797900433]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.1323854426517307,0.7050350978773157,0.71338606911949],"aabb_xy":[[0.07738544347514117,0.650045423102358],[0.18738544182832015,0.7600247726522733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7114215920897451,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5171.png","name":"5171"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5171.png","name":"5171"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7757.png","name":"7757"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6906.png","name":"6906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4325.png","name":"4325"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4821.png","name":"4821"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":514.9200906694443,"rotation_z_degrees":99.39205762751006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014745108348712767,0.004889500905017857,0.013287984064914615]},{"name":"camera_2","offset_m":[0.013792137038641416,-0.0011316119290622033,0.004656087468713186]},{"name":"camera_3","offset_m":[-0.002185163853136024,-0.012616554705850005,-0.011316596723835786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016176331153712723,-0.0006960459504808836,0.0015114394278416955],"end_effector_yaw_offset_degrees":0.03681984468854882},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001991694080443031,-0.0008314084156902397,-5.2229733151336506e-05],"end_effector_yaw_offset_degrees":-0.8618449526276546},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011996233140716163,-0.0011488629984556923,-0.0016388381100082272],"end_effector_yaw_offset_degrees":-0.41903973276703566}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003415345468295331,0.0039188155353848874],"position_m":[0.23798465453170467,0.2269188155353849,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012715678822408025,0.0013211470655112249],"position_m":[0.17277156788224082,-0.11487885293448877,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00484969775203238,-0.004904968502853418],"position_m":[0.3423496977520324,0.06499503149714658,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017572487749743185,-0.002933764541479408],"position_m":[0.25752427512250253,-0.41113376454147943,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"374c72bcb0b5d7c7a8ae03db7659853490ce434a7c5f60394cb0b4b9b9f5f006","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5171/tex_ceiling_textures_4821/tex_floor_textures_4325/tex_table_textures_7757/tex_wall_textures_6906","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":616569317698703395,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":616569317698703395,"visual_seed":616569317698703395,"scene_id":"lab_003","finished_at":"2026-09-03T11:40:20"} +{"episode_id":"ep_000083","started_at":"2026-09-03T11:40:22","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.15657609484130408,1.5038097830931147,0.71338606911949],"aabb_xy":[[0.10657609348041687,1.4538318785176991],[0.2065760962021913,1.5537876876685304]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.3505260204180808,1.2895584709269934,0.71338606911949],"aabb_xy":[[-0.35987302800037607,1.2752548487093491],[-0.3411790128357856,1.3038620931446372]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.15251134106994435,1.7432492782350422,0.71338606911949],"aabb_xy":[[-0.2024887579351979,1.6932492767457934],[-0.10253392420469075,1.7932492797242905]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.08143329790287901,1.2655294007077322,0.71338606911949],"aabb_xy":[[-0.1014917095161193,1.2454643137985748],[-0.06137488628963872,1.2855944876168897]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.5787349934173085,0.8491048033359885,0.71338606911949],"aabb_xy":[[0.5287399824578565,0.799104804300397],[0.6287300043767605,0.8991048023715804]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.3753312258602406,-1.389044219311774,0.71338606911949],"aabb_xy":[[0.2916090003601581,-1.47904422284647],[0.459053451360323,-1.299044215777078]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.17232137870019126,-1.4336532047540953,0.71338606911949],"aabb_xy":[[-0.2373213765818391,-1.4847768684606362],[-0.1073213808185435,-1.3825295410475544]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.04093827385866944,-1.3376182029359838,0.71338606911949],"aabb_xy":[[0.01094661112479911,-1.367618202272784],[0.07092993659253977,-1.307618203599183]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.029611029750785667,-0.34223563669963175,0.71338606911949],"aabb_xy":[[-0.04872333710876453,-0.36137041557687377],[-0.010498722392806803,-0.32310085782238973]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.5179085617163777,-1.9777636716961848,0.71338606911949],"aabb_xy":[[-0.6079085611347486,-2.0111391685403746],[-0.4279085622980068,-1.944388174851995]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.06122144163196985,1.3040600698106308,0.71338606911949],"aabb_xy":[[-0.0003693175920229594,1.2400600717015842],[0.12281220085596267,1.368060067919678]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.47712383260036056,1.2913651971455389,0.71338606911949],"aabb_xy":[[-0.514623831023761,1.278200983177708],[-0.4396238341769602,1.3045294111133694]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.24297914161891543,-1.1652214049103027,0.71338606911949],"aabb_xy":[[0.1629791383549023,-1.178781437219216],[0.32297914488292856,-1.1516613726013893]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.20924000464934456,-1.7425479880379808,0.71338606911949],"aabb_xy":[[0.18674000413730396,-1.765039846403379],[0.23174000516138515,-1.7200561296725823]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.47580427256867064,1.1577029641425902,0.71338606911949],"aabb_xy":[[0.41180427526632424,1.1133365371747335],[0.539804269871017,1.202069391110447]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.5566482818627416,0.47007961491159556,0.71338606911949],"aabb_xy":[[0.47664828445914814,0.39008704371341274],[0.6366482792663349,0.5500721861097784]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.031262872546853226,0.9930234324995655,0.71338606911949],"aabb_xy":[[-0.03273712950287877,0.9529289494102575],[0.09526287459658522,1.0331179155888734]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.06890735339030662,0.3461351227867162,0.71338606911949],"aabb_xy":[[-0.0840096548513247,0.3310336011556543],[-0.05380505192928851,0.3612366444177779]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.1793041550079253,1.0736878479651537,0.71338606911949],"aabb_xy":[[-0.19217605850886543,0.9936878475513174],[-0.16643225150698515,1.1536878483789896]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.20952394420585613,-1.912616238733403,0.71338606911949],"aabb_xy":[[-0.27352394654865764,-1.9575570899775354],[-0.14552394186305456,-1.8676753874892704]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.6195016442251216,0.03655391497974447,0.71338606911949],"aabb_xy":[[0.5956654265845165,-0.05344608582874202],[0.6433378618657266,0.12655391578823097]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.5592051106494667,-1.1396149725837452,0.71338606911949],"aabb_xy":[[0.4952051092414759,-1.1914039241076697],[0.6232051120574572,-1.0878260210598203]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.43129022368321723,0.729005376363443,0.71338606911949],"aabb_xy":[[0.366290222577274,0.7040400032953147],[0.4962902247891606,0.7539707494315713]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[-0.43401252428801396,0.4624869142522767,0.71338606911949],"aabb_xy":[[-0.44588460729951507,0.3774869145586264],[-0.42214044127651285,0.5474869139459271]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.060165079061103244,0.22819778631920373,0.71338606911949],"aabb_xy":[[-0.0638683403902421,0.22449576801048587],[-0.05646181773196437,0.2318998046279216]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[0.21780432844287412,-2.2401739313273543,0.71338606911949],"aabb_xy":[[0.15380432914870587,-2.3041600716962085],[0.28180432773704234,-2.1761877909585]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[0.06000024017345362,0.7951513037578666,0.71338606911949],"aabb_xy":[[0.04909446408589091,0.7151513073590374],[0.07090601626101634,0.8751513001566957]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[0.4367903544476275,-0.9670149342739578,0.71338606911949],"aabb_xy":[[0.3567903541740205,-1.0399644820996745],[0.5167903547212345,-0.8940653864482412]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.5739943772239022,-0.4547914382257936,0.71338606911949],"aabb_xy":[[-0.6379943745095509,-0.4962981571786375],[-0.5099943799382536,-0.4132847192729496]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.5956953761110202,-1.4421467102861318,0.71338606911949],"aabb_xy":[[0.5458126792333241,-1.4921467095324066],[0.6455780729887165,-1.392146711039857]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[-0.42165753244526816,-0.70324627452373,0.71338606911949],"aabb_xy":[[-0.43045958775424087,-0.711057600678659],[-0.41285547713629545,-0.6954349483688008]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[-0.26816994887161594,-0.4980042827630604,0.71338606911949],"aabb_xy":[[-0.30566994868864944,-0.5026424940742023],[-0.23066994905458232,-0.49336607145191863]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_32","position":[-0.114826358449161,0.5124855980491425,0.71338606911949],"aabb_xy":[[-0.20482636078318006,0.43500324346402985],[-0.02482635611514193,0.5899679526342552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7077790988255694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4840.png","name":"4840"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4840.png","name":"4840"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5486.png","name":"5486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9965.png","name":"9965"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7321.png","name":"7321"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5554.png","name":"5554"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":821.337782712418,"rotation_z_degrees":138.85810371326883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01360408446957,0.012413294062381047,0.008478602314072842]},{"name":"camera_2","offset_m":[-0.013267842007367055,0.008938299122175464,0.01848573093287687]},{"name":"camera_3","offset_m":[0.007334362992076685,0.008260544036306064,-0.008158328099885988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000561420951321244,-0.0012520565879595904,0.0014124172803542763],"end_effector_yaw_offset_degrees":0.9906724733242238},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008022374125187617,0.0008527720126984308,-0.0007979787637501711],"end_effector_yaw_offset_degrees":0.9254796444337956},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016225342425243473,-0.0016723196206340685,0.0015303950845435622],"end_effector_yaw_offset_degrees":-0.8786325225086453}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001572837346683187,-0.0013697476310168123],"position_m":[0.24297283734668318,0.2216302523689832,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016753344098405986,-0.0008007119543481604],"position_m":[0.1698246655901594,-0.11700071195434816,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013728540330853155,-0.0002707246957123497],"position_m":[0.33612714596691473,0.06962927530428765,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004594030201996688,-0.0028625982897147306],"position_m":[0.2531059697980033,-0.41106259828971475,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d6089d59ff91655204906c537dacf2e76daa4a52e1f4a9bf70630f3b690c5ab2","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0103.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4840/tex_ceiling_textures_5554/tex_floor_textures_7321/tex_table_textures_5486/tex_wall_textures_9965","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6559340903951803949,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6559340903951803949,"visual_seed":6559340903951803949,"scene_id":"lab_003","finished_at":"2026-09-03T11:43:12"} +{"episode_id":"ep_000084","started_at":"2026-09-03T11:44:45","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[0.5431359197846237,0.020331190995181547,0.71338606911949],"aabb_xy":[[0.5390199696725508,0.016215635962336047],[0.5472518698966962,0.02444674602802704]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.16710883903742002,1.6294995992904249,0.71338606911949],"aabb_xy":[[0.16114230009668423,1.6235384546310607],[0.1730753779781558,1.635460743949789]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.14472463973744154,-2.2174146998897317,0.71338606911949],"aabb_xy":[[-0.15989680901907488,-2.232583556817935],[-0.1295524704558082,-2.2022458429615286]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.5371047813285243,-2.4759600925535317,0.71338606911949],"aabb_xy":[[0.5146083598946602,-2.498460092360279],[0.5596012027623884,-2.4534600927467842]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.20593696238591735,0.8804895760773306,0.71338606911949],"aabb_xy":[[-0.21151863402004611,0.8679895762595551],[-0.2003552907517886,0.8929895758951061]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.4918702166821345,-1.5501269105563111,0.71338606911949],"aabb_xy":[[-0.555870215268707,-1.5971338739558198],[-0.427870218095562,-1.5031199471568024]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.5872311731067448,1.420540646215502,0.71338606911949],"aabb_xy":[[0.5697311728474083,1.4064491040267293],[0.6047311733660815,1.4346321884042745]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.3545952921784491,1.5115981156661875,0.71338606911949],"aabb_xy":[[-0.36892971730461255,1.4995379001116484],[-0.34026086705228564,1.5236583312207261]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[-0.5304126576252547,0.09053644682591733,0.71338606911949],"aabb_xy":[[-0.5804074905531963,0.04053644793067379],[-0.4804178246973131,0.14053644572116086]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.0958827027689243,-1.613958470514576,0.71338606911949],"aabb_xy":[[0.048753323767088616,-1.6779584715589777],[0.14301208177075997,-1.5499584694701738]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.06861810825593762,-2.5344869184486214,0.71338606911949],"aabb_xy":[[-0.0936181081884555,-2.5413695866695445],[-0.043618108323419724,-2.5276042502276983]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.07706065889547764,1.221081461295081,0.71338606911949],"aabb_xy":[[-0.10705232162934797,1.1910814619582804],[-0.04706899616160731,1.2510814606318814]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.5895835825127135,0.910925888943332,0.71338606911949],"aabb_xy":[[-0.6071302774288324,0.8734258873790809],[-0.5720368875965945,0.9484258905075834]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.2041692882659124,-2.087786826045257,0.71338606911949],"aabb_xy":[[0.18505698090793352,-2.106921604922499],[0.22328159562389124,-2.068652047168015]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.11216378883224987,-0.640270803260165,0.71338606911949],"aabb_xy":[[-0.1471637888087457,-0.6497354193077817],[-0.07716378885575402,-0.6308061872125484]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.39347062910294617,-1.3796964993052647,0.71338606911949],"aabb_xy":[[0.3881330534369416,-1.4046965002344047],[0.39880820476895074,-1.3546964983761252]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.40548245202153077,-0.9414556316817739,0.71338606911949],"aabb_xy":[[0.36985329612157103,-0.9770882984386269],[0.4411116079214905,-0.905822964924921]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.6463090429182845,-0.9875886100167828,0.71338606911949],"aabb_xy":[[0.6238090431043822,-0.9920632263872636],[0.668809042732187,-0.9831139936463021]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.5371745068881246,-1.6887416280710261,0.71338606911949],"aabb_xy":[[0.5003798737632182,-1.7256475031676082],[0.5739691400130308,-1.6518357529744436]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.40736681617296533,-2.1315616121387713,0.71338606911949],"aabb_xy":[[-0.44591250899816637,-2.17010738319496],[-0.3688211233477643,-2.0930158410825825]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.5051394452323101,0.24440598200247576,0.71338606911949],"aabb_xy":[[0.45514017006387397,0.19440598072652862],[0.5551387204007463,0.29440598327842293]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7077238593978598,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1835.png","name":"1835"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1835.png","name":"1835"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5845.png","name":"5845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5577.png","name":"5577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9118.png","name":"9118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/345.png","name":"345"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.6174666298367,"rotation_z_degrees":233.3012344614817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014816587327302223,0.0013785781934269013,0.013673511409836265]},{"name":"camera_2","offset_m":[0.009895643473734062,0.01427623575725059,-0.013488904081622524]},{"name":"camera_3","offset_m":[0.003847044183000161,0.012030511224074825,-0.019589541632481604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002542772047537979,-0.0002572991982499385,-0.0018310831456691838],"end_effector_yaw_offset_degrees":0.44118163989772885},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013955852724244046,0.0014427595699272812,-0.0002416562987902133],"end_effector_yaw_offset_degrees":-0.7854587712098615},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00016267134651937057,0.0003081026278220775,0.0007796870370928828],"end_effector_yaw_offset_degrees":0.6598474307116906}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018242984031959708,0.0036952589239494663],"position_m":[0.24322429840319598,0.22669525892394948,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000797948576857872,-0.003365459848925304],"position_m":[0.17229794857685787,-0.1195654598489253,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026350067939646307,-0.0026786641332905447],"position_m":[0.34013500679396463,0.06722133586670946,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000406234836783299,0.004334467653321573],"position_m":[0.2581062348367833,-0.40386553234667844,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"00a40814d0e62de4688464ea0d143d527663bed7824c94971c51646000542827","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1835/tex_ceiling_textures_345/tex_floor_textures_9118/tex_table_textures_5845/tex_wall_textures_5577","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7158603002522163131,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7158603002522163131,"visual_seed":7158603002522163131,"scene_id":"lab_003","finished_at":"2026-09-03T11:47:32"} +{"episode_id":"ep_000085","started_at":"2026-09-03T11:48:56","dimensions":{"distractor":{"count":26,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.09337604333885674,-2.0134405079079434,0.71338606911949],"aabb_xy":[[-0.17337604441197707,-2.023218554245328],[-0.01337604226573641,-2.003662461570559]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.22407568470914419,-1.5999689063039009,0.71338606911949],"aabb_xy":[[-0.232112019410429,-1.6080070256083174],[-0.21603935000785932,-1.5919307869994839]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.21246356573400438,-0.5198210501728453,0.71338606911949],"aabb_xy":[[-0.2374635648996375,-0.5267732958782019],[-0.18746356656837126,-0.5128688044674887]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.08059203623678812,1.1343669173716977,0.71338606911949],"aabb_xy":[[-0.09760213352683876,1.1182324288734238],[-0.06358193894673746,1.1505014058699716]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.5054044418446728,-2.364894886116125,0.71338606911949],"aabb_xy":[[-0.5135180965180499,-2.3730007025701543],[-0.4972907871712957,-2.3567890696620957]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.4850534007131031,0.3812724554312017,0.71338606911949],"aabb_xy":[[-0.5220875101411628,0.3468952480974922],[-0.4480192912850433,0.41564966276491117]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.03424579275624673,-0.5788267554582274,0.71338606911949],"aabb_xy":[[-0.04194898343032377,-0.5865361261569653],[-0.026542602082169686,-0.5711173847594893]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.6130896335318359,-2.1022306925183893,0.71338606911949],"aabb_xy":[[0.5530896332804347,-2.1565120175548538],[0.673089633783237,-2.047949367481925]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[-0.6203727505914635,-1.4269744193236067,0.71338606911949],"aabb_xy":[[-0.638241858345919,-1.4408073273008173],[-0.602503642837008,-1.4131415113463957]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.4428526994040519,-2.5230668021165985,0.71338606911949],"aabb_xy":[[-0.53285270308097,-2.5844992086937024],[-0.3528526957271336,-2.4616343955394937]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.40311626273865486,0.7381617620714467,0.71338606911949],"aabb_xy":[[0.3131162641441849,0.7219111757580258],[0.4931162613331248,0.7544123483848678]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.5530485591976563,0.9688582501941769,0.71338606911949],"aabb_xy":[[-0.5830161161074819,0.9388582498962912],[-0.5230810022878306,0.9988582504920627]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.59726664285886,1.7210240337245684,0.71338606911949],"aabb_xy":[[0.5332666455732114,1.6795173147717242],[0.6612666401445086,1.762530752677412]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.3358970551402541,0.24110463559481854,0.71338606911949],"aabb_xy":[[-0.3561813578636528,0.22082201045210967],[-0.31561275241685527,0.2613872607375273]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.012549792146145489,-1.6146451497526788,0.71338606911949],"aabb_xy":[[-0.06745021111786764,-1.6282051820615917],[0.09254979541015862,-1.601085117443765]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.12194368598714278,-0.3014539694032554,0.71338606911949],"aabb_xy":[[-0.16907306498897845,-0.36545397044765726],[-0.0748143069853071,-0.23745396835885335]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.2973716698165092,1.686890501823537,0.71338606911949],"aabb_xy":[[0.28600993516322304,1.6755220354172486],[0.30873340446979536,1.6982589682298248]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[0.4286212405091878,-2.319443792275052,0.71338606911949],"aabb_xy":[[0.3586212383777583,-2.342205757900747],[0.49862124264061736,-2.296681826649356]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.44517810045126516,0.6470633834992547,0.71338606911949],"aabb_xy":[[0.43715182982063916,0.6383118885219022],[0.45320437108189116,0.6558148784766075]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.03890943135928604,-0.8079436507383144,0.71338606911949],"aabb_xy":[[-0.07640943130305244,-0.8162367407731509],[-0.0014094314155196352,-0.7996505607034777]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.13261230928143575,-1.4805759297750447,0.71338606911949],"aabb_xy":[[0.1101475393100306,-1.503075930653905],[0.15507707925284084,-1.458075928896184]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.6185449395985554,0.6913635674738523,0.71338606911949],"aabb_xy":[[-0.6598494826622914,0.6273635679057352],[-0.5772403965348194,0.7553635670419694]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[0.6679874204945957,0.6291389572215174,0.71338606911949],"aabb_xy":[[0.6599440605686404,0.5441389561261508],[0.6760307804205508,0.7141389583168837]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[0.5000944681110402,-0.3921556053198838,0.71338606911949],"aabb_xy":[[0.43609446670304947,-0.44394455684380846],[0.5640944695190308,-0.34036665379595904]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.5580246423569596,1.3753592234212446,0.71338606911949],"aabb_xy":[[-0.5930246422529784,1.3669849879093043],[-0.5230246424609406,1.3837334589331844]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.590772990806509,1.511586800156794,0.71338606911949],"aabb_xy":[[-0.5989875359221928,1.5029102098591522],[-0.5825584456908248,1.520263390454435]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7102062187463389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/326.png","name":"326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3259.png","name":"3259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1865.png","name":"1865"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6459.png","name":"6459"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":682.5825255756381,"rotation_z_degrees":221.71713354995194,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004140699212429617,0.013859588092121799,0.007552244656341099]},{"name":"camera_2","offset_m":[-0.013498503604687552,0.014999213154938153,-0.005006457629427353]},{"name":"camera_3","offset_m":[-0.0018622301898519877,-0.019392696937665713,0.017547100495045802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019183217249453786,0.0012862053311445435,0.0011079935456787576],"end_effector_yaw_offset_degrees":0.5858814429297048},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012683139244741852,-0.0006698529011283964,0.00032848157736694965],"end_effector_yaw_offset_degrees":0.5448257264269856},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001347312365192028,0.00017506162736547967,-0.0010435356404367355],"end_effector_yaw_offset_degrees":0.9112099109115896}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002393422488035539,0.0013445872238220958],"position_m":[0.24379342248803554,0.2243445872238221,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007478383965402761,0.0036821437349421086],"position_m":[0.1722478383965403,-0.11251785626505789,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021858478365016387,-0.0022399141635150634],"position_m":[0.33531415216349836,0.06766008583648495,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003156307803614293,0.0039437847845624945],"position_m":[0.2608563078036143,-0.40425621521543753,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4a43d637f4801fca2899116b269b818e92967d72864cf888ea4cc9d77716162","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0107.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6275/tex_ceiling_textures_6459/tex_floor_textures_1865/tex_table_textures_326/tex_wall_textures_3259","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4107003479432852116,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4107003479432852116,"visual_seed":4107003479432852116,"scene_id":"lab_003","finished_at":"2026-09-03T11:51:36"} +{"episode_id":"ep_000086","started_at":"2026-09-03T11:51:41","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.5352300900692497,-2.419086347862457,0.71338606911949],"aabb_xy":[[0.47523008920843685,-2.4705127778689433],[0.5952300909300624,-2.36765991785597]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.5077621355510953,-1.032543607894488,0.71338606911949],"aabb_xy":[[0.4732997881529533,-1.0670374902923103],[0.5422244829492369,-0.998049725496665]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.6339257576690338,-1.6418461768407346,0.71338606911949],"aabb_xy":[[-0.6752303007327698,-1.7058461764088517],[-0.5926212146052978,-1.5778461772726176]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.5276545265398582,-0.5354399806514767,0.71338606911949],"aabb_xy":[[-0.5357681812132353,-0.5435457971055057],[-0.5195408718664811,-0.5273341641974475]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.036755429222158575,-2.3198758525940684,0.71338606911949],"aabb_xy":[[-0.07019560441817817,-2.3533194784249973],[-0.003315254026138969,-2.2864322267631376]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.29584303853514715,-0.7408670622544333,0.71338606911949],"aabb_xy":[[-0.31334297196913047,-0.7583670621746678],[-0.2783431051011637,-0.7233670623341987]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.34111123198086346,-0.6123633083977733,0.71338606911949],"aabb_xy":[[-0.35865792689698234,-0.6498633099620246],[-0.3235645370647445,-0.574863306833522]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.6443784600621145,0.15557706609223088,0.71338606911949],"aabb_xy":[[0.6084649556371249,0.11966355787547625],[0.6802919644871042,0.1914905743089855]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.3758212417995077,-1.1042697821340384,0.71338606911949],"aabb_xy":[[-0.39345407739303523,-1.1218927281496611],[-0.3581884062059801,-1.0866468361184152]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.6323831966457589,-1.7724646438500586,0.71338606911949],"aabb_xy":[[0.5523893730672007,-1.8524646464429],[0.7123770202243171,-1.6924646412572169]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.405877821227036,1.422775181373313,0.71338606911949],"aabb_xy":[[0.3558778198661487,1.372797276797897],[0.45587782258792314,1.4727530859487283]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.09641650322950768,-0.13088684884504787,0.71338606911949],"aabb_xy":[[-0.17641650648735063,-0.21088335663703184],[-0.016416499971664722,-0.05089034105306389]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.2023069815185498,-2.513663708329952,0.71338606911949],"aabb_xy":[[-0.22219802139889008,-2.526319519614649],[-0.18241594163820957,-2.5010078970452554]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.1042510333703548,1.2840393696312509,0.71338606911949],"aabb_xy":[[-0.1353979522139379,1.2140393709444435],[-0.07310411452677167,1.3540393683180578]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.5657517112342333,-0.2895128664170672,0.71338606911949],"aabb_xy":[[-0.5712096568712534,-0.3695128697247263],[-0.5602937655972132,-0.2095128631094081]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.3608785963312755,-2.497237639120621,0.71338606911949],"aabb_xy":[[0.3396005881878032,-2.5622376414466936],[0.3821566044747477,-2.4322376367945475]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.05184695113842319,-0.9045845336774672,0.71338606911949],"aabb_xy":[[-0.10697215676801397,-0.9645845351187543],[0.0032782544911675797,-0.84458453223618]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[-0.35351992529952464,1.7697621342898473,0.71338606911949],"aabb_xy":[[-0.4235199274309541,1.7470001686641516],[-0.28351992316809504,1.792524099915543]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.386011833952588,0.919486402055409,0.71338606911949],"aabb_xy":[[-0.41101183322455026,0.9031410384592466],[-0.3610118346806257,0.9358317656515713]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.5069407490219058,0.8265971260128762,0.71338606911949],"aabb_xy":[[0.47194075071121033,0.8188821110893305],[0.5419407473326012,0.8343121409364218]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.2048767786322515,-2.3726830000640513,0.71338606911949],"aabb_xy":[[0.14087678134660284,-2.4141897190168953],[0.26887677591790016,-2.3311762811112073]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.3643325040148417,1.3607854498133833,0.71338606911949],"aabb_xy":[[-0.4283325033090099,1.2967993094445291],[-0.30033250472067347,1.4247715901822375]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.5242627366114776,-1.423548162595017,0.71338606911949],"aabb_xy":[[-0.5792364586478105,-1.4785481621592502],[-0.4692890145751447,-1.3685481630307839]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.4451594069980396,1.2249474697818776,0.71338606911949],"aabb_xy":[[0.4410235506653394,1.1874474703375208],[0.44929526333073977,1.2624474692262349]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[0.1502635412740112,1.0624125810440388,0.71338606911949],"aabb_xy":[[0.0702635426171252,1.047907722119776],[0.2302635399308972,1.0769174399683017]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.34619096608839584,0.31096229239402273,0.71338606911949],"aabb_xy":[[-0.4111909642443149,0.28466604784411054],[-0.2811909679324768,0.33725853694393493]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[0.22186417284826665,-2.128828408724563,0.71338606911949],"aabb_xy":[[0.16687192221275568,-2.1838284104678762],[0.2768564234837776,-2.0738284069812507]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[0.3538500576786243,-1.377232901333389,0.71338606911949],"aabb_xy":[[0.31925897482457904,-1.4422329016184199],[0.3884411405326695,-1.3122329010483578]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.19199337441509856,1.6642423852191928,0.71338606911949],"aabb_xy":[[-0.1999873629928019,1.6562423051241024],[-0.1839993858373951,1.672242465314283]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_29","position":[0.47901524141412466,-2.140894686154585,0.71338606911949],"aabb_xy":[[0.4415152413085317,-2.147716848007566],[0.5165152415197176,-2.134072524301603]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[-0.21827508209407892,-1.0723879976507897,0.71338606911949],"aabb_xy":[[-0.26436017334881035,-1.1363879949033449],[-0.17218999083934744,-1.0083880003982346]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[-0.263933223234867,0.43436480931312316,0.71338606911949],"aabb_xy":[[-0.3014332216582673,0.4212005953452925],[-0.2264332248114666,0.44752902328095373]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.6114059790191935,-0.6211765129167015,0.71338606911949],"aabb_xy":[[0.5564059798426039,-0.6761661876916591],[0.6664059781957828,-0.5661868381417439]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_33","position":[-0.22661104859765102,0.9237851764307221,0.71338606911949],"aabb_xy":[[-0.27661104988149093,0.8738063220400998],[-0.17661104731381103,0.973764030821344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.706717949378647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4439.png","name":"4439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8421.png","name":"8421"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6807.png","name":"6807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9576.png","name":"9576"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":512.7667070125128,"rotation_z_degrees":196.71370475833442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00305814400619156,-0.019236816968978863,0.010270022689804141]},{"name":"camera_2","offset_m":[0.008263146749179159,0.0019652373815256946,-0.0007084993549233386]},{"name":"camera_3","offset_m":[-0.014564212554772388,0.010624420091052723,-0.011784754234053443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00035401283879424295,-0.001234023164197184,6.664550805773363e-05],"end_effector_yaw_offset_degrees":-0.1475804665178564},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010219164065573012,0.0007784686387052359,0.00026189620727731485],"end_effector_yaw_offset_degrees":0.08913507285204147},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001389702795864244,-0.0013715252663598228,0.00030801236376182565],"end_effector_yaw_offset_degrees":0.09738850185368553}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008746148110233779,-0.003506419853782894],"position_m":[0.2422746148110234,0.21949358014621712,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015269959190668233,-0.002683782824722403],"position_m":[0.17302699591906684,-0.1188837828247224,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002510533275050484,-0.004354415558508072],"position_m":[0.3400105332750505,0.06554558444149193,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003211510495264743,0.0009206354841580109],"position_m":[0.25448848950473524,-0.407279364515842,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6611add4925f7d3540889bdeb44e2b79d970087108d8f653445447b01ba53b1b","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0108.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7427/tex_ceiling_textures_9576/tex_floor_textures_6807/tex_table_textures_4439/tex_wall_textures_8421","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1828731449795582750,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1828731449795582750,"visual_seed":1828731449795582750,"scene_id":"lab_003","finished_at":"2026-09-03T11:54:19"} +{"episode_id":"ep_000087","started_at":"2026-09-03T11:54:22","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.5589721625937546,-2.500769723720937,0.71338606911949],"aabb_xy":[[-0.576402877672761,-2.518041838384787],[-0.541541447514748,-2.483497609057086]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.6610951634782081,1.3244288103569417,0.71338606911949],"aabb_xy":[[0.6235951631299801,1.3126374147758582],[0.6985951638264356,1.3362202059380253]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[0.05615748249989316,1.7392553724927118,0.71338606911949],"aabb_xy":[[0.046997603556016565,1.7327241544491747],[0.06531736144376976,1.7457865905362489]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.23720861884216354,-1.7358066701520316,0.71338606911949],"aabb_xy":[[-0.24729032592073702,-1.8158066680441463],[-0.22712691176359007,-1.655806672259917]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.7106850144322083,-1.960898116842046,0.71338606911949],"aabb_xy":[[0.7019870521414929,-1.9730230911495208],[0.7193829767229235,-1.9487731425345713]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.050036550102773525,-0.9423129979048743,0.71338606911949],"aabb_xy":[[0.027536549859258123,-0.9545176325646463],[0.07253655034628892,-0.9301083632451024]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.3021034692347531,0.661846612632428,0.71338606911949],"aabb_xy":[[-0.3391375786628128,0.6274694052987185],[-0.2650693598066933,0.6962238199661374]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.3711851093279479,-1.436072441141795,0.71338606911949],"aabb_xy":[[-0.44118511113669334,-1.4574262099059825],[-0.30118510751920247,-1.4147186723776077]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.3343309048564058,-1.245219879784533,0.71338606911949],"aabb_xy":[[-0.3430448739063402,-1.267719880443721],[-0.3256169358064712,-1.2227198791253446]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[-0.3414662921388607,1.5499067145149783,0.71338606911949],"aabb_xy":[[-0.39909676102613145,1.4899067155882675],[-0.2838358232515898,1.6099067134416885]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.18216700393533125,0.01942118635270873,0.71338606911949],"aabb_xy":[[-0.21646391495307182,-0.014875699857232642],[-0.14787009291759057,0.0537180725626501]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[0.25163657549581975,-0.6396398650094406,0.71338606911949],"aabb_xy":[[0.1876365782101711,-0.6811465839622846],[0.3156365727814684,-0.5981331460565966]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.3020930796624679,1.2509610232309183,0.71338606911949],"aabb_xy":[[0.25227630019763314,1.2009610247466147],[0.35190985912730266,1.3009610217152214]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.6107029375481602,-1.4267520038253818,0.71338606911949],"aabb_xy":[[-0.6907029378217671,-1.4997015516510983],[-0.5307029372745531,-1.3538024559996649]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.20124228578252296,1.6975965037558187,0.71338606911949],"aabb_xy":[[-0.20720882472325874,1.6916353590964546],[-0.19527574684178717,1.7035576484151829]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.3007229695803966,-0.5481668343296899,0.71338606911949],"aabb_xy":[[-0.3236386824654466,-0.5710711314661135],[-0.2778072566953468,-0.5252625371932665]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.5068069428423396,1.4581915824165441,0.71338606911949],"aabb_xy":[[0.489796845552289,1.4420570939182702],[0.5238170401323903,1.474326070914818]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.1515901836988507,-1.55614404695262,0.71338606911949],"aabb_xy":[[-0.21659018225592352,-1.5858965803665026],[-0.08659018514177785,-1.5263915135387374]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.4158826541503233,-1.6926100808153834,0.71338606911949],"aabb_xy":[[0.36640223293636454,-1.7566100787282355],[0.4653630753642821,-1.6286100829025318]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.15855097268204976,1.5673937656802814,0.71338606911949],"aabb_xy":[[0.12105097273828336,1.5591006756454449],[0.19605097262581617,1.575686855715118]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.6163262634420594,-1.3218500873010839,0.71338606911949],"aabb_xy":[[0.6081985752487462,-1.3307636957117916],[0.6244539516353727,-1.3129364788903766]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[-0.10832028796511528,0.23681273329314667,0.71338606911949],"aabb_xy":[[-0.15831956313355144,0.18681273201719953],[-0.05832101279667913,0.28681273456909384]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[-0.08001362747788077,-2.3031831843372608,0.71338606911949],"aabb_xy":[[-0.09188571048938188,-2.388183184030911],[-0.06814154446637966,-2.2181831846436104]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[0.5498078863680342,-1.8023341050065298,0.71338606911949],"aabb_xy":[[0.5248078872024011,-1.8092863507118861],[0.5748078855336674,-1.795381859301173]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[0.47647959103691506,1.2636968495044232,0.71338606911949],"aabb_xy":[[0.45398316960305096,1.2411968496976757],[0.49897601247077916,1.2861968493111706]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.49481843200262166,-1.0535593647857704,0.71338606911949],"aabb_xy":[[-0.5648184341340512,-1.0763213304114658],[-0.42481842987119206,-1.0307973991600745]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[-0.15704556940076997,1.2045124370651066,0.71338606911949],"aabb_xy":[[-0.16147619875561015,1.199064065330424],[-0.1526149400459298,1.209960808799789]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.36533077363282607,0.09468593365156819,0.71338606911949],"aabb_xy":[[-0.39033077290478835,0.07834057005540584],[-0.3403307743608638,0.11103129724773053]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[-0.5108599555786956,-0.07242711667889168,0.71338606911949],"aabb_xy":[[-0.5758599566846389,-0.09739248974701997],[-0.4458599544727523,-0.047461743610763385]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[-0.5887454227539248,0.2324783904667873,0.71338606911949],"aabb_xy":[[-0.6112454225678271,0.22800377409630665],[-0.5662454229400223,0.23695300683726803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7088313297995207,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2584.png","name":"2584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2584.png","name":"2584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5608.png","name":"5608"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8847.png","name":"8847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/771.png","name":"771"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3625.png","name":"3625"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":503.3207101560496,"rotation_z_degrees":97.30011041110932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007331835178580985,0.016197413000254537,-0.015605595389895224]},{"name":"camera_2","offset_m":[-0.016136563231576053,0.0012047032347929885,-0.00887453129653911]},{"name":"camera_3","offset_m":[0.01229517709552536,-0.019158339949510307,0.00569208994595085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001719612792762797,-0.00017717493578046548,0.0017126079483411206],"end_effector_yaw_offset_degrees":0.20191627702465564},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012839201996237603,0.0017462758204714389,0.0009268257696542896],"end_effector_yaw_offset_degrees":0.9434592278748097},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[9.748448384652546e-05,0.0007065454750891207,-0.00011257540018037079],"end_effector_yaw_offset_degrees":0.6746731854549819}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005354726865969351,-0.00289988561327144],"position_m":[0.24086452731340308,0.22010011438672855,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012704048333586895,-0.0019353316745633975],"position_m":[0.17022959516664132,-0.1181353316745634,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004000504207658515,0.004932375109052441],"position_m":[0.34150050420765854,0.07483237510905244,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029412891067361747,-0.0023554972823289057],"position_m":[0.2547587108932638,-0.41055549728232893,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e036631b53c3126b5873e109c61565a7ee0ae1de6732b18b7b1e89eb49414e3a","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0109.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2584/tex_ceiling_textures_3625/tex_floor_textures_771/tex_table_textures_5608/tex_wall_textures_8847","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4513452393673323155,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4513452393673323155,"visual_seed":4513452393673323155,"scene_id":"lab_003","finished_at":"2026-09-03T11:56:57"} +{"episode_id":"ep_000088","started_at":"2026-09-03T12:00:12","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.018938945161177445,1.7622993883140832,0.71338606911949],"aabb_xy":[[-0.041061055434838734,1.7074869157688597],[0.07893894575719362,1.8171118608593066]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.5784297686010544,-2.2247771065237743,0.71338606911949],"aabb_xy":[[0.5633274671400361,-2.2398786281548353],[0.5935320700620723,-2.2096755848927114]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.061505311769604276,-1.5299647493895878,0.71338606911949],"aabb_xy":[[-0.10863469077143993,-1.5939647504339896],[-0.014375932767768593,-1.4659647483451856]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.05785134152706284,-1.1767318743326707,0.71338606911949],"aabb_xy":[[0.022851341631043968,-1.1851061098446105],[0.09285134142308171,-1.1683576388207308]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[-0.34430260231076243,-2.521352593890834,0.71338606911949],"aabb_xy":[[-0.42430260338388276,-2.5311306402282185],[-0.2643026012376421,-2.5115745475534497]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.4697625167634262,1.458751798377873,0.71338606911949],"aabb_xy":[[-0.4947625166959441,1.45186913015695],[-0.44476251683090834,1.4656344665987966]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.3917632435756524,-0.2724728617803729,0.71338606911949],"aabb_xy":[[-0.4517632440835053,-0.32931959546629413],[-0.3317632430677995,-0.21562612809445156]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.07614672261875022,-1.1860227379613657,0.71338606911949],"aabb_xy":[[-0.086919696540118,-1.2210227361804047],[-0.06537374869738244,-1.1510227397423267]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.39989332897501273,-0.03296468257494434,0.71338606911949],"aabb_xy":[[-0.4373933291468846,-0.06566541795785152],[-0.36239332880314074,-0.0002639471920371436]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.47427914558636586,0.5740164652228401,0.71338606911949],"aabb_xy":[[-0.5042708083202361,0.5440164658860396],[-0.4442874828524955,0.6040164645596406]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.4309952335045062,-0.7237202259021671,0.71338606911949],"aabb_xy":[[0.40849523369060387,-0.7281948422726479],[0.45349523331840863,-0.7192456095316864]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.6179382319567719,-0.09018541058646612,0.71338606911949],"aabb_xy":[[0.5726596170756225,-0.1541854099346498],[0.663216846837921,-0.02618541123828244]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.4339367922800941,1.3484760703705394,0.71338606911949],"aabb_xy":[[0.4268953413293465,1.341449318632745],[0.44097824323084167,1.3555028221083338]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.5266194440140268,-1.607622058005558,0.71338606911949],"aabb_xy":[[-0.5765021408917231,-1.6576220572518328],[-0.47673674713633074,-1.5576220587592833]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.5763889560879571,-1.5999398606073023,0.71338606911949],"aabb_xy":[[0.5459908449888135,-1.6303467626089716],[0.6067870671871006,-1.5695329586056326]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[-0.2745895143940433,0.6285436255545567,0.71338606911949],"aabb_xy":[[-0.31560745778041416,0.5785436249235993],[-0.2335715710076724,0.678543626185514]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.569912506025336,0.674717707435442,0.71338606911949],"aabb_xy":[[0.5049125050682087,0.6227694955017363],[0.6349125069824632,0.7266659193691475]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.16576439647189112,-1.3689124232299115,0.71338606911949],"aabb_xy":[[0.09576439466314568,-1.3902661919940988],[0.23576439828063656,-1.347558654465724]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.26852875023870865,0.4026261913929807,0.71338606911949],"aabb_xy":[[-0.3097775612686233,0.34762619188076327],[-0.22727993920879389,0.4576261909051982]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.5256534860690835,1.3343215896039262,0.71338606911949],"aabb_xy":[[-0.5305527783756468,1.3066446703013572],[-0.5207541937625199,1.3619985089064948]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.5906007531081604,-2.4346387027921943,0.71338606911949],"aabb_xy":[[-0.5946789110152103,-2.438719683040458],[-0.5865225952011107,-2.4305577225439308]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.1766092491060247,-2.5525733070235828,0.71338606911949],"aabb_xy":[[0.15910924884668812,-2.5666648492123563],[0.1941092493653614,-2.538481764834811]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.41773742560647537,0.3895253675422099,0.71338606911949],"aabb_xy":[[-0.4320718507326389,0.37746515198767105],[-0.40340300048031197,0.40158558309674874]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[-0.0055589251004128926,1.3786391754584022,0.71338606911949],"aabb_xy":[[-0.09555892369488284,1.3623885891449812],[0.08444107349405705,1.3948897617718232]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.14872637167791602,-0.3119684146996944,0.71338606911949],"aabb_xy":[[-0.23872637535483412,-0.3734008212767987],[-0.0587263680009978,-0.25053600812258997]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.22987568129270386,-2.4445573514046033,0.71338606911949],"aabb_xy":[[0.22544505193786368,-2.450005723139286],[0.23430631064754404,-2.4391089796699212]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[-0.47081658969402607,-1.3975822192557281,0.71338606911949],"aabb_xy":[[-0.4877273221303678,-1.4110544248483425],[-0.45390585725768423,-1.3841100136631133]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.3648553396580298,-0.5034273354959189,0.71338606911949],"aabb_xy":[[-0.37401521860190645,-0.509958553539456],[-0.35569546071415326,-0.4968961174523819]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[-0.41169279464212527,-1.8488146231654787,0.71338606911949],"aabb_xy":[[-0.4816927980336872,-1.8841303968689098],[-0.34169279125056323,-1.813498849462048]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7052736848767408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4212.png","name":"4212"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4212.png","name":"4212"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9149.png","name":"9149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5729.png","name":"5729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7542.png","name":"7542"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8491.png","name":"8491"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.9190620110209,"rotation_z_degrees":282.7338955540382,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001004000062170888,0.018922750382507954,0.019460404981457635]},{"name":"camera_2","offset_m":[0.0025865030861364595,-0.013162964530270375,-0.017295045417232462]},{"name":"camera_3","offset_m":[-0.012058624656116712,-0.011379430250056274,-0.0005180650868629975]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00044183872607810493,0.0018278723800822425,-0.0018171789514229903],"end_effector_yaw_offset_degrees":0.6001883762712219},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006831543003936588,1.85095849928661e-05,0.001757438475677304],"end_effector_yaw_offset_degrees":-0.4104904877696829},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015815845541373545,0.00018322846071048855,0.0007973728497269474],"end_effector_yaw_offset_degrees":0.7059322803219077}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014866281418675995,-0.002500618682930158],"position_m":[0.2428866281418676,0.22049938131706984,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014991960808877847,-0.0012658507619274307],"position_m":[0.1729991960808878,-0.11746585076192743,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023593148198852464,-0.0036123776734247595],"position_m":[0.33514068518011475,0.06628762232657524,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036097654064258366,0.0028642259372698075],"position_m":[0.25409023459357416,-0.4053357740627302,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"56a169a53595bad4a87b26d2f3be5c89146802e090b38ef08d29a4590a594128","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4212/tex_ceiling_textures_8491/tex_floor_textures_7542/tex_table_textures_9149/tex_wall_textures_5729","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":8203246816983942751,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":8203246816983942751,"visual_seed":8203246816983942751,"scene_id":"lab_003","finished_at":"2026-09-03T12:02:55"} +{"episode_id":"ep_000089","started_at":"2026-09-03T12:04:24","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.6338613605487324,0.8956036545133759,0.71338606911949],"aabb_xy":[[-0.6507720929850741,0.8821314489207612],[-0.6169506281123905,0.9090758601059903]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.12607249212257754,0.9512291800027755,0.71338606911949],"aabb_xy":[[0.07608825641440031,0.90122918118928],[0.17605672783075477,1.001229178816271]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.6615875363080341,-1.3869069137776653,0.71338606911949],"aabb_xy":[[0.6439547007145066,-1.404529859793288],[0.6792203719015617,-1.369283967762042]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.48542397706534124,-1.5542348352535893,0.71338606911949],"aabb_xy":[[-0.4971921638599988,-1.6392348351588113],[-0.4736557902706838,-1.469234835348368]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.4064958790276487,1.5468215081285206,0.71338606911949],"aabb_xy":[[0.3973360000837722,1.5402902900849837],[0.4156557579715254,1.5533527261720579]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.21595580746319198,-1.4211295114954459,0.71338606911949],"aabb_xy":[[0.210623292808579,-1.4264538397406814],[0.22128832211780497,-1.4158051832502103]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.6757610176080919,-0.6016839933217926,0.71338606911949],"aabb_xy":[[-0.6931917326870983,-0.6189561079856433],[-0.6583303025290853,-0.5844118786579416]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.07266818379547135,-2.4704854599125143,0.71338606911949],"aabb_xy":[[-0.09178049115345022,-2.489620238789757],[-0.05355587643749249,-2.4513506810352728]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.4844940733302233,1.505771195220888,0.71338606911949],"aabb_xy":[[-0.4931920356209387,1.4936462209134131],[-0.47579611103950814,1.5178961695283628]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.10127611678934689,1.5983460399986824,0.71338606911949],"aabb_xy":[[0.0911231012351975,1.5622764984259419],[0.11142913234349625,1.6344155815714225]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.18254360350370158,-1.906457307589668,0.71338606911949],"aabb_xy":[[0.09254360490923166,-1.9227078939030888],[0.2725436020981715,-1.8902067212762468]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.4770793577240191,0.5856813915976264,0.71338606911949],"aabb_xy":[[0.45458022199779213,0.5631813908193635],[0.4995784934502461,0.6081813923758894]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.01877262779636113,-0.9285917853779209,0.71338606911949],"aabb_xy":[[-0.04328625189336699,-0.9528563786799572],[0.0057409963006447295,-0.9043271920758843]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.5332690148087227,-2.121660477373033,0.71338606911949],"aabb_xy":[[0.46926901246592106,-2.166601328617165],[0.5972690171515241,-2.0767196261289]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.6381223334236263,1.2614554976771415,0.71338606911949],"aabb_xy":[[0.5741223320156356,1.2096665461532166],[0.7021223348316169,1.313244449201066]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.47451470363866055,-1.5426402140424549,0.71338606911949],"aabb_xy":[[0.3845147039154863,-1.5657135665776347],[0.5645147033618346,-1.519566861507275]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.2327338439781565,-2.2635755872596435,0.71338606911949],"aabb_xy":[[-0.2825506234429913,-2.3135755857439464],[-0.18291706451332176,-2.2135755887753397]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.5821788465887202,-1.7825039005918906,0.71338606911949],"aabb_xy":[[-0.643769605812713,-1.8465038987009377],[-0.5205880873647274,-1.718503902482844]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.23657225588984254,-0.7946262260333061,0.71338606911949],"aabb_xy":[[0.20157225675988688,-0.8003714471089701],[0.2715722550197982,-0.7888810049576419]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[-0.24719732968016217,-0.5578697001061466,0.71338606911949],"aabb_xy":[[-0.29500349729393077,-0.6228697028132054],[-0.19939116206639346,-0.4928696973990875]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.0431525272403277,0.8954791558590611,0.71338606911949],"aabb_xy":[[-0.0656489486741918,0.8729791560523138],[-0.0206561058064636,0.9179791556658087]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.06890299095327035,1.5123642888923015,0.71338606911949],"aabb_xy":[[-0.12890299120467152,1.4580829638558368],[-0.008902990701869173,1.5666456139287661]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.6843922588730296,-1.0093459772824978,0.71338606911949],"aabb_xy":[[0.6804317751032952,-1.0170138418680184],[0.6883527426427639,-1.0016781126969772]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.3193019306610665,0.7576106981409554,0.71338606911949],"aabb_xy":[[0.3016263000724681,0.7399304818615525],[0.33697756124966477,0.775290914420358]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.1749475367886808,-2.413967858383087,0.71338606911949],"aabb_xy":[[0.10494753339711883,-2.4492836320865172],[0.24494754018024278,-2.3786520846796555]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[-0.6144745954600672,-0.9497691263959176,0.71338606911949],"aabb_xy":[[-0.6694678067972041,-1.0047691267347112],[-0.5594813841229306,-0.8947691260571241]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.08645507312532352,-0.7169324864798692,0.71338606911949],"aabb_xy":[[0.07330382715403416,-0.7419324862365557],[0.0996063190966129,-0.6919324867231826]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.2717687004057218,0.9191810685343249,0.71338606911949],"aabb_xy":[[-0.3517686974199698,0.8990465168609135],[-0.19176870339147384,0.9393156202077361]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_28","position":[-0.49045276100250546,-2.1808180738252383,0.71338606911949],"aabb_xy":[[-0.5129527605262127,-2.2033140212758586],[-0.467952761478798,-2.158322126374617]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_29","position":[-0.24943681639152138,-1.352191561509313,0.71338606911949],"aabb_xy":[[-0.26653889434988953,-1.369298367040583],[-0.23233473843315325,-1.3350847559780434]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_30","position":[0.06799963810313359,-2.074841727978261,0.71338606911949],"aabb_xy":[[0.04277880124329391,-2.1000654788311475],[0.09322047496297324,-2.0496179771253735]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_31","position":[-0.204714985439917,0.433464730448176,0.71338606911949],"aabb_xy":[[-0.21596004101053484,0.42222293272408074],[-0.19346992986929917,0.4447065281722713]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_32","position":[-0.012038856607882176,-2.339272228880525,0.71338606911949],"aabb_xy":[[-0.06703110724339313,-2.394272230623838],[0.04295339402762877,-2.2842722271372127]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_33","position":[-0.3152180878827267,0.29772655382420643,0.71338606911949],"aabb_xy":[[-0.3752180895256486,0.2457264045322623],[-0.2552180862398049,0.3497267031161507]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_34","position":[-0.1843488270851752,-1.2060933579925053,0.71338606911949],"aabb_xy":[[-0.221848825660796,-1.218829653656063],[-0.14684882850955439,-1.1933570623289471]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7073738272034636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3414.png","name":"3414"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3414.png","name":"3414"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7668.png","name":"7668"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7398.png","name":"7398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6489.png","name":"6489"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6305.png","name":"6305"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":675.6750968504496,"rotation_z_degrees":25.18281151941649,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007751703331315293,-0.0048916912521364125,-0.009667377876120016]},{"name":"camera_2","offset_m":[-0.005041009066472207,0.0050660804928507955,0.005932158919877674]},{"name":"camera_3","offset_m":[-0.00867454919857514,-0.007385075374659059,0.015020777146430072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002250299628591525,0.0010461658108490914,-0.0004996364630050802],"end_effector_yaw_offset_degrees":0.2884127500629221},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003642718337998384,0.0016705021732544862,-0.0006751848906946024],"end_effector_yaw_offset_degrees":0.2896241741590768},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006290898642994983,-0.001484052253671356,0.001089542294495653],"end_effector_yaw_offset_degrees":0.5213041664701363}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013462599151638456,0.0024298248437093816],"position_m":[0.24274625991516385,0.22542982484370938,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003229453729509662,0.002383129127114942],"position_m":[0.17472945372950968,-0.11381687087288506,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003693443877891842,0.004415798004300233],"position_m":[0.3378693443877892,0.07431579800430024,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033994151845842405,-0.00048196043702276],"position_m":[0.25430058481541573,-0.40868196043702276,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4b1d50ce0af6e7b6d7c5ea7da577acae49ef350409aa6b08b07c24b164908350","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0113.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3414/tex_ceiling_textures_6305/tex_floor_textures_6489/tex_table_textures_7668/tex_wall_textures_7398","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4916318817150554994,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4916318817150554994,"visual_seed":4916318817150554994,"scene_id":"lab_003","finished_at":"2026-09-03T12:07:00"} +{"episode_id":"ep_000090","started_at":"2026-09-03T12:10:01","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.13672454989544391,-2.004564810732325,0.71338606911949],"aabb_xy":[[-0.16669210680526958,-2.0345648110302106],[-0.10675699298561825,-1.9745648104344393]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.4451918993955921,-1.9239147324399926,0.71338606911949],"aabb_xy":[[0.42912997193707436,-2.008914734252584],[0.46125382685410965,-1.8389147306274005]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.024741865399061314,-2.1892783734062236,0.71338606911949],"aabb_xy":[[-0.02042945244910766,-2.253278370550762],[0.0699131832472303,-2.125278376261685]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[0.631855207079935,-1.0835940319786783,0.71338606911949],"aabb_xy":[[0.6167529056189167,-1.0986955536097396],[0.6469575085409529,-1.0684925103476162]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[-0.13095592358280883,-0.9791011443162903,0.71338606911949],"aabb_xy":[[-0.18094903569200074,-1.029101144990486],[-0.08096281147361696,-0.9291011436420947]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.1583410865211652,-1.3518841238568169,0.71338606911949],"aabb_xy":[[-0.17862538924456392,-1.3721667489995255],[-0.1380567837977664,-1.3316014987141078]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.48915118880171504,-0.4203976415303341,0.71338606911949],"aabb_xy":[[0.42415118616392156,-0.4718772402297811],[0.5541511914395085,-0.3689180428308872]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.021347150593899356,1.4280896097846179,0.71338606911949],"aabb_xy":[[-0.04265285010956999,1.3820712273116968],[0.08534715129736871,1.4741079922575389]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.16637729035761006,1.5966776685802553,0.71338606911949],"aabb_xy":[[0.14008846603716937,1.5704062349256036],[0.1926661146780507,1.622949102234906]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.3116116497322554,-1.8190304241138926,0.71338606911949],"aabb_xy":[[-0.34911165052425086,-1.8253982650720828],[-0.27411164894025997,-1.8126625831557024]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.31988227251355017,-2.230771612639094,0.71338606911949],"aabb_xy":[[0.28238227240795716,-2.2375937744920753],[0.35738227261914307,-2.2239494507861126]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.658774724608026,-2.2243389635769257,0.71338606911949],"aabb_xy":[[0.6548608514126034,-2.2330879789834825],[0.6626885978034484,-2.215589948170369]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.05754933759705105,-1.3561525608472151,0.71338606911949],"aabb_xy":[[0.035050201870824076,-1.3786525616254781],[0.08004847332327802,-1.3336525600689522]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.16720716126900015,1.3285647361278414,0.71338606911949],"aabb_xy":[[-0.2172064364374363,1.2785647348518943],[-0.11720788610056398,1.3785647374037886]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.6101457246084929,0.047265964780846215,0.71338606911949],"aabb_xy":[[0.5301457266277079,0.03966442381899426],[0.690145722589278,0.05486750574269816]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.36920482843233987,-1.7367641178874123,0.71338606911949],"aabb_xy":[[-0.4067048290969185,-1.752451175887634],[-0.3317048277677611,-1.7210770598871896]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.40932227284613254,1.4552937204086915,0.71338606911949],"aabb_xy":[[0.4038643272091125,1.3752937171010324],[0.4147802184831526,1.5352937237163506]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.6124169204490857,0.7573881832920892,0.71338606911949],"aabb_xy":[[0.5508261612250929,0.6933881851830425],[0.6740076796730785,0.8213881814011362]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.1768489888813094,-1.3665856283566835,0.71338606911949],"aabb_xy":[[0.1217237832517186,-1.4265856297979702],[0.23197419451090015,-1.306585626915396]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.3304146446327113,0.32000505062012996,0.71338606911949],"aabb_xy":[[-0.33599631626684,0.30750505080235446],[-0.3248329729985825,0.33250505043790546]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[-0.5911742251799798,-2.448186134381143,0.71338606911949],"aabb_xy":[[-0.6086742243143468,-2.4580657614187307],[-0.5736742260456125,-2.438306507343555]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.6153148479819828,1.6787551727964067,0.71338606911949],"aabb_xy":[[-0.6202141402885462,1.6510782534938377],[-0.6104155556754192,1.7064320920989753]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.5414782120199964,-0.7397915579526706,0.71338606911949],"aabb_xy":[[0.5310666533395125,-0.745137291288569],[0.55188977070048,-0.734445824616772]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[0.21080060442693305,0.6887472906252974,0.71338606911949],"aabb_xy":[[0.20353935685652566,0.6759602803617879],[0.2180618519973405,0.7015343008888069]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[-0.08738292716028817,-1.7916844485534997,0.71338606911949],"aabb_xy":[[-0.17738292389589838,-1.8448679118707942],[0.0026170695753220397,-1.7385009852362052]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[0.5398861470351124,0.88368760681406,0.71338606911949],"aabb_xy":[[0.5339196080943767,0.877726462154696],[0.5458526859758481,0.889648751473424]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[-0.43722955606203484,-0.5618858867164525,0.71338606911949],"aabb_xy":[[-0.44738257161618405,-0.5979554282891927],[-0.4270765405078853,-0.525816345143712]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[-0.46999584879408873,-1.5143406205279664,0.71338606911949],"aabb_xy":[[-0.4772781651707524,-1.604340624137475],[-0.4627135324174251,-1.424340616918457]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[-0.588975182849429,-1.7264343917921776,0.71338606911949],"aabb_xy":[[-0.600907917211257,-1.738816544600037],[-0.5770424484876009,-1.7140522389843182]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[-0.3550971225433884,-2.4129599301681717,0.71338606911949],"aabb_xy":[[-0.41007084457972126,-2.467959929732405],[-0.3001234005070555,-2.3579599306039385]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[0.2847128565622863,1.7822992593871185,0.71338606911949],"aabb_xy":[[0.2676107786039182,1.7651924538558488],[0.3018149345206545,1.7994060649183883]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_31","position":[0.4366001572945162,1.1993276424954176,0.71338606911949],"aabb_xy":[[0.4328968959653772,1.1956256241866994],[0.440303418623655,1.2030296608041349]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_32","position":[-0.025532039307470722,0.39524908391528957,0.71338606911949],"aabb_xy":[[-0.0363050132288385,0.3602490856962506],[-0.014759065386102943,0.43024908213432855]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_33","position":[-0.4705704525716927,0.8439956374189341,0.71338606911949],"aabb_xy":[[-0.5205704512176138,0.7940760937594717],[-0.4205704539257714,0.8939151810783965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7044956149820448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9988.png","name":"9988"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2169.png","name":"2169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6671.png","name":"6671"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":506.55706321868354,"rotation_z_degrees":347.7731376282703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015971808212589443,-0.014871879863875486,0.014698339265693378]},{"name":"camera_2","offset_m":[-0.018382560366552447,0.005014361807266946,-0.0005041333169569576]},{"name":"camera_3","offset_m":[-0.007257157686428659,0.0049130495143948905,0.017903321938166687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018914497314279557,0.001449019972528063,-0.0018388708638640012],"end_effector_yaw_offset_degrees":-0.22664672574496647},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015348894990732745,-0.0003305555580658925,0.0010588761048825912],"end_effector_yaw_offset_degrees":0.09586651613828079},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018756310057160114,0.0009249561430397777,-0.001759534442221131],"end_effector_yaw_offset_degrees":0.08975891120979118}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022517272225143128,-0.004633684349162574],"position_m":[0.24365172722251432,0.21836631565083742,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026188816555856543,0.002520596403009733],"position_m":[0.17411888165558567,-0.11367940359699026,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015271179740806943,0.002694074270872469],"position_m":[0.3390271179740807,0.07259407427087247,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003128201305274253,0.004908397358932831],"position_m":[0.25457179869472574,-0.40329160264106717,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"55378717680487d8655f1dbec0484426573a65f87b13129f8f9ae7a016b9fc51","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0115.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7827/tex_ceiling_textures_4095/tex_floor_textures_6671/tex_table_textures_9988/tex_wall_textures_2169","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4264460851908005198,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4264460851908005198,"visual_seed":4264460851908005198,"scene_id":"lab_003","finished_at":"2026-09-03T12:12:36"} +{"episode_id":"ep_000091","started_at":"2026-09-03T12:14:04","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.12161450883302627,-0.8805614489038873,0.71338606911949],"aabb_xy":[[-0.12923877692320454,-0.8881946724404313],[-0.11399024074284805,-0.8729282253673438]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.25763442767064004,1.4529342800386877,0.71338606911949],"aabb_xy":[[0.2537205544752175,1.4441852646321307],[0.26154830086606257,1.4616832954452443]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.6314214812063033,-1.2462485125254867,0.71338606911949],"aabb_xy":[[0.6062006443464635,-1.2714722633783733],[0.6566423180661428,-1.2210247616725998]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.18065252408086163,1.7574919972479504,0.71338606911949],"aabb_xy":[[0.1581877541094565,1.7349919963690899],[0.20311729405226675,1.7799919981268109]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.06591584140070517,-0.5407299534518764,0.71338606911949],"aabb_xy":[[-0.10091584059352342,-0.5516969994495389],[-0.030915842207886887,-0.5297629074542136]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.30430189436998745,0.38140211647231936,0.71338606911949],"aabb_xy":[[-0.3643018949660037,0.3265896439270959],[-0.24430189377397132,0.43621458901754284]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.3345935324283761,0.9680473767183897,0.71338606911949],"aabb_xy":[[-0.3454993085159388,0.8880473803195607],[-0.32368775634081337,1.0480473731172189]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[0.4485746467709759,-1.4414065758015357,0.71338606911949],"aabb_xy":[[0.36857464975672793,-1.4615411274749468],[0.5285746437852239,-1.4212720241281243]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.4540731888427527,0.09418062539495109,0.71338606911949],"aabb_xy":[[-0.4840407457525784,0.06418062509706533],[-0.42410563193292705,0.12418062569283682]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.15962899647668127,-2.4238128974497437,0.71338606911949],"aabb_xy":[[-0.22362899673715209,-2.4688216968026717],[-0.09562899621621047,-2.3788040980968157]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.31055114879355283,-1.2620007866858594,0.71338606911949],"aabb_xy":[[0.26055114777441757,-1.2984670024236873],[0.3605511498126881,-1.2255345709480314]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.5184016662692978,-2.3702831406128424,0.71338606911949],"aabb_xy":[[0.4938554506465472,-2.4005320371618795],[0.5429478818920486,-2.3400342440638053]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.018505401014343503,0.8306283381988178,0.71338606911949],"aabb_xy":[[0.011465091080806513,0.7506283387991467],[0.025545710947880503,0.9106283375984895]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.014098239826521253,-1.2217629943173764,0.71338606911949],"aabb_xy":[[-0.0005451657275117334,-1.2364217139741605],[0.028741645380554237,-1.207104274660592]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.14517594855781613,-0.09008961349482547,0.71338606911949],"aabb_xy":[[-0.2151759506892456,-0.11285157912052111],[-0.07517594642638653,-0.0673276478691298]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.1507775422926878,-1.1274223318550898,0.71338606911949],"aabb_xy":[[0.12828112085882368,-1.1499223316618372],[0.17327396372655188,-1.1049223320483423]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.26205187396341423,-2.038794669959384,0.71338606911949],"aabb_xy":[[-0.2995518747554096,-2.045162510917574],[-0.22455187317141873,-2.0324268290011935]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.4704850623994299,-0.30337793709920113,0.71338606911949],"aabb_xy":[[0.43298506190207164,-0.30734662064731955],[0.5079850628967881,-0.2994092535510827]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[-0.46502857528890895,0.48661086087796734,0.71338606911949],"aabb_xy":[[-0.46916443162160915,0.44911086143361034],[-0.46089271895620876,0.5241108603223243]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.21112599818384548,1.226397808761933,0.71338606911949],"aabb_xy":[[0.1848371738634048,1.2001263751072815],[0.23741482250428614,1.252669242416584]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.3407495966312794,1.6857515074379843,0.71338606911949],"aabb_xy":[[-0.4023403558552723,1.6217515093289376],[-0.27915883740728664,1.7497515055470314]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.6281917749011516,-0.2548558719054892,0.71338606911949],"aabb_xy":[[0.6147452482671083,-0.2683257235585804],[0.641638301535195,-0.24138602025239797]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.5508796892056913,-0.8604293511530481,0.71338606911949],"aabb_xy":[[-0.5569167022063561,-0.8664560522219964],[-0.5448426762050267,-0.8544026500841]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.0366526338952069,-0.8683048397836837,0.71338606911949],"aabb_xy":[[-0.0475042401440825,-0.8791641305113347],[-0.025801027646331298,-0.8574455490560327]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[-0.1342689388122006,-1.7131756021634859,0.71338606911949],"aabb_xy":[[-0.15676893882234888,-1.7272718218030891],[-0.1117689388020523,-1.6990793825238826]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.42887590665998565,1.6618714841613147,0.71338606911949],"aabb_xy":[[0.4184643479795019,1.6565257508254159],[0.4392874653404693,1.6672172174972126]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.4459726871264804,0.8809436102404105,0.71338606911949],"aabb_xy":[[0.4240640049871293,0.8590429434203195],[0.4678813692658314,0.902844277060501]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7124997934429844,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7774.png","name":"7774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7774.png","name":"7774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7639.png","name":"7639"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6024.png","name":"6024"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6069.png","name":"6069"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7337.png","name":"7337"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":818.8201046101454,"rotation_z_degrees":347.65508348678526,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017882678733807247,0.017812266038303954,0.006384078987733077]},{"name":"camera_2","offset_m":[0.01058466745662525,0.016645254466441824,0.018548154558975762]},{"name":"camera_3","offset_m":[0.009589467482606761,-0.009536079014285935,0.007835159965647896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.263543413804074e-05,0.001466654571157612,-0.0014161872996016713],"end_effector_yaw_offset_degrees":0.7154806966409832},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00043380289766067697,0.0006069126115776659,-0.00027324996576107803],"end_effector_yaw_offset_degrees":0.05115023704802302},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004956675514617456,0.00020086535524495427,1.3120051340834507e-05],"end_effector_yaw_offset_degrees":-0.3966169266894617}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001370517227776166,0.0029547453280103506],"position_m":[0.24277051722777618,0.22595474532801035,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00022639499167016828,0.004287511074824381],"position_m":[0.17127360500832983,-0.11191248892517562,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003744685783625179,2.424428096233812e-06],"position_m":[0.3412446857836252,0.06990242442809624,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021933416266363623,-0.0014458841730258512],"position_m":[0.25989334162663635,-0.40964588417302583,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"23b0bb43b7d5eccd44b538238e40ed9353caf33bdb443df36a28f594b41d324a","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0117.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7774/tex_ceiling_textures_7337/tex_floor_textures_6069/tex_table_textures_7639/tex_wall_textures_6024","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6598238759945674408,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6598238759945674408,"visual_seed":6598238759945674408,"scene_id":"lab_003","finished_at":"2026-09-03T12:16:52"} +{"episode_id":"ep_000092","started_at":"2026-09-03T12:16:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.31979297334596213,-2.4497987013689313,0.71338606911949],"aabb_xy":[[0.28939486224681854,-2.480205603370601],[0.3501910844451057,-2.419391799367262]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.160595437140427,-0.5719286202984541,0.71338606911949],"aabb_xy":[[-0.17809543739976363,-0.5860201624872269],[-0.1430954368810904,-0.5578370781096816]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.4848814221543838,0.3545040961738928,0.71338606911949],"aabb_xy":[[0.4615995799562524,0.2695040948766647],[0.508163264352515,0.43950409747112085]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.5305025975148234,-1.2154314906990056,0.71338606911949],"aabb_xy":[[0.5130025972697739,-1.2329312785385722],[0.5480025977598727,-1.1979317028594385]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.44428583349783723,-1.36934020907697,0.71338606911949],"aabb_xy":[[0.38269507427384447,-1.433340207186017],[0.50587659272183,-1.3053402109679233]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[-0.2485871511778075,0.8059262921012968,0.71338606911949],"aabb_xy":[[-0.2594929272653702,0.7259262957024677],[-0.23768137509024476,0.885926288500126]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.6080267953785314,-1.892944789720896,0.71338606911949],"aabb_xy":[[-0.6404884962604588,-1.9230776218357981],[-0.5755650944966039,-1.862811957605993]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.004311254766891315,-1.9917958000538387,0.71338606911949],"aabb_xy":[[-0.008839991204398047,-2.016795799810526],[0.01746250073818068,-1.9667958002971526]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.20935185048118599,-2.33787615686692,0.71338606911949],"aabb_xy":[[0.11935185075801179,-2.3609495094020994],[0.2993518502043601,-2.3148028043317397]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.1466096099910027,-0.4179999569837438,0.71338606911949],"aabb_xy":[[-0.18092588716562064,-0.4679999569569216],[-0.11229333281638476,-0.36799995701056615]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.5349690825655815,0.643759699763137,0.71338606911949],"aabb_xy":[[0.5066393726170413,0.63929895756942],[0.5632987925141217,0.6482204419568541]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.6438033690905131,-1.4900309564506438,0.71338606911949],"aabb_xy":[[-0.658905670551531,-1.5051324780817052],[-0.6287010676294948,-1.4749294348195818]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.13120589114587822,-1.7662120153805838,0.71338606911949],"aabb_xy":[[0.10620589187391592,-1.782557378976746],[0.15620589041784047,-1.7498666517844212]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.6512573270856932,0.7005407111973838,0.71338606911949],"aabb_xy":[[0.6398955924324069,0.6891722447910956],[0.6626190617389792,0.7119091776036718]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.26275070960859565,-0.3722562191951253,0.71338606911949],"aabb_xy":[[-0.2972130570067374,-0.40675010159294794],[-0.22828836221045382,-0.33776233679730255]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.4626263533808579,-0.8932064037481842,0.71338606911949],"aabb_xy":[[0.4204419392200272,-0.9572064040253955],[0.5048107675416886,-0.8292064034709731]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.11759481120865223,1.008357114272182,0.71338606911949],"aabb_xy":[[-0.12409644771665686,0.9985892922458726],[-0.11109317470064763,1.018124936298492]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.4172397976085691,-1.2355187363911693,0.71338606911949],"aabb_xy":[[0.39477502763716404,-1.2580187372700298],[0.4397045675799743,-1.2130187355123088]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.040615844842651794,-2.2039476580809603,0.71338606911949],"aabb_xy":[[-0.07561584473867065,-2.2123218935929],[-0.005615844946632919,-2.1955734225690198]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[-0.5757089121753414,1.6554462124695877,0.71338606911949],"aabb_xy":[[-0.5874770989699989,1.5704462125643663],[-0.5639407253806838,1.7404462123748095]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.19425743791594008,-1.428239993427477,0.71338606911949],"aabb_xy":[[-0.24923115995227296,-1.4832399929917104],[-0.1392837158796072,-1.373239993863244]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.14116342319110253,0.6192453023047682,0.71338606911949],"aabb_xy":[[-0.20116342483402438,0.5672451530128239],[-0.08116342154818068,0.6712454515967122]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.4654274232623228,1.1789477087432179,0.71338606911949],"aabb_xy":[[0.4354598663524971,1.148947708445332],[0.49539498017214845,1.2089477090411034]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[0.56586043821144,-1.790938175853186,0.71338606911949],"aabb_xy":[[0.5008604355736466,-1.8424177745526331],[0.6308604408492335,-1.7394585771537392]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.4292289543054277,-2.191993957835236,0.71338606911949],"aabb_xy":[[-0.44665966938443413,-2.2092660724990867],[-0.4117982392264211,-2.1747218431713846]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.18659841922067144,0.9044781608994419,0.71338606911949],"aabb_xy":[[0.18263793545093704,0.8968102963139212],[0.1905589029904058,0.9121460254849624]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.6718446591362498,-0.3504221461537522,0.71338606911949],"aabb_xy":[[-0.687007532113187,-0.36558760344887103],[-0.6566817861593128,-0.3352566888586335]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_27","position":[-0.16172451505940355,-1.9200030870537117,0.71338606911949],"aabb_xy":[[-0.20671710177785396,-1.9650030863281605],[-0.11673192834095314,-1.875003087779263]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_28","position":[0.19439063301089043,1.6256218580076758,0.71338606911949],"aabb_xy":[[0.1043906293339722,1.5641894514305712],[0.2843906366878085,1.68705426458478]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[0.2991586099972521,1.3511086053485504,0.71338606911949],"aabb_xy":[[0.2441586108206626,1.2961189305735925],[0.35415860917384157,1.4060982801235078]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[-0.2807550583198756,-0.7126574904786103,0.71338606911949],"aabb_xy":[[-0.33075433348831174,-0.7626574917545574],[-0.2307557831514394,-0.6626574892026631]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_31","position":[0.018766373553882998,-0.7426772954993317,0.71338606911949],"aabb_xy":[[-0.0057472505431228615,-0.766941888801368],[0.04327999765088886,-0.7184127021972951]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[-0.44071842135511385,-0.7767919184723935,0.71338606911949],"aabb_xy":[[-0.47419758861615485,-0.8102710318435005],[-0.40723925409407297,-0.7433128051012865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100436494407255,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8705.png","name":"8705"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8705.png","name":"8705"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/218.png","name":"218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1633.png","name":"1633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3361.png","name":"3361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1877.png","name":"1877"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":683.072700130301,"rotation_z_degrees":330.100609089299,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018071380991404446,0.015122334430519347,-0.019821992973271363]},{"name":"camera_2","offset_m":[0.007451007769838661,0.006756209513036519,0.01888547826652732]},{"name":"camera_3","offset_m":[0.013320403506700964,0.007077150312458189,-0.005527857844110194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008985286824281535,-0.0005050497371381208,-0.001318684168277739],"end_effector_yaw_offset_degrees":0.3597652180453226},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001208683096123789,-0.0001672077504889563,-0.0005368171505135075],"end_effector_yaw_offset_degrees":-0.6887095979240281},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007052201777302996,-0.0012270828732604384,0.0005830814813137589],"end_effector_yaw_offset_degrees":-0.6512201918049794}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018402326137200542,0.0017633803056075602],"position_m":[0.23955976738627996,0.22476338030560755,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016215441764272443,-0.003495512282160912],"position_m":[0.16987845582357278,-0.11969551228216091,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001557488603905078,-0.002222718044525387],"position_m":[0.3376557488603905,0.06767728195547462,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019863434548330217,-0.003104562665957977],"position_m":[0.255713656545167,-0.411304562665958,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c71585fff23dbd87fe32bf1290702dd4261fa77729c8ecf62dae0312534b5846","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0118.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8705/tex_ceiling_textures_1877/tex_floor_textures_3361/tex_table_textures_218/tex_wall_textures_1633","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4756383509163858805,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4756383509163858805,"visual_seed":4756383509163858805,"scene_id":"lab_003","finished_at":"2026-09-03T12:19:38"} +{"episode_id":"ep_000093","started_at":"2026-09-03T12:19:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.2212182349886046,1.0766595291494196,0.71338606911949],"aabb_xy":[[0.20997317941798677,1.0654177314253241],[0.23246329055922244,1.0879013268735147]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.09426545698121314,-1.7526604172094644,0.71338606911949],"aabb_xy":[[-0.18426545557568308,-1.7689110035228854],[-0.004265458386743207,-1.7364098308960434]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.2879074988587884,-2.2552858062108823,0.71338606911949],"aabb_xy":[[-0.2972545064410837,-2.2695894284285263],[-0.27856049127649324,-2.2409821839932382]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.28491966607405217,1.0613840010326134,0.71338606911949],"aabb_xy":[[-0.3173813669559795,1.0312511689177106],[-0.2524579651921246,1.0915168331475158]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.10614013118312682,1.705385250948432,0.71338606911949],"aabb_xy":[[-0.17014013047729504,1.6413991105795775],[-0.0421401318889586,1.769371391317286]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.23371201648544981,-1.178875762655447,0.71338606911949],"aabb_xy":[[-0.23974902948611457,-1.184902463724395],[-0.22767500348478512,-1.1728490615864988]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.2721767910608533,1.2532523870667114,0.71338606911949],"aabb_xy":[[-0.28477949019792975,1.240656990841846],[-0.25957409192377684,1.265847783291577]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.5254473072979413,-1.735741013253194,0.71338606911949],"aabb_xy":[[0.5084372100078905,-1.751875501751468],[0.5424574045879919,-1.7196065247549202]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.004779779580098675,1.3613725366956606,0.71338606911949],"aabb_xy":[[-0.025211883153771653,1.3313725373588599],[0.034771442313969,1.391372536032461]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.6119266758955098,-2.453403350694495,0.71338606911949],"aabb_xy":[[0.607810725783437,-2.45751890572734],[0.6160426260075823,-2.449287795661649]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.23353720879996098,-1.0475178237254572,0.71338606911949],"aabb_xy":[[0.15353720663719847,-1.1274730073516006],[0.31353721096272347,-0.9675626400993134]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.4891957692921162,1.6775560898115454,0.71338606911949],"aabb_xy":[[-0.49409506159867966,1.6498791705089761],[-0.48429647698555267,1.7052330091141137]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[0.36651296683128076,-1.6361271323942512,0.71338606911949],"aabb_xy":[[0.3025129661278115,-1.6821455148671722],[0.4305129675347502,-1.5901087499213302]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.08704884129319468,0.5702184632802654,0.71338606911949],"aabb_xy":[[-0.15104883857884333,0.5287117443274214],[-0.023048844007546018,0.6117251822331093]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.4375877924941416,0.9468693175282943,0.71338606911949],"aabb_xy":[[0.43149316460602327,0.9382999229766256],[0.4436824203822599,0.955438712079963]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.5143511341609086,-0.4239543916330333,0.71338606911949],"aabb_xy":[[0.4593588835253978,-0.47895439337634604],[0.5693433847964197,-0.36895438988972046]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.14088476245060833,1.2563005908630025,0.71338606911949],"aabb_xy":[[-0.17738058307788707,1.219816648436245],[-0.10438894182332958,1.29278453328976]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.10738440772801705,-2.079533352201515,0.71338606911949],"aabb_xy":[[-0.12061535326269833,-2.0927607712235146],[-0.09415346219333574,-2.0663059331795157]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.13324188669848247,-2.388950235200062,0.71338606911949],"aabb_xy":[[-0.21324188996249557,-2.4025102675089753],[-0.05324188343446931,-2.3753902028911487]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.6138047905359815,-0.4197505699725217,0.71338606911949],"aabb_xy":[[-0.6245777644573492,-0.4547505681915606],[-0.6030318166146137,-0.38475057175348265]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.45919601937600973,-0.2698691142918772,0.71338606911949],"aabb_xy":[[-0.5143212250056004,-0.3298691157331643],[-0.4040708137464189,-0.20986911285059004]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.24105761972482143,-1.3654553509430867,0.71338606911949],"aabb_xy":[[-0.3050576188945913,-1.4122220380620492],[-0.17705762055505145,-1.3186886638241242]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.22358687109072006,-0.34077996186809534,0.71338606911949],"aabb_xy":[[-0.2835868727336419,-0.3927801111600395],[-0.16358686944779824,-0.28877981257615115]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.2980686446557488,-0.8070777052083509,0.71338606911949],"aabb_xy":[[-0.320582336479206,-0.8770777058093584],[-0.2755549528322916,-0.7370777046073433]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[0.13518917809600406,-1.3597711684797276,0.71338606911949],"aabb_xy":[[0.12973123245898396,-1.4397711717873865],[0.1406471237330241,-1.2797711651720682]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[0.6878397897296942,-1.9676442315706189,0.71338606911949],"aabb_xy":[[0.6798462999344123,-1.975642363511095],[0.6958332795249763,-1.9596460996301437]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_26","position":[0.6299200803630838,1.5114393673863877,0.71338606911949],"aabb_xy":[[0.5659200839675106,1.4474760789676542],[0.6939200767586567,1.5754026558051213]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[0.6883433462835686,-1.1161413041221342,0.71338606911949],"aabb_xy":[[0.6540270691089507,-1.166141304095312],[0.7226596234581866,-1.0661413041489565]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7059515306355597,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9103.png","name":"9103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/587.png","name":"587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.7628869943485,"rotation_z_degrees":322.8175091698959,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01428870934617815,-0.00389631966530838,0.008951740522368974]},{"name":"camera_2","offset_m":[-0.009003951002566377,0.018148803040073023,-0.018991897419712023]},{"name":"camera_3","offset_m":[-0.016580257617333265,-0.011702214665817818,0.014572073904003637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013925963662642293,0.0012013586395189903,-0.0016768657384194183],"end_effector_yaw_offset_degrees":-0.07954688844659707},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018298705076854503,-0.0005423521844340829,-0.0005604500503880443],"end_effector_yaw_offset_degrees":0.34355554974326674},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00047860111068116296,0.0015601877297190428,-0.00026719005683076475],"end_effector_yaw_offset_degrees":-0.5724527045150547}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00023739091283881547,-0.0024660151926175424],"position_m":[0.2416373909128388,0.22053398480738245,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018723216444652283,0.003920000128265951],"position_m":[0.17337232164446525,-0.11227999987173405,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010182158820282727,0.0015533531731532204],"position_m":[0.3385182158820283,0.07145335317315323,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018544106012281657,0.004189604516238356],"position_m":[0.25584558939877183,-0.40401039548376166,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"14c951a8fa9dcb43f5c049af8f2865eb6ccbf36a1ab27ebe636e31c5051eec36","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0119.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5405/tex_ceiling_textures_3592/tex_floor_textures_587/tex_table_textures_1147/tex_wall_textures_9103","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6948951139000059076,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6948951139000059076,"visual_seed":6948951139000059076,"scene_id":"lab_003","finished_at":"2026-09-03T12:22:21"} +{"episode_id":"ep_000094","started_at":"2026-09-03T12:22:23","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.5733850183705325,-0.1324783528580813,0.71338606911949],"aabb_xy":[[-0.6233850197314196,-0.18245625743349692],[-0.5233850170096451,-0.08250044828266569]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.26478629331482145,1.059954761938156,0.71338606911949],"aabb_xy":[[-0.27356752046205773,1.051175014649626],[-0.2560050661675853,1.0687345092266864]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.624716338404374,0.8474269309338669,0.71338606911949],"aabb_xy":[[-0.647212759838238,0.8249269311271195],[-0.6022199169705098,0.8699269307406143]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.11669145521958169,1.460192193853254,0.71338606911949],"aabb_xy":[[0.03669145820533369,1.4400576421798426],[0.19669145223382967,1.480326745526665]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.6782197370122274,-1.0763419245111594,0.71338606911949],"aabb_xy":[[0.6701934663816015,-1.085093419488512],[0.6862460076428535,-1.0675904295338068]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.5970882641363751,1.0998044499652697,0.71338606911949],"aabb_xy":[[0.5876707895665123,1.0903882728275507],[0.6065057387062378,1.1092206271029887]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.4850534404295386,1.1303338548745328,0.71338606911949],"aabb_xy":[[-0.49375140272025386,1.1182088805670582],[-0.4763554781388233,1.1424588291820077]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.5451212430557903,-0.10473304389173865,0.71338606911949],"aabb_xy":[[0.5205750274330396,-0.13498194044077572],[0.5696674586785411,-0.07448414734270159]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.1369185115701217,-0.7558349533895017,0.71338606911949],"aabb_xy":[[0.07291850989212434,-0.8043523448688159],[0.20091851324811905,-0.7073175619101875]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[-0.46082796079014815,0.7835491993610746,0.71338606911949],"aabb_xy":[[-0.483743673675198,0.7606449022246512],[-0.4379122479050982,0.8064534964974982]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.3367098586177957,-1.8568493516412041,0.71338606911949],"aabb_xy":[[0.3131247351539008,-1.9218493538866361],[0.36029498208169053,-1.7918493493957726]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.262406030058544,0.9381425471796989,0.71338606911949],"aabb_xy":[[0.22740603016252517,0.9297683116677589],[0.2974060299545629,0.9465167826916387]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.6136573813874816,-2.420779533426636,0.71338606911949],"aabb_xy":[[-0.6196943943881464,-2.4268062344955843],[-0.607620368386817,-2.414752832357688]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.37066526084602525,-0.8928546484827995,0.71338606911949],"aabb_xy":[[0.3106652609994584,-0.9496732706758381],[0.430665260692592,-0.8360360262897607]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.6723493107904506,0.06108400150581961,0.71338606911949],"aabb_xy":[[0.6545558038555341,0.04328425591002195],[0.690142817725367,0.07888374710161727]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.31238432226758567,1.180797066966361,0.71338606911949],"aabb_xy":[[-0.37001479115485647,1.12079706803965],[-0.25475385338031475,1.2407970658930711]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.08149755265783498,0.5773249964221963,0.71338606911949],"aabb_xy":[[-0.14549755457017732,0.5214138471641858],[-0.01749755074549264,0.6332361456802067]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.01923600700082473,-2.4946691364093674,0.71338606911949],"aabb_xy":[[-0.03433830846184281,-2.5097706580404284],[-0.004133705539806627,-2.4795676147783046]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.36135196970895384,1.4057345909066754,0.71338606911949],"aabb_xy":[[-0.41083239092291257,1.3417345929938236],[-0.311871548494995,1.4697345888195272]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.31271630591548116,0.2221000241342601,0.71338606911949],"aabb_xy":[[-0.3927163080782436,0.1421448405081165],[-0.23271630375271862,0.30205520776040373]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.18407874903912813,1.2512185529548607,0.71338606911949],"aabb_xy":[[0.12008305164403152,1.187218554654152],[0.2480744464342247,1.3152185512555694]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7085079397596891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1633.png","name":"1633"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1633.png","name":"1633"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7597.png","name":"7597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8802.png","name":"8802"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6937.png","name":"6937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":629.8125465142446,"rotation_z_degrees":130.4277235051364,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004804290008393424,0.0139302206369445,-0.016389231589765334]},{"name":"camera_2","offset_m":[-0.004718033021880327,0.009507009693635583,-0.0006757255568364505]},{"name":"camera_3","offset_m":[0.012991155862256968,-0.01978976488635241,0.007383038053748559]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010942995750661422,-0.0005322088721723057,0.0012248978976308897],"end_effector_yaw_offset_degrees":0.11153128586016359},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012028857484517263,0.001067598026281515,0.001916683816819871],"end_effector_yaw_offset_degrees":0.3394104135914009},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011418153466348656,-0.0018983424327948342,-8.028641354319746e-05],"end_effector_yaw_offset_degrees":0.41484020793531395}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025263350514934894,-0.0010223769650406908],"position_m":[0.2439263350514935,0.22197762303495933,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027880513946498876,0.004763596098773322],"position_m":[0.16871194860535013,-0.11143640390122668,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004933572821373445,-0.004280101784164095],"position_m":[0.3424335728213735,0.06561989821583591,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028610043614387924,-0.001683747208857498],"position_m":[0.2548389956385612,-0.4098837472088575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1228eebc7c8e90415f79228182be83b68f20aa2ae48ccb42e1978fa16bded9f9","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0120.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1633/tex_ceiling_textures_4407/tex_floor_textures_6937/tex_table_textures_7597/tex_wall_textures_8802","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":7315220900617625438,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":7315220900617625438,"visual_seed":7315220900617625438,"scene_id":"lab_003","finished_at":"2026-09-03T12:25:09"} +{"episode_id":"ep_000095","started_at":"2026-09-03T12:25:13","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.31706388633242466,-2.3290236223443435,0.71338606911949],"aabb_xy":[[-0.3970638895964378,-2.3425836546532564],[-0.23706388306841153,-2.3154635900354297]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.28353532320684016,1.7339238480938088,0.71338606911949],"aabb_xy":[[0.27437544426296356,1.7273926300502718],[0.29269520215071676,1.740455066137346]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.3514867721209609,0.6992024561148344,0.71338606911949],"aabb_xy":[[0.31702429410787314,0.6925387789319115],[0.3859492501340487,0.7058661332977572]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.06763574039342335,-2.479179464409907,0.71338606911949],"aabb_xy":[[0.017635738731928582,-2.5291779066656095],[0.1176357420549181,-2.429181022154204]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.23361193629222382,0.4758060212887032,0.71338606911949],"aabb_xy":[[-0.2511119365515605,0.46171447909993074],[-0.21611193603288725,0.489897563477476]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.29756688348298665,1.5277159423819326,0.71338606911949],"aabb_xy":[[-0.3343615166078929,1.4908100672853501],[-0.2607722503580803,1.5646218174785147]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.39301999591655623,-1.9005241854336257,0.71338606911949],"aabb_xy":[[-0.44301927108499245,-1.950524186709573],[-0.3430207207481201,-1.8505241841576787]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.644570132166228,0.8502050069203366,0.71338606911949],"aabb_xy":[[0.5745701303574827,0.8288512381561493],[0.7145701339749736,0.871558775684524]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.6642026671303651,-2.048154015157932,0.71338606911949],"aabb_xy":[[0.6507561404963218,-2.0616238668110234],[0.6776491937644085,-2.0346841635048407]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.15711324017991646,-0.6803226112925007,0.71338606911949],"aabb_xy":[[0.0931132394764471,-0.7263409937654217],[0.22111324088338583,-0.6343042288195797]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.1439937843868836,-1.2396045510191405,0.71338606911949],"aabb_xy":[[0.1357792392711996,-1.2482811413167816],[0.15220832950256755,-1.230927960721499]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.6190313496577342,0.6346233534127688,0.71338606911949],"aabb_xy":[[-0.67403134927948,0.5796396606252961],[-0.5640313500359884,0.6896070462002416]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.04169513728401675,-1.6429948321466648,0.71338606911949],"aabb_xy":[[-0.0766951355947122,-1.6507098470702102],[-0.006695138973321302,-1.6352798172231189]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.2545006890111341,-2.4720088371473965,0.71338606911949],"aabb_xy":[[0.19450068736821224,-2.524008986439341],[0.31450069065405595,-2.4200086878554528]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.1658571267227098,0.8673117004167086,0.71338606911949],"aabb_xy":[[-0.1772188613759959,0.8559432340104205],[-0.1544953920694236,0.8786801668229967]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.24116866391460395,1.0352865110485805,0.71338606911949],"aabb_xy":[[-0.3011686644224569,0.9784397773626591],[-0.18116866340675106,1.0921332447345016]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.5504376317478585,1.7393185588574842,0.71338606911949],"aabb_xy":[[-0.6144376281434317,1.6753552704387507],[-0.48643763535228557,1.8032818472762178]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.4098135005390402,-1.2251905176834461,0.71338606911949],"aabb_xy":[[-0.4142441298938804,-1.230638889418129],[-0.4053828711842,-1.2197421459487636]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.4655034165381733,0.049243181715924234,0.71338606911949],"aabb_xy":[[0.4560859419683105,0.0398270045782052],[0.474920891108036,0.058659358853643255]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.6467081743374111,0.755280985161698,0.71338606911949],"aabb_xy":[[-0.6842081746856389,0.7434895895806143],[-0.6092081739891834,0.7670723807427814]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.32370900062060515,-0.8567332995316177,0.71338606911949],"aabb_xy":[[0.31124164251086955,-0.8691986241649413],[0.33617635873034085,-0.8442679748982943]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.21361850412094835,1.2946906327913146,0.71338606911949],"aabb_xy":[[-0.2558029182817791,1.2306906325141036],[-0.1714340899601176,1.358690633068526]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.5500725849331718,-1.9309098507443578,0.71338606911949],"aabb_xy":[[0.5275588931097146,-2.000909851345366],[0.572586276756629,-1.8609098501433505]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[-0.3942229579476165,-0.6637643570067269,0.71338606911949],"aabb_xy":[[-0.4279985171383095,-0.6778028522198918],[-0.36044739875692355,-0.6497258617935617]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.1722378185412169,-1.058419459784226,0.71338606911949],"aabb_xy":[[0.15312551118323803,-1.077554238661468],[0.19135012589919576,-1.039284680906984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7068202891112978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1575.png","name":"1575"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1575.png","name":"1575"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1890.png","name":"1890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8516.png","name":"8516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4499.png","name":"4499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8889.png","name":"8889"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":652.1556714118378,"rotation_z_degrees":32.31634623374971,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018607337894862266,0.011932871013926694,0.011068148752228401]},{"name":"camera_2","offset_m":[-0.0009546897719126292,0.0013390783236108816,-0.014876181633188268]},{"name":"camera_3","offset_m":[0.01698479195057496,0.0005111245183102228,0.010138398408209036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011838734616533273,0.0009955090998178982,0.000492637818496297],"end_effector_yaw_offset_degrees":-0.018403934194308524},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005744546508967868,0.0005167484055538267,0.0016546639672894371],"end_effector_yaw_offset_degrees":0.6164099453740324},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006315616313031609,-0.000829032326522583,-0.0006918390123016676],"end_effector_yaw_offset_degrees":0.1489893776262834}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012634811505883616,0.002782141450045873],"position_m":[0.24266348115058836,0.22578214145004588,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024846745340063123,0.0016327876291724651],"position_m":[0.17398467453400632,-0.11456721237082754,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002360483341783063,-0.003282446827953335],"position_m":[0.33513951665821695,0.06661755317204666,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003013094706263614,0.0010244691905720582],"position_m":[0.2546869052937364,-0.4071755308094279,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2b1067dd5a01b416f354ea27442a0cc9a1c32ac352df035ee15fe06da8b6037","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0121.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1575/tex_ceiling_textures_8889/tex_floor_textures_4499/tex_table_textures_1890/tex_wall_textures_8516","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":962352870007716749,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":962352870007716749,"visual_seed":962352870007716749,"scene_id":"lab_003","finished_at":"2026-09-03T12:28:07"} +{"episode_id":"ep_000096","started_at":"2026-09-03T12:28:11","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.4538739444026394,1.1079629658535213,0.71338606911949],"aabb_xy":[[0.4429681683150766,1.027962969454692],[0.46477972049020205,1.1879629622523502]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.3655025859788674,-0.768733407820547,0.71338606911949],"aabb_xy":[[0.32800258446323577,-0.7799601808366919],[0.4030025874944992,-0.7575066348044018]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.18886711580504,1.663802092942635,0.71338606911949],"aabb_xy":[[-0.2688671127680791,1.5867264512988615],[-0.10886711884200079,1.7408777345864084]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.022056229049462472,-2.1905217059277753,0.71338606911949],"aabb_xy":[[-0.02802276799019826,-2.1964828505871394],[-0.016089690108726684,-2.184560561268411]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.4422892266923253,-0.5040280846099114,0.71338606911949],"aabb_xy":[[0.4276458211382923,-0.5186868042666957],[0.4569326322463583,-0.48936936495312716]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.5080123883924236,-1.7133756739678974,0.71338606911949],"aabb_xy":[[-0.5630055997295604,-1.7683756743066912],[-0.45301917705528694,-1.658375673629104]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.41812057702216365,-1.942552748991127,0.71338606911949],"aabb_xy":[[0.3381205798625883,-1.954100349948944],[0.4981205741817389,-1.93100514803331]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.27560608045404406,-0.16090543736649687,0.71338606911949],"aabb_xy":[[-0.3257035444351177,-0.22490543787630868],[-0.22550861647297044,-0.09690543685668507]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.5434661155697408,-2.0113879334431086,0.71338606911949],"aabb_xy":[[-0.5495607434578592,-2.0199573279947773],[-0.5373714876816226,-2.00281853889144]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[0.6443357121596223,-1.5459029136396722,0.71338606911949],"aabb_xy":[[0.5643357116894062,-1.5542136212540207],[0.7243357126298381,-1.5375922060253242]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.44171281676964086,-1.061231021056948,0.71338606911949],"aabb_xy":[[-0.47170447950351113,-1.0912310203937485],[-0.4117211540357705,-1.0312310217201475]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.39539384471615313,-2.3924950328421604,0.71338606911949],"aabb_xy":[[0.3313938454219849,-2.4564811732110146],[0.45939384401032135,-2.328508892473306]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.3666490544621912,0.8633579404206957,0.71338606911949],"aabb_xy":[[0.3116753324258584,0.8083579408564625],[0.42162277649852414,0.9183579399849289]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.2075183836162302,0.2959997312288878,0.71338606911949],"aabb_xy":[[-0.2715183800118033,0.23203644281015423],[-0.1435183872206571,0.35996301964762134]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.0026017657409318495,-2.475882070927106,0.71338606911949],"aabb_xy":[[-0.08739823367743904,-2.509257567771295],[0.09260176515930274,-2.4425065740829157]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.05020051817671045,1.1150840630243395,0.71338606911949],"aabb_xy":[[-0.05832820637002367,1.1061704546136315],[-0.04207282998339723,1.123997671435047]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.5013350457504194,0.5368969901033611,0.71338606911949],"aabb_xy":[[-0.5144862917217089,0.5118969903466746],[-0.4881837997791302,0.5618969898600477]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.6609407349548657,0.34306149544080444,0.71338606911949],"aabb_xy":[[0.6109674409516052,0.29306149488625705],[0.710914028958126,0.39306149599535173]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.6503156475835452,0.12715331729592005,0.71338606911949],"aabb_xy":[[0.6128156467915497,0.12078547633772993],[0.6878156483755405,0.13352115825411012]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[0.4454476337529163,-1.5013798238083846,0.71338606911949],"aabb_xy":[[0.3854476331569001,-1.5561922963536081],[0.5054476343489325,-1.4465673512631612]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.07849543091755928,1.734251415432603,0.71338606911949],"aabb_xy":[[0.07353941073267808,1.7117514152304818],[0.08345145110244048,1.756751415634725]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[0.12005329437497447,0.7823042048244524,0.71338606911949],"aabb_xy":[[0.05505329434067174,0.7356035281441252],[0.1850532944092772,0.8290048815047798]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[0.6429392489748449,0.8387433019121668,0.71338606911949],"aabb_xy":[[0.6179392494231064,0.828600818047032],[0.6679392485265834,0.8488857857773014]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.5034496837312374,1.4673358153899145,0.71338606911949],"aabb_xy":[[0.49259807748236184,1.4564765246622633],[0.514301289980113,1.4781951061175653]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.000809646891563709,-1.1403451193683256,0.71338606911949],"aabb_xy":[[-0.08919034960930804,-1.1862567617867834],[0.09080964339243545,-1.094433476949867]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[0.28195436669888696,1.4797881861699902,0.71338606911949],"aabb_xy":[[0.26485228874051886,1.4626813806387202],[0.29905644465725517,1.4968949917012597]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[0.4086841101367502,0.5924616806793988,0.71338606911949],"aabb_xy":[[0.37409302728270494,0.5274616803943677],[0.4432751929907954,0.6574616809644298]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7147021948113219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1437.png","name":"1437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1437.png","name":"1437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5565.png","name":"5565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6123.png","name":"6123"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5011.png","name":"5011"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":502.4619002292105,"rotation_z_degrees":275.9813193272877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0096462354156137,-0.0012731196507899875,0.013845778659770058]},{"name":"camera_2","offset_m":[0.018189324827409464,0.005934733545783569,-0.006000135365926513]},{"name":"camera_3","offset_m":[0.003866243500502752,0.010730980713973153,0.01044596340871997]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019008951510518482,-0.0017138898660239504,0.0017453534659390727],"end_effector_yaw_offset_degrees":0.8077251211701824},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001301323636611455,0.0017671424608490323,-0.00035233296980005137],"end_effector_yaw_offset_degrees":0.4869034679216562},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001665060015002608,-0.0003514535624483451,0.0010591691371319308],"end_effector_yaw_offset_degrees":-0.01118368743143816}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030113145541657703,-0.004811670178216237],"position_m":[0.23838868544583422,0.21818832982178377,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007267354748456342,-0.003762337948765414],"position_m":[0.17077326452515437,-0.11996233794876542,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004599024259200596,-0.002435109629168503],"position_m":[0.3329009757407994,0.0674648903708315,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004476644946724901,-0.0020263527618557798],"position_m":[0.2621766449467249,-0.41022635276185576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1551d1333d3aa573666ad8b2b5321ba95d14555001cb07620edc137aad2afa44","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0122.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1437/tex_ceiling_textures_5011/tex_floor_textures_6123/tex_table_textures_2586/tex_wall_textures_5565","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":1730371948252779187,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":1730371948252779187,"visual_seed":1730371948252779187,"scene_id":"lab_003","finished_at":"2026-09-03T12:31:06"} +{"episode_id":"ep_000097","started_at":"2026-09-03T12:31:10","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.6310611576366194,-0.9499209074594002,0.71338606911949],"aabb_xy":[[0.5510611606223715,-0.9700554591328113],[0.7110611546508675,-0.9297863557859888]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.6349964218906161,-1.3562555478772789,0.71338606911949],"aabb_xy":[[0.5709964216166379,-1.4063216480745668],[0.6989964221645943,-1.306189447679991]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.2564032852287482,0.7272579357345847,0.71338606911949],"aabb_xy":[[0.2339041495025212,0.7047579349563218],[0.27890242095497514,0.7497579365128477]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.39464484693287694,-1.6305483113537922,0.71338606911949],"aabb_xy":[[0.32464485052291503,-1.6509862470054737],[0.4646448433428386,-1.6101103757021102]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.3726306526378018,-1.7117135688052523,0.71338606911949],"aabb_xy":[[-0.3790444662809867,-1.7181233890529204],[-0.3662168389946168,-1.7053037485575837]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.5104320640985746,0.7720983558115999,0.71338606911949],"aabb_xy":[[-0.5143459372939971,0.7633493404050431],[-0.506518190903152,0.7808473712181567]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.4440306182202175,-0.6870348411309348,0.71338606911949],"aabb_xy":[[-0.4617062488088158,-0.7047150574103375],[-0.4263549876316191,-0.669354624851532]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.2844940279274724,0.8280463895480552,0.71338606911949],"aabb_xy":[[-0.2879347041675296,0.8241849565736907],[-0.28105335168741524,0.8319078225224197]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.1902664943000535,1.3259751863215352,0.71338606911949],"aabb_xy":[[-0.2552664928571263,1.2962226529076528],[-0.12526649574298065,1.355727719735418]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.13615124805098933,-2.1829235180383915,0.71338606911949],"aabb_xy":[[-0.21615124545458272,-2.262916089236574],[-0.056151250647395894,-2.102930946840208]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.45655478459966115,1.166006090912139,0.71338606911949],"aabb_xy":[[0.44222035947349764,1.1539458753576002],[0.47088920972582454,1.1780663064666779]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.570977540689425,-2.4283957269724468,0.71338606911949],"aabb_xy":[[-0.6080116501174847,-2.462772934306156],[-0.5339434312613652,-2.3940185196387374]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.1581717865137955,-0.8957701448714905,0.71338606911949],"aabb_xy":[[0.1356717866998931,-0.9002447612419713],[0.18067178632769787,-0.8912955285010098]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.05517149861341375,-1.5321940358860322,0.71338606911949],"aabb_xy":[[-0.008828501647057055,-1.57720283523896],[0.11917149887388456,-1.487185236533104]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.212543146983735,-2.0834377971215017,0.71338606911949],"aabb_xy":[[0.1672645321025857,-2.1474377964696854],[0.25782176186488426,-2.019437797773318]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.22716508532413576,0.43923694630460774,0.71338606911949],"aabb_xy":[[-0.23801669157301136,0.4283776555769567],[-0.21631347907526016,0.4500962370322587]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[0.5409492959945217,-0.49240080188731916,0.71338606911949],"aabb_xy":[[0.5064868179814339,-0.499064479070242],[0.5754117740076095,-0.48573712470439634]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.10711284099054952,1.555585474881617,0.71338606911949],"aabb_xy":[[0.08211284171858725,1.5392401112854548],[0.1321128402625118,1.5719308384777795]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.6535347625862864,1.6968158579447352,0.71338606911949],"aabb_xy":[[0.6316450149973456,1.606815860655486],[0.6754245101752272,1.7868158552339843]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.5255397767853593,0.5746232866256391,0.71338606911949],"aabb_xy":[[-0.6055397789481217,0.4946681029994955],[-0.44553977462259675,0.6545784702517827]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.22339631858378334,-1.4043563724277806,0.71338606911949],"aabb_xy":[[-0.2349652993307199,-1.4293563725447127],[-0.21182733783684676,-1.3793563723108493]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.20574193465397544,-0.17598436854699395,0.71338606911949],"aabb_xy":[[-0.25287131365581106,-0.23998436959139588],[-0.15861255565213975,-0.11198436750259197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7075675081993501,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/122.png","name":"122"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/122.png","name":"122"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1095.png","name":"1095"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5683.png","name":"5683"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7175.png","name":"7175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2092.png","name":"2092"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":787.3867218095671,"rotation_z_degrees":27.73943061856855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007738806523187411,0.01587789333113702,-0.004840594062106872]},{"name":"camera_2","offset_m":[-0.0010666668981034397,-0.019687494478911747,0.009421099022761541]},{"name":"camera_3","offset_m":[0.005413732457827086,0.018374885097206802,-0.013721624841015655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005547326728892088,-0.0013626047857815222,-0.0007386829616269814],"end_effector_yaw_offset_degrees":0.1894357990883322},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018521227871628142,-0.0014684633439030884,0.0017413068131964084],"end_effector_yaw_offset_degrees":-0.38606086494898584},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006049026390178497,0.0012975679478472325,0.0018780894395963327],"end_effector_yaw_offset_degrees":-0.3055696978022935}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038794249181138577,0.0006064677118129188],"position_m":[0.24527942491811386,0.22360646771181292,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003124162185928898,0.001616916012450671],"position_m":[0.1746241621859289,-0.11458308398754932,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033395422452367493,0.0020007813108014662],"position_m":[0.3341604577547633,0.07190078131080146,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004938270578816759,-0.0029806750631207056],"position_m":[0.25276172942118325,-0.4111806750631207,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"53b5653cefd4f2e6ea71ae4e8a92b5a878d5f87d73e1d3c218b06b475a8df7d0","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0123.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_122/tex_ceiling_textures_2092/tex_floor_textures_7175/tex_table_textures_1095/tex_wall_textures_5683","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":565989657916911208,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":565989657916911208,"visual_seed":565989657916911208,"scene_id":"lab_003","finished_at":"2026-09-03T12:34:14"} +{"episode_id":"ep_000098","started_at":"2026-09-03T12:34:19","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.23908848689557538,1.7003675445681217,0.71338606911949],"aabb_xy":[[-0.275001991320565,1.6644540363513671],[-0.20317498247058566,1.7362810527848762]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.32339158105974186,0.8557651248925828,0.71338606911949],"aabb_xy":[[0.27339158069917574,0.8057851376829798],[0.37339158142030787,0.9057451121021857]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.08839830232586643,-2.076504022295971,0.71338606911949],"aabb_xy":[[0.04709375926213044,-2.1405040218640883],[0.12970284538960242,-2.012504022727854]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.20109045112730162,-2.1524101606515096,0.71338606911949],"aabb_xy":[[0.17817473824225172,-2.1753144577879335],[0.22400616401235154,-2.1295058635150865]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.2849708380618699,-2.174430820581586,0.71338606911949],"aabb_xy":[[-0.3199708379578888,-2.1828050560935255],[-0.24997083816585106,-2.1660565850696454]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.267111304955221,-1.6451499738973618,0.71338606911949],"aabb_xy":[[-0.27510529353292434,-1.6531500539924522],[-0.25911731637751756,-1.6371498938022715]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.11674985040351882,-0.9819194022135158,0.71338606911949],"aabb_xy":[[0.06674984904263159,-1.0318973067889314],[0.16674985176440604,-0.9319414976381003]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.6231589002689759,0.9305230386599694,0.71338606911949],"aabb_xy":[[0.5981589007172374,0.9203805547948347],[0.6481588998207144,0.9406655225251042]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.6045325543843769,0.7914900948917216,0.71338606911949],"aabb_xy":[[0.5870325541250405,0.7773985527029491],[0.6220325546437138,0.8055816370804944]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.10235411585800791,-1.8876726654347558,0.71338606911949],"aabb_xy":[[-0.1169975214120409,-1.90233138509154],[-0.08771071030397493,-1.8730139457779715]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.24565694446640907,-0.6190713564276547,0.71338606911949],"aabb_xy":[[0.23649706552253244,-0.6256025744711917],[0.25481682341028566,-0.6125401383841176]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.043870961742768944,-2.2341578772521773,0.71338606911949],"aabb_xy":[[-0.05633831985250459,-2.246623201885501],[-0.031403603633033295,-2.221692552618854]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.03325298075731442,1.0202179642149258,0.71338606911949],"aabb_xy":[[0.015383873002858928,1.0063850562377148],[0.051122088511769914,1.0340508721921369]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.2150392003364514,-1.5831820344174183,0.71338606911949],"aabb_xy":[[0.20799889040291444,-1.6631820338170902],[0.22207951026998843,-1.5031820350177474]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.057219686501691736,-1.5606211570966948,0.71338606911949],"aabb_xy":[[-0.012780309908270058,-1.581059092748376],[0.1272196829116535,-1.5401832214450126]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.40325115370388875,-0.5142556310231567,0.71338606911949],"aabb_xy":[[-0.45325115314408443,-0.5642235555074729],[-0.3532511542636932,-0.46428770653884033]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.38630097097211413,1.3132292190256472,0.71338606911949],"aabb_xy":[[0.34880097080024214,1.2805284836427397],[0.423800971143986,1.3459299544085541]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.06060804568329525,1.1777179667706745,0.71338606911949],"aabb_xy":[[-0.11573325131288602,1.1177179653293872],[-0.005482840053704473,1.2377179682119615]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.28897124918322203,-2.4642189036601287,0.71338606911949],"aabb_xy":[[0.28019002203598586,-2.4729986509486594],[0.2977524763304583,-2.455439156371599]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.38379372652693466,-1.2218319801383626,0.71338606911949],"aabb_xy":[[0.3733821678464509,-1.2271777134742607],[0.3942052852074183,-1.216486246802464]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.5240253569070248,-1.4128170379270755,0.71338606911949],"aabb_xy":[[-0.5816558257942955,-1.4728170368537858],[-0.4663948880197538,-1.3528170390003647]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.06944267329288267,-1.4229452803071407,0.71338606911949],"aabb_xy":[[0.03444267498218723,-1.4306602952306864],[0.10444267160357812,-1.415230265383595]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.6638268532897251,1.5244027243804932,0.71338606911949],"aabb_xy":[[0.6138268523391923,1.4928535773769716],[0.7138268542402579,1.5559518713840144]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.5995137715177924,0.1188717763089624,0.71338606911949],"aabb_xy":[[-0.6056083994059107,0.11030238175729366],[-0.5934191436296741,0.12744117086063111]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.015026879172305718,-2.562638936873888,0.71338606911949],"aabb_xy":[[-0.03752601489853269,-2.585138937652151],[0.007472256553921254,-2.540138936095625]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.38401591341026386,-2.108492976521008,0.71338606911949],"aabb_xy":[[-0.3912982297869274,-2.198492980130516],[-0.3767335970336001,-2.018492972911498]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7148475967549034,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/771.png","name":"771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/771.png","name":"771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4162.png","name":"4162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6140.png","name":"6140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3379.png","name":"3379"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5438.png","name":"5438"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":810.810030258107,"rotation_z_degrees":286.30483479364204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008024949697843856,-0.004145161954766007,0.00554646267159686]},{"name":"camera_2","offset_m":[0.017210532039757708,-0.0016665821116718244,-0.004026435480159223]},{"name":"camera_3","offset_m":[-0.0030450877971405707,0.01583722877410503,0.006062928506504958]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006927308985717189,0.0012240603579623819,-0.0010581722368887],"end_effector_yaw_offset_degrees":-0.13525712286593783},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00031432251065459946,0.0015140635876929216,-0.001247303517088163],"end_effector_yaw_offset_degrees":0.42258512091622413},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015136472453142272,-0.0012011186273478112,-0.0005179630991870229],"end_effector_yaw_offset_degrees":0.10865699187701017}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037694791645264446,-0.00129896358532926],"position_m":[0.24516947916452644,0.22170103641467073,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013128484719905483,-0.002130894802581418],"position_m":[0.17281284847199055,-0.11833089480258141,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003406585280087413,0.0015892115689836494],"position_m":[0.3340934147199126,0.07148921156898365,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004366662558027219,-0.0024363765479353096],"position_m":[0.2620666625580272,-0.41063637654793533,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"443531f6f9de8e0a9cf10e3ee1bc5806ded90de39ddb82e7766ae041cd63d500","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0124.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_771/tex_ceiling_textures_5438/tex_floor_textures_3379/tex_table_textures_4162/tex_wall_textures_6140","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":6845511823127473148,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":6845511823127473148,"visual_seed":6845511823127473148,"scene_id":"lab_003","finished_at":"2026-09-03T12:37:03"} +{"episode_id":"ep_000099","started_at":"2026-09-03T12:37:06","dimensions":{"distractor":{"count":35,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.5063492150628439,0.5665729074291606,0.71338606911949],"aabb_xy":[[-0.5136315314395073,0.4765729038196515],[-0.4990668986861801,0.6565729110386694]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.4992407270861763,-1.3221094911630038,0.71338606911949],"aabb_xy":[[0.43924072657832336,-1.3789562248489249],[0.5592407275940292,-1.2652627574770823]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.3904049573270313,0.6107036165654476,0.71338606911949],"aabb_xy":[[-0.454404954439137,0.561671246771037],[-0.3264049602149256,0.6597359863598582]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.6695362225753212,-1.3406436926831955,0.71338606911949],"aabb_xy":[[0.619536221556186,-1.3771099084210234],[0.7195362235944566,-1.3041774769453676]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.206883267428001,-1.3133915653247337,0.71338606911949],"aabb_xy":[[-0.260898863709901,-1.3773915682169908],[-0.15286767114610098,-1.2493915624324765]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[-0.37301640439834394,-0.7516708897961157,0.71338606911949],"aabb_xy":[[-0.3842614599689617,-0.762912687520211],[-0.36177134882772605,-0.7404290920720205]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.1943413111655331,0.5454971565099993,0.71338606911949],"aabb_xy":[[-0.24934131078727895,0.4905134637225267],[-0.13934131154378726,0.6004808492974721]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.03080856989968861,-1.6527951657062234,0.71338606911949],"aabb_xy":[[-0.05919142951868228,-1.6861706625504134],[0.1208085693180595,-1.619419668862034]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.5719502691502653,0.2454296749538072,0.71338606911949],"aabb_xy":[[-0.6219452801097174,0.1954296759182155],[-0.5219552581908133,0.2954296739893989]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.5535340885886137,0.8274703247147985,0.71338606911949],"aabb_xy":[[0.5160340901652134,0.8143061107469678],[0.5910340870120141,0.840634538682629]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[-0.5194641691796836,-1.6089788557413671,0.71338606911949],"aabb_xy":[[-0.5313969035415117,-1.6213610085492267],[-0.5075314348178556,-1.596596702933508]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.4454482447298149,-1.744396603383759,0.71338606911949],"aabb_xy":[[-0.47173706905025553,-1.7706680370384102],[-0.4191594204093742,-1.7181251697291078]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.13602807664272099,-1.1467105171982386,0.71338606911949],"aabb_xy":[[-0.14680105056408876,-1.1817105154172776],[-0.1252551027213532,-1.1117105189791996]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.287440811920457,1.1319677896688018,0.71338606911949],"aabb_xy":[[0.26754977204011676,1.1193119783841052],[0.30733185180079725,1.144623600953499]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.3816095248769942,-0.14127360804364208,0.71338606911949],"aabb_xy":[[-0.4153850840676871,-0.1553121032568071],[-0.34783396568630115,-0.12723511283047706]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.14946310466829826,-0.0047264945259688496,0.71338606911949],"aabb_xy":[[-0.15555773255641658,-0.013295889077637568],[-0.14336847678017994,0.003842900025699869]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[0.48768184515142465,-0.27390393581085704,0.71338606911949],"aabb_xy":[[0.43768701222348305,-0.32390393470610057],[0.5376766780793663,-0.2239039369156135]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.5958005365548553,-2.3760276526336677,0.71338606911949],"aabb_xy":[[0.5318005332651472,-2.419362571637585],[0.6598005398445634,-2.3326927336297496]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.13739869707784713,-1.870213597710564,0.71338606911949],"aabb_xy":[[0.09521428291701639,-1.9342135979877753],[0.17958311123867787,-1.8062135974333529]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.5601113703509131,0.004230594841553081,0.71338606911949],"aabb_xy":[[0.5102286734732169,-0.045769404404721666],[0.6099940672286093,0.054230594087827835]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.5417214472080306,-2.4025677318052434,0.71338606911949],"aabb_xy":[[-0.5792214475562583,-2.414359127386327],[-0.5042214468598027,-2.39077633622416]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.4322003501549272,-1.6529617969193215,0.71338606911949],"aabb_xy":[[0.3822003505785925,-1.7029423758714277],[0.4822003497312619,-1.6029812179672158]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[-0.5211255652634553,-0.34408776185363177,0.71338606911949],"aabb_xy":[[-0.5298235275541706,-0.3562127361611065],[-0.51242760297274,-0.33196278754615705]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.2366436681364808,-0.24427330661017121,0.71338606911949],"aabb_xy":[[-0.24197618279109376,-0.24959763485540679],[-0.2313111534818678,-0.2389489783649356]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.6373067426970802,-1.1824436348363465,0.71338606911949],"aabb_xy":[[0.6023067413455985,-1.2028033707931671],[0.6723067440485619,-1.1620838988795255]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[-0.5231917785010929,-1.1759809649320254,0.71338606911949],"aabb_xy":[[-0.5606917783181264,-1.1806191762431673],[-0.4856917786840593,-1.1713427536208836]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[0.22978263755552564,-1.277054823710519,0.71338606911949],"aabb_xy":[[0.17480891551919275,-1.3320548232747524],[0.2847563595918585,-1.222054824146286]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.2919083300759885,0.5379413016087224,0.71338606911949],"aabb_xy":[[0.28014014328133097,0.452941301703501],[0.303676516870646,0.6229413015139441]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_28","position":[0.3576473966294571,-0.9152591778169126,0.71338606911949],"aabb_xy":[[0.3340622731655622,-0.9802591800623444],[0.3812325200933519,-0.8502591755714808]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[0.007761461960428595,-0.9169029923570085,0.71338606911949],"aabb_xy":[[-0.06223853964185089,-0.930335785558666],[0.07776146356270808,-0.9034701991553509]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.4562677924814179,-2.54934911238172,0.71338606911949],"aabb_xy":[[-0.4787325624528231,-2.5718491132605803],[-0.43380302251001285,-2.5268491115028593]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_31","position":[0.23775605047914317,-0.8683300160159158,0.71338606911949],"aabb_xy":[[0.18775605183322197,-0.9182495596753781],[0.28775604912506436,-0.8184104723564534]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_32","position":[-0.16857696264325395,-0.24387050309436642,0.71338606911949],"aabb_xy":[[-0.18202348927729728,-0.25734035474745764],[-0.15513043600921061,-0.2304006514412752]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_33","position":[-0.37832574563563187,0.4669554529274351,0.71338606911949],"aabb_xy":[[-0.386439400309009,0.458849636473406],[-0.37021209096225477,0.47506126938146415]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_34","position":[0.22832340909801307,0.9378944341306479,0.71338606911949],"aabb_xy":[[0.21748293087149817,0.920708152839999],[0.23916388732452798,0.9550807154212966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100946182185562,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1057.png","name":"1057"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1057.png","name":"1057"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6325.png","name":"6325"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2171.png","name":"2171"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.4141927117387,"rotation_z_degrees":333.8290810778558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006339538748298712,-0.010260300994058448,0.005745130117471343]},{"name":"camera_2","offset_m":[0.015885455597701072,0.019134388240658332,0.010338434701419257]},{"name":"camera_3","offset_m":[0.0008173636600709994,0.010850610770393919,0.002515283154290001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001548980966267396,-0.001976945158277966,0.00011890250190784053],"end_effector_yaw_offset_degrees":-0.23181359354614006},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001644510714380824,0.0005114412799611546,7.066758369385232e-05],"end_effector_yaw_offset_degrees":-0.38892812824542267},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018201532512387875,-0.0006700135641657537,0.000679494823997223],"end_effector_yaw_offset_degrees":0.5516380473400102}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00018","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001583558703223905,-0.00480913879438924],"position_m":[0.2429835587032239,0.21819086120561076,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006349037692404795,0.0015920200482079476],"position_m":[0.17086509623075954,-0.11460797995179205,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001361514343781024,-0.004668324528814498],"position_m":[0.33886151434378103,0.06523167547118551,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032866328411473257,0.004328273769069997],"position_m":[0.2609866328411473,-0.40387172623093,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9d45c1b5bac00493dee575b8d82e629c4b662decdd37596999129095516b792f","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/dataset/episode_0125.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1057/tex_ceiling_textures_2171/tex_floor_textures_8603/tex_table_textures_4266/tex_wall_textures_6325","seeds":{"action_seed":1406198025815128196,"physical_seed":7427756018596456066,"visual_seed":4490050414742796475,"layout_id":"layout_00018","physical_randomization_enabled":true},"episode_seed":4490050414742796475,"visual_seed":4490050414742796475,"scene_id":"lab_003","finished_at":"2026-09-03T12:39:55"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d56ccebad92748f10e10f43619035fd5ee47a0ca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_poo_00018 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at home. + layout_id: layout_00018 + reproducibility: + enabled: true + layout_id: layout_00018 + action_seed: 1406198025815128196 + step_seeds: + - 1189232163589316561 + - 5905876406370859880 + - 6158217288182197642 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1715 + - 0.1715 + 'y': + - -0.1162 + - -0.1162 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2414 + - 0.2414 + 'y': + - 0.223 + - 0.223 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3375 + - 0.3375 + 'y': + - 0.0699 + - 0.0699 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2577 + - 0.2577 + 'y': + - -0.4082 + - -0.4082 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..320c1288f1637710ac7e6f905ed811ab26dd93ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26265259761964654, + 0.22684618696001335, + 1.0474923183581648 + ], + "current_z": 1.0474923183581648, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19090581094959924, + "gripper_z": 1.05057540321609, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25732005670823876, + 0.2217851559814537, + 1.05057540321609 + ], + "object_minus_gripper": [ + 0.005332540911407779, + 0.005061030978559644, + -0.0030830848579253 + ], + "object_to_gripper_xy": 0.007351872355922545, + "object_to_gripper_z": -0.0030830848579253, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26265259761964654, + 0.20231644187846667, + 1.0474923183581648 + ], + "finger_b": [ + 0.25039705572565557, + 0.22684618696001335, + 1.0474923183581648 + ], + "finger_midpoint": [ + 0.2565248266726511, + 0.21458131441924, + 1.0474923183581648 + ], + "object_minus_finger_midpoint": [ + 0.006127770946995459, + 0.012264872540773353, + 0.0 + ], + "finger_gap": 0.027420917214437436, + "fingertip_max_gap": 0.09203485663035668, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013710458607218718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474923183581648, + "object_top_z": 1.0936370739342323, + "finger_top_clearance": 0.04614475557606745, + "fingertip_min_top_clearance": 0.013843426672820236, + "object_projection_between_fingers": 0.8002434252289865, + "object_to_finger_line_xy": 0.010963357503502164, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851742831517834, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6225607782606623, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2620947606674287, + 0.22601330132861996, + 1.239314744205912 + ], + "held_position": [ + 0.26774826044623135, + 0.2306251030482257, + 1.2361065893400545 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007970133781386954, + "max_held_gripper_dist": 0.007973004149911578, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003208154865857571, + "max_held_gripper_z_dist": 0.003269188055118999, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08633942507672748, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26774826044623135, + 0.20518054606398337, + 1.2361065893400545 + ], + "held_grasp_finger_b": [ + 0.25743293097094755, + 0.2306251030482257, + 1.2361065893400545 + ], + "held_grasp_midpoint": [ + 0.26259059570858945, + 0.21790282455610455, + 1.2361065893400545 + ], + "held_grasp_object_position": [ + 0.26774826044623135, + 0.2306251030482257, + 1.2361065893400545 + ], + "held_grasp_finger_gap": 0.027455992102053316, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024546612590708294, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0787601333811795, + -0.9966394514849353, + 0.02250877903366533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004149843993844705, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211448194511247, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22339833008140048, + 0.2303226713555228, + 0.7565864981828039 + ], + "target_position": [ + 0.23788783513173092, + 0.22234309260299043, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01654144593653825, + "xy_threshold": 0.08, + "gripper_dist": 0.20692383705732464, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864981828039, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569862396036256, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08768388998520966, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17918261533264898, + "release_required_pad_clearance": 0.053841944992604834, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.69307731717152, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 279, + "max_placed_release_frames": 279 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9c644db83cce7832f57f3143bbb09600f619e7529668057e3a2b8b786804405", + "visual_seed": 5772913893805826671, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0fda728bf618338c97c257f5bf32e344d8efe200 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2645705029122084, + 0.22853621698588913, + 1.0458226363283478 + ], + "current_z": 1.0458226363283478, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18923612891978225, + "gripper_z": 1.0488173481337835, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2592701582933197, + 0.22348260095182682, + 1.0488173481337835 + ], + "object_minus_gripper": [ + 0.00530034461888873, + 0.005053616034062319, + -0.002994711805435646 + ], + "object_to_gripper_xy": 0.007323434173850031, + "object_to_gripper_z": -0.002994711805435646, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2645705029122084, + 0.20405479711308672, + 1.0458226363283478 + ], + "finger_b": [ + 0.25229345308610374, + 0.22853621698588913, + 1.0458226363283478 + ], + "finger_midpoint": [ + 0.25843197799915607, + 0.2162955070494879, + 1.0458226363283478 + ], + "object_minus_finger_midpoint": [ + 0.0061385249130523345, + 0.012240709936401223, + 0.0 + ], + "finger_gap": 0.027387330490960628, + "fingertip_max_gap": 0.09226653692533798, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013693665245480328, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458226363283478, + "object_top_z": 1.0921785999126195, + "finger_top_clearance": 0.04635596358427163, + "fingertip_min_top_clearance": 0.013906789075281473, + "object_projection_between_fingers": 0.7990497125977939, + "object_to_finger_line_xy": 0.010974403353820337, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048633268462668994, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7867890220748339, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.264126431056369, + 0.22730932913019258, + 1.2389069054442838 + ], + "held_position": [ + 0.2697860590865211, + 0.23189034838456746, + 1.2358080812557009 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007913269754051315, + "max_held_gripper_dist": 0.007921332489740895, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030988241885829826, + "max_held_gripper_z_dist": 0.0031616244464773846, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086404988624041, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2697860590865211, + 0.20642709709530188, + 1.2358080812557009 + ], + "held_grasp_finger_b": [ + 0.25949667495373124, + 0.23189034838456746, + 1.2358080812557009 + ], + "held_grasp_midpoint": [ + 0.2646413670201262, + 0.21915872273993467, + 1.2358080812557009 + ], + "held_grasp_object_position": [ + 0.2697860590865211, + 0.23189034838456746, + 1.2358080812557009 + ], + "held_grasp_finger_gap": 0.027463586656742277, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02460400855091439, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0756097859081255, + -0.9968085533924437, + 0.02560992304930576 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004180455507385412, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032120242558946875, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23234606691848508, + 0.2285472063149205, + 0.7565864599580472 + ], + "target_position": [ + 0.23984567569285037, + 0.2252808957444778, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008180031571523584, + "xy_threshold": 0.08, + "gripper_dist": 0.20935293749845857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864599580472, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575481118255538, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08913299082459293, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17963240633549407, + "release_required_pad_clearance": 0.05456649541229647, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.168627743415838, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79bf75c00c7fef580f5f5a51bdc14cd52b4fb78e1c2c5514e429e95d04d03b35", + "visual_seed": 5734937988991990047, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..430b47a47bc88148fa0c22bbfc7e9ff74765c801 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2704433088697331, + 0.222381952107996, + 1.0452023110976874 + ], + "current_z": 1.0452023110976874, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18861580368912167, + "gripper_z": 1.0479321865450077, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2650904834128879, + 0.2174729115124844, + 1.0479321865450077 + ], + "object_minus_gripper": [ + 0.005352825456845234, + 0.004909040595511588, + -0.0027298754473203957 + ], + "object_to_gripper_xy": 0.007263017275198452, + "object_to_gripper_z": -0.0027298754473203957, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2704433088697331, + 0.19763543304764575, + 1.0452023110976874 + ], + "finger_b": [ + 0.25866631075174396, + 0.222381952107996, + 1.0452023110976874 + ], + "finger_midpoint": [ + 0.26455480981073853, + 0.21000869257782087, + 1.0452023110976874 + ], + "object_minus_finger_midpoint": [ + 0.0058884990589945785, + 0.012373259530175124, + 0.0 + ], + "finger_gap": 0.027405982746024602, + "fingertip_max_gap": 0.09235121517480258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013702991373012301, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452023110976874, + "object_top_z": 1.0916563032996591, + "finger_top_clearance": 0.04645399220197177, + "fingertip_min_top_clearance": 0.013936197660591532, + "object_projection_between_fingers": 0.8153376103291128, + "object_to_finger_line_xy": 0.010634163755459643, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867560758740129, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7574702310001022, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2697718357707679, + 0.22152037075432834, + 1.2400003325859816 + ], + "held_position": [ + 0.2753786041617982, + 0.2260784235814194, + 1.2371743880918191 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007758715077208135, + "max_held_gripper_dist": 0.007761961803782176, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028259444941625134, + "max_held_gripper_z_dist": 0.0028868457217223753, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740857777745478, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2753786041617982, + 0.2006748639271635, + 1.2371743880918191 + ], + "held_grasp_finger_b": [ + 0.2650679644547955, + 0.2260784235814194, + 1.2371743880918191 + ], + "held_grasp_midpoint": [ + 0.2702232843082969, + 0.21337664375429144, + 1.2371743880918191 + ], + "held_grasp_object_position": [ + 0.2753786041617982, + 0.2260784235814194, + 1.2371743880918191 + ], + "held_grasp_finger_gap": 0.027416238514335983, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024759066405556248, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05761817033555979, + -0.9980155122164324, + 0.025400468943593928 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004426950301974662, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222661156812598, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23495575819677234, + 0.2289698132853324, + 0.7565863028545897 + ], + "target_position": [ + 0.2457508675445229, + 0.21933881617351528, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014466875654325693, + "xy_threshold": 0.08, + "gripper_dist": 0.2065576959603318, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863028545897, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539983145576376, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515244953857022, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17943092076898445, + "release_required_pad_clearance": 0.05257622476928511, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.21670325505693203, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf372aceb3146bd11a280ba8cf81308f4e638a72b658f963b1d7268a909a5b0b", + "visual_seed": 1308269864285344018, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..80239c689d8339118ac8ef54aed66fa47b19127c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_102_success.json @@ -0,0 +1,684 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2625445864398391, + 0.2295325383544718, + 1.0478712973452533 + ], + "current_z": 1.0478712973452533, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1912846707273982, + "gripper_z": 1.05090021663666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25740057084572154, + 0.22466878371590693, + 1.05090021663666 + ], + "object_minus_gripper": [ + 0.005144015594117535, + 0.0048637546385648656, + -0.0030289192914065843 + ], + "object_to_gripper_xy": 0.007079336523763058, + "object_to_gripper_z": -0.0030289192914065843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2625445864398391, + 0.204996209528794, + 1.0478712973452533 + ], + "finger_b": [ + 0.25075194488325536, + 0.2295325383544718, + 1.0478712973452533 + ], + "finger_midpoint": [ + 0.2566482656615472, + 0.2172643739416329, + 1.0478712973452533 + ], + "object_minus_finger_midpoint": [ + 0.005896320778291886, + 0.0122681644128389, + 0.0 + ], + "finger_gap": 0.02722311200292598, + "fingertip_max_gap": 0.09317590201274303, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013611556001463002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478712973452533, + "object_top_z": 1.0946859135662765, + "finger_top_clearance": 0.04681461622102323, + "fingertip_min_top_clearance": 0.014044384866306969, + "object_projection_between_fingers": 0.8123508263115925, + "object_to_finger_line_xy": 0.010628767604695272, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908795100637152, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0953514606480352, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2622178132734878, + 0.22872262652185568, + 1.240138736581946 + ], + "held_position": [ + 0.2676412812084527, + 0.23319501370172493, + 1.2369962381080415 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007700100530950479, + "max_held_gripper_dist": 0.007703220173444171, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003142498473904576, + "max_held_gripper_z_dist": 0.003201908766081285, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08621369826084258, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2676412812084527, + 0.207856102135468, + 1.2369962381080415 + ], + "held_grasp_finger_b": [ + 0.2575931105207138, + 0.23319501370172493, + 1.2369962381080415 + ], + "held_grasp_midpoint": [ + 0.26261719586458326, + 0.22052555791859646, + 1.2369962381080415 + ], + "held_grasp_object_position": [ + 0.2676412812084527, + 0.23319501370172493, + 1.2369962381080415 + ], + "held_grasp_finger_gap": 0.02725850644354022, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024554324644982098, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07057401712719544, + -0.9970224786149919, + 0.03107225841403316 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004136725920356497, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221392287310626, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22424389421223045, + 0.22137839154844907, + 0.7565867286193015 + ], + "target_position": [ + 0.23798465453170467, + 0.2269188155353849, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014815694115101426, + "xy_threshold": 0.08, + "gripper_dist": 0.20608655014100202, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867286193015, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533993782506031, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08691674279260382, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1756995560744095, + "release_required_pad_clearance": 0.05345837139630191, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9277602195813646, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "374c72bcb0b5d7c7a8ae03db7659853490ce434a7c5f60394cb0b4b9b9f5f006", + "visual_seed": 616569317698703395, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e96731d5dc38181d33d890e7dac94868be96cabf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_103_success.json @@ -0,0 +1,684 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26762126871258984, + 0.22375182433132249, + 1.0481081994421912 + ], + "current_z": 1.0481081994421912, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1915216324289809, + "gripper_z": 1.0506822073390203, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2624594014293262, + 0.21872979327251693, + 1.0506822073390203 + ], + "object_minus_gripper": [ + 0.005161867283263621, + 0.005022031058805554, + -0.0025740078968290447 + ], + "object_to_gripper_xy": 0.007201782404768628, + "object_to_gripper_z": -0.0025740078968290447, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26762126871258984, + 0.19940117778797173, + 1.0481081994421912 + ], + "finger_b": [ + 0.25534459121561626, + 0.22375182433132249, + 1.0481081994421912 + ], + "finger_midpoint": [ + 0.26148292996410305, + 0.2115765010596471, + 1.0481081994421912 + ], + "object_minus_finger_midpoint": [ + 0.0061383387484867935, + 0.012175323271675392, + 0.0 + ], + "finger_gap": 0.027270328150645673, + "fingertip_max_gap": 0.09147975985342977, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635164075322849, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481081994421912, + "object_top_z": 1.094131688240456, + "finger_top_clearance": 0.04602348879826468, + "fingertip_min_top_clearance": 0.013807046639479403, + "object_projection_between_fingers": 0.7973339670150654, + "object_to_finger_line_xy": 0.01096228225799452, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048239879926714885, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5704414529312397, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26753060193184014, + 0.22209568778925076, + 1.2400857154963227 + ], + "held_position": [ + 0.27309318084263556, + 0.22659937624595974, + 1.2373791398559113 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007651865494844267, + "max_held_gripper_dist": 0.007658055965710199, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002706575640411435, + "max_held_gripper_z_dist": 0.0027647577210980767, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08724172928548093, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27309318084263556, + 0.2010990174964381, + 1.2373791398559113 + ], + "held_grasp_finger_b": [ + 0.26313892578760456, + 0.22659937624595974, + 1.2373791398559113 + ], + "held_grasp_midpoint": [ + 0.26811605331512006, + 0.2138491968711989, + 1.2373791398559113 + ], + "held_grasp_object_position": [ + 0.27309318084263556, + 0.22659937624595974, + 1.2373791398559113 + ], + "held_grasp_finger_gap": 0.027374358258321147, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02447669110550317, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09140034769388186, + -0.9955355423790974, + 0.02355759540772795 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038032292474025923, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03205205703999578, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.24895173168697995, + 0.22649626022452532, + 0.7565872626239402 + ], + "target_position": [ + 0.24297283734668318, + 0.2216302523689832, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007708774869110551, + "xy_threshold": 0.08, + "gripper_dist": 0.21956028147951673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872626239402, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075177231912572, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08920824927082387, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1904798541026793, + "release_required_pad_clearance": 0.054604124635411935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.246032841375892, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d6089d59ff91655204906c537dacf2e76daa4a52e1f4a9bf70630f3b690c5ab2", + "visual_seed": 6559340903951803949, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..300aa17d32588cc352999f511b47d033f2ca8c68 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2677653109355938, + 0.22978203571611666, + 1.0449986503972755 + ], + "current_z": 1.0449986503972755, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18841226219799945, + "gripper_z": 1.0475628099163221, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2626206409076511, + 0.22485648712539685, + 1.0475628099163221 + ], + "object_minus_gripper": [ + 0.0051446700279427215, + 0.004925548590719808, + -0.0025641595190466493 + ], + "object_to_gripper_xy": 0.007122405395367077, + "object_to_gripper_z": -0.0025641595190466493, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2677653109355938, + 0.20533028807709564, + 1.0449986503972755 + ], + "finger_b": [ + 0.25577612780595876, + 0.22978203571611666, + 1.0449986503972755 + ], + "finger_midpoint": [ + 0.2617707193707763, + 0.21755616189660615, + 1.0449986503972755 + ], + "object_minus_finger_midpoint": [ + 0.00599459156481752, + 0.012225873819510513, + 0.0 + ], + "finger_gap": 0.02723285652880167, + "fingertip_max_gap": 0.09188101045290106, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013616428264400834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449986503972755, + "object_top_z": 1.0912416165170002, + "finger_top_clearance": 0.04624296611972478, + "fingertip_min_top_clearance": 0.013872889835917418, + "object_projection_between_fingers": 0.8061825873520774, + "object_to_finger_line_xy": 0.010764808310644908, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048440505226450534, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6664262115707444, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26744675632641, + 0.22872373380922406, + 1.2372538078795197 + ], + "held_position": [ + 0.2729151913111965, + 0.23321707869954889, + 1.234572948225735 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007568417137654033, + "max_held_gripper_dist": 0.007576800325643809, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026808596537846174, + "max_held_gripper_z_dist": 0.002744112825696643, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08634219725076175, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2729151913111965, + 0.20783455791840225, + 1.234572948225735 + ], + "held_grasp_finger_b": [ + 0.2628611047999194, + 0.23321707869954889, + 1.234572948225735 + ], + "held_grasp_midpoint": [ + 0.26788814805555794, + 0.22052581830897555, + 1.234572948225735 + ], + "held_grasp_object_position": [ + 0.2729151913111965, + 0.23321707869954889, + 1.234572948225735 + ], + "held_grasp_finger_gap": 0.027301227385991, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02455670945734914, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0744018118258094, + -0.9969361171108421, + 0.024140190492092595 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004080715118607099, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217382798444376, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23543496779157497, + 0.22615949253390963, + 0.7565863226920511 + ], + "target_position": [ + 0.24322429840319598, + 0.22669525892394948, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007807734434638037, + "xy_threshold": 0.08, + "gripper_dist": 0.21057081551664403, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863226920511, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577485832587103, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585290677975378, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18025736379612164, + "release_required_pad_clearance": 0.05292645338987689, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8908667525430113, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "00a40814d0e62de4688464ea0d143d527663bed7824c94971c51646000542827", + "visual_seed": 7158603002522163131, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2fcbfc017272a518a410126c40106946e217f633 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26844704766530725, + 0.22900017813625886, + 1.0476018486305694 + ], + "current_z": 1.0476018486305694, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19101528161735903, + "gripper_z": 1.050324502990706, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26319762027847526, + 0.22400057804252146, + 1.050324502990706 + ], + "object_minus_gripper": [ + 0.005249427386831984, + 0.0049996000937374, + -0.0027226543601366338 + ], + "object_to_gripper_xy": 0.007249309552427782, + "object_to_gripper_z": -0.0027226543601366338, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26844704766530725, + 0.20452678649210068, + 1.0476018486305694 + ], + "finger_b": [ + 0.2562784113076324, + 0.22900017813625886, + 1.0476018486305694 + ], + "finger_midpoint": [ + 0.2623627294864698, + 0.21676348231417977, + 1.0476018486305694 + ], + "object_minus_finger_midpoint": [ + 0.006084318178837422, + 0.012236695822079091, + 0.0 + ], + "finger_gap": 0.02733171435116498, + "fingertip_max_gap": 0.09223680487863145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366585717558249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476018486305694, + "object_top_z": 1.0939965357649428, + "finger_top_clearance": 0.04639468713437345, + "fingertip_min_top_clearance": 0.013918406140312001, + "object_projection_between_fingers": 0.8017788097076787, + "object_to_finger_line_xy": 0.010896052824583436, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861840243931573, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7873478028703064, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26811863376256756, + 0.22780661539647823, + 1.240514666225291 + ], + "held_position": [ + 0.27371185706666146, + 0.23234839646399516, + 1.2376780493629866 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007743275625872037, + "max_held_gripper_dist": 0.007746651613297951, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028366168623044086, + "max_held_gripper_z_dist": 0.0029003403577301246, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08644465445502833, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27371185706666146, + 0.20690774745024298, + 1.2376780493629866 + ], + "held_grasp_finger_b": [ + 0.26353135888707657, + 0.23234839646399516, + 1.2376780493629866 + ], + "held_grasp_midpoint": [ + 0.268621607976869, + 0.2196280719571191, + 1.2376780493629866 + ], + "held_grasp_object_position": [ + 0.27371185706666146, + 0.23234839646399516, + 1.2376780493629866 + ], + "held_grasp_finger_gap": 0.02740199199739794, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458596496544337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07588977393492184, + -0.9967733392779857, + 0.026146745815109555 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004124070557908992, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213464677769551, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23700195345956038, + 0.22540310818270728, + 0.7565863307868234 + ], + "target_position": [ + 0.24379342248803554, + 0.2243445872238221, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006873464787509756, + "xy_threshold": 0.08, + "gripper_dist": 0.21080030850602588, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863307868234, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588209926192684, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09148768518809199, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18026445513958939, + "release_required_pad_clearance": 0.055743842594045995, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.672256459978308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4a43d637f4801fca2899116b269b818e92967d72864cf888ea4cc9d77716162", + "visual_seed": 4107003479432852116, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b875e447affa8f9bf129e3b93fca415f4f1f8642 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26735581606809844, + 0.2217922089625176, + 1.0466345112325095 + ], + "current_z": 1.0466345112325095, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.19004800382394416, + "gripper_z": 1.04958808442178, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26170560495755174, + 0.21665765950372268, + 1.04958808442178 + ], + "object_minus_gripper": [ + 0.005650211110546699, + 0.005134549458794935, + -0.0029535731892704753 + ], + "object_to_gripper_xy": 0.00763468949850331, + "object_to_gripper_z": -0.0029535731892704753, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26735581606809844, + 0.1969149260813166, + 1.0466345112325095 + ], + "finger_b": [ + 0.2551444610098973, + 0.2217922089625176, + 1.0466345112325095 + ], + "finger_midpoint": [ + 0.26125013853899787, + 0.2093535675219171, + 1.0466345112325095 + ], + "object_minus_finger_midpoint": [ + 0.006105677529100573, + 0.0124386414406005, + 0.0 + ], + "finger_gap": 0.02771274789530535, + "fingertip_max_gap": 0.09108921831596137, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013856373947652675, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466345112325095, + "object_top_z": 1.0922453656119155, + "finger_top_clearance": 0.04561085437940604, + "fingertip_min_top_clearance": 0.013683256313821779, + "object_projection_between_fingers": 0.8058360779401732, + "object_to_finger_line_xy": 0.010961934749066054, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048044609157980686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.36399278539977525, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26667714714167257, + 0.2200065037392069, + 1.2389115155978112 + ], + "held_position": [ + 0.2726349848212145, + 0.2246956948719017, + 1.2358288537241384 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008184567644176993, + "max_held_gripper_dist": 0.00818824031317474, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030826618736727873, + "max_held_gripper_z_dist": 0.003141350306827162, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697411755200166, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2726349848212145, + 0.1990290060211132, + 1.2358288537241384 + ], + "held_grasp_finger_b": [ + 0.26222801479029967, + 0.2246956948719017, + 1.2358288537241384 + ], + "held_grasp_midpoint": [ + 0.2674314998057571, + 0.21186235044650745, + 1.2358288537241384 + ], + "held_grasp_object_position": [ + 0.2726349848212145, + 0.2246956948719017, + 1.2358288537241384 + ], + "held_grasp_finger_gap": 0.027696280287929455, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024944065887883858, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0640086656532749, + -0.9977992214710463, + 0.01730908296419065 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004377156072104982, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206205575669637, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23420575044464578, + 0.21991529555107062, + 0.7565865309708223 + ], + "target_position": [ + 0.2422746148110234, + 0.21949358014621712, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008079877229617354, + "xy_threshold": 0.08, + "gripper_dist": 0.21109859669816564, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865309708223, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553796416504387, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08856091450318133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18115280341147294, + "release_required_pad_clearance": 0.05428045725159067, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.580038786088098, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 278, + "max_placed_release_frames": 278 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6611add4925f7d3540889bdeb44e2b79d970087108d8f653445447b01ba53b1b", + "visual_seed": 1828731449795582750, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb8dc9f4cb4de9b12aef43281e5ceb4ff612b37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26575096045416624, + 0.2234586251087022, + 1.0480595910032586 + ], + "current_z": 1.0480595910032586, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1914732028039826, + "gripper_z": 1.0511639901375753, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.260274175960614, + 0.21838655495204734, + 1.0511639901375753 + ], + "object_minus_gripper": [ + 0.005476784493552267, + 0.005072070156654868, + -0.0031043991343167043 + ], + "object_to_gripper_xy": 0.00746465431636613, + "object_to_gripper_z": -0.0031043991343167043, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26575096045416624, + 0.19877435150087308, + 1.0480595910032586 + ], + "finger_b": [ + 0.2535413077630415, + 0.2234586251087022, + 1.0480595910032586 + ], + "finger_midpoint": [ + 0.2596461341086039, + 0.21111648830478763, + 1.0480595910032586 + ], + "object_minus_finger_midpoint": [ + 0.006104826345562364, + 0.012342136803914577, + 0.0 + ], + "finger_gap": 0.027538863128024345, + "fingertip_max_gap": 0.0919699714463367, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013769431564012186, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480595910032586, + "object_top_z": 1.0943095465147519, + "finger_top_clearance": 0.046249955511493246, + "fingertip_min_top_clearance": 0.013874986653447973, + "object_projection_between_fingers": 0.8034311912479825, + "object_to_finger_line_xy": 0.010944039566309856, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848498572316835, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6822135405550719, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2651110939571104, + 0.22241207332988003, + 1.241582018630646 + ], + "held_position": [ + 0.270894997066333, + 0.2270521721945154, + 1.2383670848408772 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008082069779645758, + "max_held_gripper_dist": 0.00808517017312338, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032149337897688923, + "max_held_gripper_z_dist": 0.003275684569557402, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08642369337885686, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.270894997066333, + 0.20155081601451666, + 1.2383670848408772 + ], + "held_grasp_finger_b": [ + 0.26045379285516157, + 0.2270521721945154, + 1.2383670848408772 + ], + "held_grasp_midpoint": [ + 0.2656743949607473, + 0.21430149410451604, + 1.2383670848408772 + ], + "held_grasp_object_position": [ + 0.270894997066333, + 0.2270521721945154, + 1.2383670848408772 + ], + "held_grasp_finger_gap": 0.02755608666698783, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024693513687829197, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07054502900847272, + -0.9972053471311081, + 0.024594603784571567 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004319826912004774, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321168930679357, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2346410702888553, + 0.22024373556441276, + 0.7565863797421588 + ], + "target_position": [ + 0.24086452731340308, + 0.22010011438672855, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006225114005307241, + "xy_threshold": 0.08, + "gripper_dist": 0.21114918189517878, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863797421588, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577714248404989, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09029639631573315, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18066118044356702, + "release_required_pad_clearance": 0.055148198157866576, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.388561210621781, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 279, + "max_placed_release_frames": 279 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e036631b53c3126b5873e109c61565a7ee0ae1de6732b18b7b1e89eb49414e3a", + "visual_seed": 4513452393673323155, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..56f8a9f3f39a637e954b769edba9a3a0e69f6703 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2672100189530269, + 0.23096434679824998, + 1.0180668623467828 + ], + "current_z": 1.0180668623467828, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.16148029533357244, + "gripper_z": 1.0488834021138873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2605976129117677, + 0.22543562813617024, + 1.0488834021138873 + ], + "object_minus_gripper": [ + 0.006612406041259178, + 0.00552871866207974, + -0.030816539767104523 + ], + "object_to_gripper_xy": 0.008619202033767957, + "object_to_gripper_z": -0.030816539767104523, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2672100189530269, + 0.20542802459700082, + 1.0353303295208798 + ], + "finger_b": [ + 0.25433822586518795, + 0.23096434679824998, + 1.0354000561458803 + ], + "finger_midpoint": [ + 0.2607741224091074, + 0.2181961856976254, + 1.03536519283338 + ], + "object_minus_finger_midpoint": [ + 0.0064358965439194615, + 0.012768161100624592, + -0.017298330486597235 + ], + "finger_gap": 0.028597057028029692, + "fingertip_max_gap": 0.0995656701483637, + "finger_z_skew": 6.972662500048799e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014298486011306842, + "object_to_finger_midpoint_z": 0.017298330486597235, + "finger_midpoint_minus_object_z": 0.017298330486597235, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0180668623467828, + "object_top_z": 1.066564601615326, + "finger_top_clearance": 0.031199408781946047, + "fingertip_min_top_clearance": 0.014549321780562952, + "object_projection_between_fingers": 0.7974006727662118, + "object_to_finger_line_xy": 0.011494162925324462, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052282835074181855, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.651136708770897, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 195, + "max_stable_success_frames": 195, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26648399813279844, + 0.22598090112327546, + 1.2111073209703382 + ], + "held_position": [ + 0.27324433666314296, + 0.23028253984918026, + 1.1801045214512575 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.032021552910397315, + "max_held_gripper_dist": 0.032064367779583366, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.031002799519080693, + "max_held_gripper_z_dist": 0.03107192008470494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0880641611828718, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27324433666314296, + 0.2042060870685965, + 1.1977045074240025 + ], + "held_grasp_finger_b": [ + 0.26336950960732286, + 0.2318799911369469, + 1.1968364303474768 + ], + "held_grasp_midpoint": [ + 0.2683069231352329, + 0.2180430391027717, + 1.1972704688857396 + ], + "held_grasp_object_position": [ + 0.27324433666314296, + 0.23028253984918026, + 1.1801045214512575 + ], + "held_grasp_finger_gap": 0.02939576046945218, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02716890140281318, + "held_grasp_world_z_skew": 0.0008680770765256973, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04864310004414738, + -0.9975024661399506, + 0.05121209684060768 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.017064936817590144, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03187201752437353, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23241518206528358, + 0.2291358110278728, + 0.7565873636497221 + ], + "target_position": [ + 0.24085441655461828, + 0.2273412224466388, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008627932947228547, + "xy_threshold": 0.08, + "gripper_dist": 0.20899858801954477, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873636497221, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752079738765123, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644058267423581, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18039593369404727, + "release_required_pad_clearance": 0.053220291337117906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4622982963912072, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "965239d72cf9321d00cb067cd7daa8c7cc548ff32a6be5e8174026dc1e491f26", + "visual_seed": 5937287341967300284, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc3046fef46d1174b4046be8e2cc37c6556115a3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26754285563598224, + 0.2257494199976528, + 1.0447340887409104 + ], + "current_z": 1.0447340887409104, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18814758133234488, + "gripper_z": 1.047678221876112, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.262289449519437, + 0.220739839278236, + 1.047678221876112 + ], + "object_minus_gripper": [ + 0.005253406116545234, + 0.00500958071941679, + -0.0029441331352015876 + ], + "object_to_gripper_xy": 0.007259075341233711, + "object_to_gripper_z": -0.0029441331352015876, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26754285563598224, + 0.20127226455459557, + 1.0447340887409104 + ], + "finger_b": [ + 0.25536655675036346, + 0.2257494199976528, + 1.0447340887409104 + ], + "finger_midpoint": [ + 0.26145470619317285, + 0.21351084227612419, + 1.0447340887409104 + ], + "object_minus_finger_midpoint": [ + 0.006088149442809387, + 0.012238577721528615, + 0.0 + ], + "finger_gap": 0.027338496541242117, + "fingertip_max_gap": 0.09241867489495695, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013669248270621059, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447340887409104, + "object_top_z": 1.0911667998873715, + "finger_top_clearance": 0.04643271114646108, + "fingertip_min_top_clearance": 0.01392981334393834, + "object_projection_between_fingers": 0.8016275552959831, + "object_to_finger_line_xy": 0.010901885555220587, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048709337447478476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8294502983523162, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26712390692296195, + 0.2246432480000944, + 1.2396846321361508 + ], + "held_position": [ + 0.27272817386629133, + 0.22919441312906327, + 1.2366426379616524 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00783419686763862, + "max_held_gripper_dist": 0.007840385003162377, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030419941744983525, + "max_held_gripper_z_dist": 0.0031035015609546246, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08646187922543072, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27272817386629133, + 0.20376159357668075, + 1.2366426379616524 + ], + "held_grasp_finger_b": [ + 0.26248016219899684, + 0.22919441312906327, + 1.2366426379616524 + ], + "held_grasp_midpoint": [ + 0.2676041680326441, + 0.216478003352872, + 1.2366426379616524 + ], + "held_grasp_object_position": [ + 0.27272817386629133, + 0.22919441312906327, + 1.2366426379616524 + ], + "held_grasp_finger_gap": 0.027419884272495663, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024599292348804366, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07371736134016248, + -0.996930311862544, + 0.026376200004834316 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00418650339745534, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032145122412312446, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23409658116433965, + 0.22118370248645833, + 0.7565998128751243 + ], + "target_position": [ + 0.2428866281418676, + 0.22049938131706984, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008816644561851258, + "xy_threshold": 0.08, + "gripper_dist": 0.21119219665681857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565998128751243, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579102601036301, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08800734919949336, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18095562670066878, + "release_required_pad_clearance": 0.054003674599746684, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9632649183684534, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 278, + "max_placed_release_frames": 278 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "56a169a53595bad4a87b26d2f3be5c89146802e090b38ef08d29a4590a594128", + "visual_seed": 8203246816983942751, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5239416962d0f6bcc70a75456250694d668dc815 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2673567882371334, + 0.22981641160176294, + 1.046091582246574 + ], + "current_z": 1.046091582246574, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18950507483800838, + "gripper_z": 1.0488308811710962, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2621363932211702, + 0.22486911270383492, + 1.0488308811710962 + ], + "object_minus_gripper": [ + 0.005220395015963164, + 0.004947298897928026, + -0.002739298924522293 + ], + "object_to_gripper_xy": 0.0071922382126938, + "object_to_gripper_z": -0.002739298924522293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2673567882371334, + 0.20528760726904827, + 1.046091582246574 + ], + "finger_b": [ + 0.25536556428229923, + 0.22981641160176294, + 1.046091582246574 + ], + "finger_midpoint": [ + 0.26136117625971633, + 0.2175520094354056, + 1.046091582246574 + ], + "object_minus_finger_midpoint": [ + 0.005995611977417048, + 0.012264402166357352, + 0.0 + ], + "finger_gap": 0.02730296126663902, + "fingertip_max_gap": 0.09235109590323345, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01365148063331951, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046091582246574, + "object_top_z": 1.0925277566516862, + "finger_top_clearance": 0.046436174405112274, + "fingertip_min_top_clearance": 0.013930852321533665, + "object_projection_between_fingers": 0.8071109729761304, + "object_to_finger_line_xy": 0.010772838272941471, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867554795161673, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8122569920314823, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2669722364593339, + 0.22877180077590353, + 1.238090147414553 + ], + "held_position": [ + 0.2725007786072807, + 0.23329687676842628, + 1.2352290294646984 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007695913652238465, + "max_held_gripper_dist": 0.007703760098391572, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028611179498545525, + "max_held_gripper_z_dist": 0.0029250310814683544, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629820461810861, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2725007786072807, + 0.20788858130324678, + 1.2352290294646984 + ], + "held_grasp_finger_b": [ + 0.26238809187312706, + 0.23329687676842628, + 1.2352290294646984 + ], + "held_grasp_midpoint": [ + 0.2674444352402039, + 0.22059272903583654, + 1.2352290294646984 + ], + "held_grasp_object_position": [ + 0.2725007786072807, + 0.23329687676842628, + 1.2352290294646984 + ], + "held_grasp_finger_gap": 0.027346808066554838, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024586303329623874, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07359438952316372, + -0.996939773900884, + 0.02636196208872188 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004121707714863957, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321628362943598, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22607538978720432, + 0.23287425818408264, + 0.7565968429961124 + ], + "target_position": [ + 0.24274625991516385, + 0.22542982484370938, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018257532653196996, + "xy_threshold": 0.08, + "gripper_dist": 0.20478099207430445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565968429961124, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571497928842141, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578026633945011, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1772009978241235, + "release_required_pad_clearance": 0.05289013316972506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7788516253385664, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b1d50ce0af6e7b6d7c5ea7da577acae49ef350409aa6b08b07c24b164908350", + "visual_seed": 4916318817150554994, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_115_success.json new file mode 100644 index 0000000000000000000000000000000000000000..48f36d92cd22e1d7baf19832fccd9ad9754dd982 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_115_success.json @@ -0,0 +1,684 @@ +{ + "episode": 115, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26843212512337944, + 0.22329770910513022, + 1.0449497131323848 + ], + "current_z": 1.0449497131323848, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18836314611917448, + "gripper_z": 1.047688669596056, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26299968260201106, + 0.21830312733323487, + 1.047688669596056 + ], + "object_minus_gripper": [ + 0.005432442521368375, + 0.004994581771895351, + -0.0027389564636712826 + ], + "object_to_gripper_xy": 0.007379517519738028, + "object_to_gripper_z": -0.0027389564636712826, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26843212512337944, + 0.19853819738245165, + 1.0449497131323848 + ], + "finger_b": [ + 0.2564772933895006, + 0.22329770910513022, + 1.0449497131323848 + ], + "finger_midpoint": [ + 0.26245470925644, + 0.21091795324379092, + 1.0449497131323848 + ], + "object_minus_finger_midpoint": [ + 0.005977415866939451, + 0.012379755861339298, + 0.0 + ], + "finger_gap": 0.02749457078280754, + "fingertip_max_gap": 0.09090785500321677, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013747285391403795, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449497131323848, + "object_top_z": 1.0905926307018383, + "finger_top_clearance": 0.04564291756945349, + "fingertip_min_top_clearance": 0.01369287527083608, + "object_projection_between_fingers": 0.8109428760555959, + "object_to_finger_line_xy": 0.010765608919514762, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04795392750160839, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17994253719851577, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26764897171358815, + 0.22232539354223219, + 1.2378773456907566 + ], + "held_position": [ + 0.27334518704550015, + 0.22695249346258017, + 1.2350350127317145 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00786992880720346, + "max_held_gripper_dist": 0.007874423028632987, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028423329590421265, + "max_held_gripper_z_dist": 0.0029036802457373945, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740174280806462, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27334518704550015, + 0.20150411784517802, + 1.2350350127317145 + ], + "held_grasp_finger_b": [ + 0.26292136848975056, + 0.22695249346258017, + 1.2350350127317145 + ], + "held_grasp_midpoint": [ + 0.26813327776762536, + 0.2142283056538791, + 1.2350350127317145 + ], + "held_grasp_object_position": [ + 0.27334518704550015, + 0.22695249346258017, + 1.2350350127317145 + ], + "held_grasp_finger_gap": 0.027500469356859673, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024777305981439814, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05973102146919236, + -0.9980963694207355, + 0.015357161957652573 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00444697539616584, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218894664514642, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23214046780687345, + 0.22963192797606058, + 0.7565881254103899 + ], + "target_position": [ + 0.24365172722251432, + 0.21836631565083742, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016106617099701626, + "xy_threshold": 0.08, + "gripper_dist": 0.20515501461665342, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565881254103899, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553670900122916, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552288094240877, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17815386333177644, + "release_required_pad_clearance": 0.05276144047120439, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5664654448553136, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 272, + "max_placed_release_frames": 272 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 115, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "55378717680487d8655f1dbec0484426573a65f87b13129f8f9ae7a016b9fc51", + "visual_seed": 4264460851908005198, + "episode_index": 115, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_117_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e900c05f6ad0e60d2f7e17a2815a3b125ca0aede --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_117_success.json @@ -0,0 +1,684 @@ +{ + "episode": 117, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2673514431420027, + 0.23078582913653373, + 1.0452886209740102 + ], + "current_z": 1.0452886209740102, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.18870229237937897, + "gripper_z": 1.0479123646413033, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2621766136135567, + 0.2257999227880466, + 1.0479123646413033 + ], + "object_minus_gripper": [ + 0.005174829528446001, + 0.00498590634848714, + -0.0026237436672931214 + ], + "object_to_gripper_xy": 0.007185967072312608, + "object_to_gripper_z": -0.0026237436672931214, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2673514431420027, + 0.20637391655158177, + 1.0452886209740102 + ], + "finger_b": [ + 0.25519853140650145, + 0.23078582913653373, + 1.0452886209740102 + ], + "finger_midpoint": [ + 0.2612749872742521, + 0.21857987284405775, + 1.0452886209740102 + ], + "object_minus_finger_midpoint": [ + 0.00607645586775063, + 0.012205956292475978, + 0.0 + ], + "finger_gap": 0.027269667025950645, + "fingertip_max_gap": 0.09183726510159818, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013634833512975323, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452886209740102, + "object_top_z": 1.091448375691775, + "finger_top_clearance": 0.04615975471776479, + "fingertip_min_top_clearance": 0.013847926415329453, + "object_projection_between_fingers": 0.8013900430347943, + "object_to_finger_line_xy": 0.010879334120851838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841863255079909, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6164536446916333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2670288607365262, + 0.2296582837370369, + 1.2375297881713245 + ], + "held_position": [ + 0.272555467233794, + 0.23418248758397567, + 1.234789421316446 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007649928778989665, + "max_held_gripper_dist": 0.0076568111976886115, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00274036685487844, + "max_held_gripper_z_dist": 0.0028038334780682295, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635057807307925, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.272555467233794, + 0.20876686146944146, + 1.234789421316446 + ], + "held_grasp_finger_b": [ + 0.26244714906072925, + 0.23418248758397567, + 1.234789421316446 + ], + "held_grasp_midpoint": [ + 0.2675013081472616, + 0.22147467452670855, + 1.234789421316446 + ], + "held_grasp_object_position": [ + 0.272555467233794, + 0.23418248758397567, + 1.234789421316446 + ], + "held_grasp_finger_gap": 0.02735200444358154, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024547846234557375, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07759259537244792, + -0.9967166168678196, + 0.023138167665908815 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004063870757216449, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032141971206633514, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23342272880738357, + 0.22843195046067155, + 0.7565884003660412 + ], + "target_position": [ + 0.24277051722777618, + 0.22595474532801035, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009670454675024804, + "xy_threshold": 0.08, + "gripper_dist": 0.20943486848581652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565884003660412, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535027620525651, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644049517043036, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18052996588028244, + "release_required_pad_clearance": 0.05322024758521518, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4601550477591791, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 117, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "23b0bb43b7d5eccd44b538238e40ed9353caf33bdb443df36a28f594b41d324a", + "visual_seed": 6598238759945674408, + "episode_index": 117, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b47b3d253ac90d2bea21d25503f8675a16d6698c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2644196284067101, + 0.22784823150556885, + 1.0448882032060023 + ], + "current_z": 1.0448882032060023, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18830169579743672, + "gripper_z": 1.0481633822980077, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25896114844645585, + 0.22275651559091186, + 1.0481633822980077 + ], + "object_minus_gripper": [ + 0.005458479960254281, + 0.005091715914656986, + -0.0032751790920053647 + ], + "object_to_gripper_xy": 0.0074646215196799365, + "object_to_gripper_z": -0.0032751790920053647, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2644196284067101, + 0.20320349173440388, + 1.0448882032060023 + ], + "finger_b": [ + 0.2521562028810751, + 0.22784823150556885, + 1.0448882032060023 + ], + "finger_midpoint": [ + 0.25828791564389264, + 0.21552586161998638, + 1.0448882032060023 + ], + "object_minus_finger_midpoint": [ + 0.006131712762817487, + 0.012322369885582468, + 0.0 + ], + "finger_gap": 0.027527346476027014, + "fingertip_max_gap": 0.09213431511675274, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013763673238013483, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448882032060023, + "object_top_z": 1.0911369012241712, + "finger_top_clearance": 0.04624869801816889, + "fingertip_min_top_clearance": 0.01387460940545065, + "object_projection_between_fingers": 0.8015299872377099, + "object_to_finger_line_xy": 0.010979225006142219, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856715755837637, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6789169314034096, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2636266521532694, + 0.22675950784211757, + 1.2371451870978087 + ], + "held_position": [ + 0.2694050570379403, + 0.23140752099860334, + 1.2337456154278714 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008157884336829853, + "max_held_gripper_dist": 0.008160234149667395, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003399571669937318, + "max_held_gripper_z_dist": 0.0034633330847477772, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08744083746417616, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2694050570379403, + 0.20590758303954898, + 1.2337456154278714 + ], + "held_grasp_finger_b": [ + 0.2589864593254053, + 0.23140752099860334, + 1.2337456154278714 + ], + "held_grasp_midpoint": [ + 0.26419575818167285, + 0.21865755201907616, + 1.2337456154278714 + ], + "held_grasp_object_position": [ + 0.2694050570379403, + 0.23140752099860334, + 1.2337456154278714 + ], + "held_grasp_finger_gap": 0.027546215969008542, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024728491184841137, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06776296195065053, + -0.9974332590947994, + 0.023131680423208234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043436520755776985, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212998433301656, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23167579369509347, + 0.2265154645217981, + 0.7565865071454858 + ], + "target_position": [ + 0.23955976738627996, + 0.22476338030560755, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008076313531800553, + "xy_threshold": 0.08, + "gripper_dist": 0.2109571909730127, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865071454858, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525587296183796, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09390978084730166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1819314686587404, + "release_required_pad_clearance": 0.05695489042365083, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.417298497732578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 276, + "max_placed_release_frames": 276 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c71585fff23dbd87fe32bf1290702dd4261fa77729c8ecf62dae0312534b5846", + "visual_seed": 4756383509163858805, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..991607bf9e094d190608453c417941149ccf3e10 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_119_success.json @@ -0,0 +1,684 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2664710099207158, + 0.22523551747068926, + 1.0446395370818893 + ], + "current_z": 1.0446395370818893, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1880530296733237, + "gripper_z": 1.0475225777128867, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26099845534915256, + 0.22020051908165122, + 1.0475225777128867 + ], + "object_minus_gripper": [ + 0.0054725545715632595, + 0.005034998389038037, + -0.0028830406309974244 + ], + "object_to_gripper_xy": 0.007436401166986189, + "object_to_gripper_z": -0.0028830406309974244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2664710099207158, + 0.2004895290134041, + 1.0446395370818893 + ], + "finger_b": [ + 0.254404492923595, + 0.22523551747068926, + 1.0446395370818893 + ], + "finger_midpoint": [ + 0.2604377514221554, + 0.2128625232420467, + 1.0446395370818893 + ], + "object_minus_finger_midpoint": [ + 0.006033258498560401, + 0.012372994228642575, + 0.0 + ], + "finger_gap": 0.027531160113040916, + "fingertip_max_gap": 0.09098239702495153, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013765580056520458, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446395370818893, + "object_top_z": 1.090300141812136, + "finger_top_clearance": 0.0456606047302468, + "fingertip_min_top_clearance": 0.013698181419074024, + "object_projection_between_fingers": 0.8079055428070778, + "object_to_finger_line_xy": 0.010845815763097743, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04799119851247577, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20385842852207087, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2655941038374201, + 0.22456403202950398, + 1.2364980770272647 + ], + "held_position": [ + 0.27132832200962587, + 0.2292261362955686, + 1.233495556213739 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007976942112725092, + "max_held_gripper_dist": 0.00797863308426451, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030025208135255887, + "max_held_gripper_z_dist": 0.0030660851678669943, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722048951807909, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27132832200962587, + 0.20377338702768608, + 1.233495556213739 + ], + "held_grasp_finger_b": [ + 0.26085583325139206, + 0.2292261362955686, + 1.233495556213739 + ], + "held_grasp_midpoint": [ + 0.26609207763050896, + 0.21649976166162732, + 1.233495556213739 + ], + "held_grasp_object_position": [ + 0.27132832200962587, + 0.2292261362955686, + 1.233495556213739 + ], + "held_grasp_finger_gap": 0.02752299885704731, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024784400560953636, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0592749525189167, + -0.99813016532993, + 0.014921563668954693 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004476810051273026, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218726841143475, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23030417741886747, + 0.2294574200549689, + 0.756588201240469 + ], + "target_position": [ + 0.2416373909128388, + 0.22053398480738245, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014424611770089432, + "xy_threshold": 0.08, + "gripper_dist": 0.20796360166466124, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756588201240469, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528314421013318, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09548422850981246, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.180693381318765, + "release_required_pad_clearance": 0.05774211425490623, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.301663566339592, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14c951a8fa9dcb43f5c049af8f2865eb6ccbf36a1ab27ebe636e31c5051eec36", + "visual_seed": 6948951139000059076, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9dee5d96f209c6469daac3ff4d656da22b4d83df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2628244134734643, + 0.23014436249076303, + 1.048199056208987 + ], + "current_z": 1.048199056208987, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.191612369986487, + "gripper_z": 1.051046505484377, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25765638562570387, + 0.22523692798711326, + 1.051046505484377 + ], + "object_minus_gripper": [ + 0.005168027847760437, + 0.004907434503649777, + -0.002847449275390046 + ], + "object_to_gripper_xy": 0.007126810313375803, + "object_to_gripper_z": -0.002847449275390046, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2628244134734643, + 0.20563294371763227, + 1.048199056208987 + ], + "finger_b": [ + 0.2509164892907026, + 0.23014436249076303, + 1.048199056208987 + ], + "finger_midpoint": [ + 0.2568704513820834, + 0.21788865310419764, + 1.048199056208987 + ], + "object_minus_finger_midpoint": [ + 0.005953962091380882, + 0.012255709386565394, + 0.0 + ], + "finger_gap": 0.027250840512068396, + "fingertip_max_gap": 0.09214154981823242, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013625420256034224, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048199056208987, + "object_top_z": 1.0945263448024178, + "finger_top_clearance": 0.04632728859343094, + "fingertip_min_top_clearance": 0.013898186578029248, + "object_projection_between_fingers": 0.8090532294110505, + "object_to_finger_line_xy": 0.010710866559624116, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857077490911621, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7206432237135044, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2624983721969311, + 0.2293381213854458, + 1.2421803135096487 + ], + "held_position": [ + 0.2679827045724352, + 0.2338353274641153, + 1.2392276471197783 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007682512800438101, + "max_held_gripper_dist": 0.007684562293284746, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002952666389870462, + "max_held_gripper_z_dist": 0.003013281738781126, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629909768977936, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2679827045724352, + 0.208468074364268, + 1.2392276471197783 + ], + "held_grasp_finger_b": [ + 0.25785491050760984, + 0.2338353274641153, + 1.2392276471197783 + ], + "held_grasp_midpoint": [ + 0.2629188075400225, + 0.22115170091419167, + 1.2392276471197783 + ], + "held_grasp_object_position": [ + 0.2679827045724352, + 0.2338353274641153, + 1.2392276471197783 + ], + "held_grasp_finger_gap": 0.027314277263936985, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024566675220159352, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07183850339504487, + -0.9971217888239498, + 0.02423566963149149 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004151365329065674, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218932178742083, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23938817692119405, + 0.22664235675893685, + 0.7565865455985891 + ], + "target_position": [ + 0.2382499997425074, + 0.2278776680848538, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00167971466684725, + "xy_threshold": 0.08, + "gripper_dist": 0.21490689662774456, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865455985891, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557590031386169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879256473267687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18404230817261255, + "release_required_pad_clearance": 0.053962823663384354, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9358756563058894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "21df91ac6cb222b50f87a01fdb7f082d7325a9727ad1de010496f32568a9d50d", + "visual_seed": 5831643328837803196, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_120_success.json new file mode 100644 index 0000000000000000000000000000000000000000..66ced29eb34d992c68eb3fd5b3ad3eac982d8eaa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_120_success.json @@ -0,0 +1,684 @@ +{ + "episode": 120, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26870858110542695, + 0.22494452896620648, + 1.0478799215723054 + ], + "current_z": 1.0478799215723054, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19129329495445024, + "gripper_z": 1.0507436947525752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2632987159752674, + 0.21992136643982219, + 1.0507436947525752 + ], + "object_minus_gripper": [ + 0.0054098651301595635, + 0.005023162526384295, + -0.0028637731802698685 + ], + "object_to_gripper_xy": 0.007382330424262233, + "object_to_gripper_z": -0.0028637731802698685, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26870858110542695, + 0.2002766511552838, + 1.0478799215723054 + ], + "finger_b": [ + 0.256613536623029, + 0.22494452896620648, + 1.0478799215723054 + ], + "finger_midpoint": [ + 0.26266105886422797, + 0.21261059006074515, + 1.0478799215723054 + ], + "object_minus_finger_midpoint": [ + 0.006047522241198977, + 0.012333938905461334, + 0.0 + ], + "finger_gap": 0.027473519918747143, + "fingertip_max_gap": 0.09200950064724625, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013736759959373571, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478799215723054, + "object_top_z": 1.0941726089344659, + "finger_top_clearance": 0.04629268736216052, + "fingertip_min_top_clearance": 0.013887806208648124, + "object_projection_between_fingers": 0.8061854711067988, + "object_to_finger_line_xy": 0.010859878176945049, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850475032362313, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6868027851059136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.268180327444388, + 0.22389909521069046, + 1.2424679972071684 + ], + "held_position": [ + 0.27389764852416454, + 0.22850914354131702, + 1.239506500733835 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007919013025720779, + "max_held_gripper_dist": 0.007922308354472829, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002961496473333325, + "max_held_gripper_z_dist": 0.0030242529828481413, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08642915253086911, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27389764852416454, + 0.20304037102793326, + 1.239506500733835 + ], + "held_grasp_finger_b": [ + 0.2634965585872434, + 0.22850914354131702, + 1.239506500733835 + ], + "held_grasp_midpoint": [ + 0.268697103555704, + 0.21577475728462514, + 1.239506500733835 + ], + "held_grasp_object_position": [ + 0.27389764852416454, + 0.22850914354131702, + 1.239506500733835 + ], + "held_grasp_finger_gap": 0.02751074417776469, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024706079941961057, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0670921613876922, + -0.9974533139854778, + 0.024197692032831723 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004345688946513637, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214935339017443, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23770220029554728, + 0.2275337927894948, + 0.7565865987198357 + ], + "target_position": [ + 0.2439263350514935, + 0.22197762303495933, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00834331323883937, + "xy_threshold": 0.08, + "gripper_dist": 0.21034962030674031, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865987198357, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756700397137457, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09301053551723716, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1813687719666773, + "release_required_pad_clearance": 0.05650526775861858, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.375755187092981, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 120, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1228eebc7c8e90415f79228182be83b68f20aa2ae48ccb42e1978fa16bded9f9", + "visual_seed": 7315220900617625438, + "episode_index": 120, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_121_success.json new file mode 100644 index 0000000000000000000000000000000000000000..600c3cd6bea304db168f949a2bb0788e1ea33576 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_121_success.json @@ -0,0 +1,684 @@ +{ + "episode": 121, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.267308847856224, + 0.23008812278151383, + 1.0469760580631926 + ], + "current_z": 1.0469760580631926, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1903896102592718, + "gripper_z": 1.049795472905539, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2620428262529024, + 0.22516600613260462, + 1.049795472905539 + ], + "object_minus_gripper": [ + 0.005266021603321569, + 0.004922116648909208, + -0.0028194148423463794 + ], + "object_to_gripper_xy": 0.00720820475792126, + "object_to_gripper_z": -0.0028194148423463794, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.267308847856224, + 0.2054728439297565, + 1.0469760580631926 + ], + "finger_b": [ + 0.2554198578223563, + 0.23008812278151383, + 1.0469760580631926 + ], + "finger_midpoint": [ + 0.26136435283929016, + 0.21778048335563516, + 1.0469760580631926 + ], + "object_minus_finger_midpoint": [ + 0.005944495016933837, + 0.012307639425878675, + 0.0 + ], + "finger_gap": 0.027336057451197607, + "fingertip_max_gap": 0.0921444615938429, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013668028725598816, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469760580631926, + "object_top_z": 1.0933570360040141, + "finger_top_clearance": 0.04638097794082152, + "fingertip_min_top_clearance": 0.013914293382246489, + "object_projection_between_fingers": 0.8108448504786019, + "object_to_finger_line_xy": 0.010705669808891757, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857223079692145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7638459750170827, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26691925801133, + 0.22909970455889417, + 1.2413168196506026 + ], + "held_position": [ + 0.2724810773175034, + 0.23362361813990518, + 1.2383990563290175 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007740346948539596, + "max_held_gripper_dist": 0.007744068097688233, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029177633215851095, + "max_held_gripper_z_dist": 0.002981618079715531, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08640591229431122, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2724810773175034, + 0.20821132921973554, + 1.2383990563290175 + ], + "held_grasp_finger_b": [ + 0.26228385406372917, + 0.23362361813990518, + 1.2383990563290175 + ], + "held_grasp_midpoint": [ + 0.2673824656906163, + 0.22091747367982034, + 1.2383990563290175 + ], + "held_grasp_object_position": [ + 0.2724810773175034, + 0.23362361813990518, + 1.2383990563290175 + ], + "held_grasp_finger_gap": 0.027381887996438266, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02466292854074806, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06706058145118, + -0.9974213791192977, + 0.02556307671599766 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0042478250705605715, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218492897485115, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23426874113979917, + 0.22972812168108284, + 0.7565925203673447 + ], + "target_position": [ + 0.24266348115058836, + 0.22578214145004588, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009275905337619574, + "xy_threshold": 0.08, + "gripper_dist": 0.20886424854443644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565925203673447, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556260239802975, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09201982552326272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17989481200468233, + "release_required_pad_clearance": 0.056009912761631364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.234385506846497, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 121, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2b1067dd5a01b416f354ea27442a0cc9a1c32ac352df035ee15fe06da8b6037", + "visual_seed": 962352870007716749, + "episode_index": 121, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_122_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c466a177ddea175442675042667275f781b19743 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_122_success.json @@ -0,0 +1,684 @@ +{ + "episode": 122, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2630944617906221, + 0.21991762344943597, + 1.0479406724979368 + ], + "current_z": 1.0479406724979368, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.19135410548472664, + "gripper_z": 1.0509722307687006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25788082063479567, + 0.21490597091781088, + 1.0509722307687006 + ], + "object_minus_gripper": [ + 0.005213641155826454, + 0.005011652531625083, + -0.0030315582707638455 + ], + "object_to_gripper_xy": 0.007231785063141154, + "object_to_gripper_z": -0.0030315582707638455, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2630944617906221, + 0.19551318456680766, + 1.0479406724979368 + ], + "finger_b": [ + 0.25085437264987553, + 0.21991762344943597, + 1.0479406724979368 + ], + "finger_midpoint": [ + 0.25697441722024883, + 0.20771540400812183, + 1.0479406724979368 + ], + "object_minus_finger_midpoint": [ + 0.006120044570373295, + 0.012202219441314138, + 0.0 + ], + "finger_gap": 0.02730194900276101, + "fingertip_max_gap": 0.09175908373065161, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013650974501380492, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479406724979368, + "object_top_z": 1.0940111683448759, + "finger_top_clearance": 0.04607049584693912, + "fingertip_min_top_clearance": 0.013821148754081702, + "object_projection_between_fingers": 0.7990065711555251, + "object_to_finger_line_xy": 0.010941068980938495, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837954186532581, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5947833564993912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26275208580860077, + 0.21865035121384097, + 1.240600161782323 + ], + "held_position": [ + 0.2683216301587801, + 0.22318593157656982, + 1.2374435109060988 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007845747781426118, + "max_held_gripper_dist": 0.007848608639915504, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031566508762241874, + "max_held_gripper_z_dist": 0.003212015431064419, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08657065602772912, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2683216301587801, + 0.19775698657084778, + 1.2374435109060988 + ], + "held_grasp_finger_b": [ + 0.2581823161754022, + 0.22318593157656982, + 1.2374435109060988 + ], + "held_grasp_midpoint": [ + 0.26325197316709115, + 0.2104714590737088, + 1.2374435109060988 + ], + "held_grasp_object_position": [ + 0.2683216301587801, + 0.22318593157656982, + 1.2374435109060988 + ], + "held_grasp_finger_gap": 0.027375845779766473, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024555696763462535, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07784103672245303, + -0.9966969321723725, + 0.02315163925416108 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004075542880897768, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213312187195891, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22729154995896053, + 0.2145445207377961, + 0.756587205356912 + ], + "target_position": [ + 0.23838868544583422, + 0.21818832982178377, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011680058247054355, + "xy_threshold": 0.08, + "gripper_dist": 0.20994377651366947, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587205356912, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549243293494513, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08951712062925747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17946576269476108, + "release_required_pad_clearance": 0.05475856031462874, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.567753188625585, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 122, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1551d1333d3aa573666ad8b2b5321ba95d14555001cb07620edc137aad2afa44", + "visual_seed": 1730371948252779187, + "episode_index": 122, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_123_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00cd7048fc1c964765c100df7c30625a4b2434ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_123_success.json @@ -0,0 +1,684 @@ +{ + "episode": 123, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2698454601501481, + 0.225641624406302, + 1.0461147821021166 + ], + "current_z": 1.0461147821021166, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18952833429819582, + "gripper_z": 1.0487455316791097, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2646501651654556, + 0.22072434621948953, + 1.0487455316791097 + ], + "object_minus_gripper": [ + 0.005195294984692511, + 0.004917278186812479, + -0.0026307495769930522 + ], + "object_to_gripper_xy": 0.00715337086585569, + "object_to_gripper_z": -0.0026307495769930522, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2698454601501481, + 0.20110807335139752, + 1.0461147821021166 + ], + "finger_b": [ + 0.25792874782049885, + 0.225641624406302, + 1.0461147821021166 + ], + "finger_midpoint": [ + 0.26388710398532345, + 0.21337484887884978, + 1.0461147821021166 + ], + "object_minus_finger_midpoint": [ + 0.005958356164824652, + 0.012266775527452228, + 0.0 + ], + "finger_gap": 0.027274588174915116, + "fingertip_max_gap": 0.09186149704015206, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013637294087457556, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461147821021166, + "object_top_z": 1.0922927409589844, + "finger_top_clearance": 0.04617795885686782, + "fingertip_min_top_clearance": 0.013853387657060345, + "object_projection_between_fingers": 0.8091041410196683, + "object_to_finger_line_xy": 0.010719108514897645, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048430748520076033, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6061440357944734, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2694801672179781, + 0.2246811062029157, + 1.2405213930272765 + ], + "held_position": [ + 0.27499945957697425, + 0.22918890592074329, + 1.2377933698079844 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076305279715834125, + "max_held_gripper_dist": 0.007632759548431189, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027280232192921083, + "max_held_gripper_z_dist": 0.0027889061629253753, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08644593409539877, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27499945957697425, + 0.20380160126310773, + 1.2377933698079844 + ], + "held_grasp_finger_b": [ + 0.26483164563571365, + 0.22918890592074329, + 1.2377933698079844 + ], + "held_grasp_midpoint": [ + 0.2699155526063439, + 0.2164952535919255, + 1.2377933698079844 + ], + "held_grasp_object_position": [ + 0.27499945957697425, + 0.22918890592074329, + 1.2377933698079844 + ], + "held_grasp_finger_gap": 0.027347754535312352, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024588692282530546, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0715221503772029, + -0.9971880253396936, + 0.02237463127168038 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004172964501408098, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217865490683124, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2275848791906708, + 0.23398849990254458, + 0.7565873323963083 + ], + "target_position": [ + 0.24527942491811386, + 0.22360646771181292, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020515446398018295, + "xy_threshold": 0.08, + "gripper_dist": 0.20495628711678937, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873323963083, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538527362961185, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538356528035738, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17874848741194016, + "release_required_pad_clearance": 0.052691782640178694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43879379287141196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 123, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "53b5653cefd4f2e6ea71ae4e8a92b5a878d5f87d73e1d3c218b06b475a8df7d0", + "visual_seed": 565989657916911208, + "episode_index": 123, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_124_success.json new file mode 100644 index 0000000000000000000000000000000000000000..436f0c185995e8fe028de6ca22feca67cf3035d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_124_success.json @@ -0,0 +1,684 @@ +{ + "episode": 124, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26985623519549967, + 0.22632342886339082, + 1.0455523540992837 + ], + "current_z": 1.0455523540992837, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18896584669071814, + "gripper_z": 1.0481311574986347, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26450298378290205, + 0.22136094109539822, + 1.0481311574986347 + ], + "object_minus_gripper": [ + 0.005353251412597626, + 0.004962487767992602, + -0.002578803399351015 + ], + "object_to_gripper_xy": 0.007299560639788855, + "object_to_gripper_z": -0.002578803399351015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26985623519549967, + 0.20162857514646598, + 1.0455523540992837 + ], + "finger_b": [ + 0.2579364230847274, + 0.22632342886339082, + 1.0455523540992837 + ], + "finger_midpoint": [ + 0.2638963291401135, + 0.2139760020049284, + 1.0455523540992837 + ], + "object_minus_finger_midpoint": [ + 0.005959906055386155, + 0.012347426858462435, + 0.0 + ], + "finger_gap": 0.027421118154743976, + "fingertip_max_gap": 0.09106661015137374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013710559077372012, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455523540992837, + "object_top_z": 1.091198770313377, + "finger_top_clearance": 0.045646416214093266, + "fingertip_min_top_clearance": 0.013693924864227963, + "object_projection_between_fingers": 0.8110406008329176, + "object_to_finger_line_xy": 0.010734719669257011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04803330507568687, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2392382828940358, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26917610130726155, + 0.22542765919140667, + 1.237040794379929 + ], + "held_position": [ + 0.27478887037993815, + 0.2300192599363077, + 1.2343341884691186 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007740264182843186, + "max_held_gripper_dist": 0.007744934969863605, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002706605910810511, + "max_held_gripper_z_dist": 0.002769326768621516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745878275264315, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27478887037993815, + 0.20459494880907314, + 1.2343341884691186 + ], + "held_grasp_finger_b": [ + 0.2645203266895239, + 0.2300192599363077, + 1.2343341884691186 + ], + "held_grasp_midpoint": [ + 0.26965459853473106, + 0.2173071043726904, + 1.2343341884691186 + ], + "held_grasp_object_position": [ + 0.27478887037993815, + 0.2300192599363077, + 1.2343341884691186 + ], + "held_grasp_finger_gap": 0.02741967515884113, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024774849308757722, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05868544658516147, + -0.9981573641861449, + 0.015423834804226044 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00438389556613106, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221018623918071, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.226074378467857, + 0.2296152955037091, + 0.7565980858451229 + ], + "target_position": [ + 0.24516947916452644, + 0.22170103641467073, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020670229015286028, + "xy_threshold": 0.08, + "gripper_dist": 0.20328344646788168, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565980858451229, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554436889096323, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694495254325992, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17602159921551705, + "release_required_pad_clearance": 0.05347247627162996, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8999971082871037, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 124, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "443531f6f9de8e0a9cf10e3ee1bc5806ded90de39ddb82e7766ae041cd63d500", + "visual_seed": 6845511823127473148, + "episode_index": 124, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_125_success.json new file mode 100644 index 0000000000000000000000000000000000000000..39f1d8a4569974f1bc89b0fac2c661c6da4866c5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_125_success.json @@ -0,0 +1,684 @@ +{ + "episode": 125, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26830672377583087, + 0.22020188900661747, + 1.0460877448719386 + ], + "current_z": 1.0460877448719386, + "required_z": 0.8565866862224997, + "initial_z": 0.7565866862224997, + "lift_margin": 0.1895010586494389, + "gripper_z": 1.0493787543862292, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2622949832833663, + 0.2148883293722299, + 1.0493787543862292 + ], + "object_minus_gripper": [ + 0.006011740492464557, + 0.005313559634387566, + -0.0032910095142906215 + ], + "object_to_gripper_xy": 0.008023399512484151, + "object_to_gripper_z": -0.0032910095142906215, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26830672377583087, + 0.1951292473717024, + 1.0460877448719386 + ], + "finger_b": [ + 0.25577952283137484, + 0.22020188900661747, + 1.0460877448719386 + ], + "finger_midpoint": [ + 0.26204312330360285, + 0.20766556818915993, + 1.0460877448719386 + ], + "object_minus_finger_midpoint": [ + 0.006263600472228015, + 0.012536320817457536, + 0.0 + ], + "finger_gap": 0.028027988191371436, + "fingertip_max_gap": 0.09452496281274395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014013994095685718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460877448719386, + "object_top_z": 1.0927886582531685, + "finger_top_clearance": 0.04670091338122995, + "fingertip_min_top_clearance": 0.014010274014369, + "object_projection_between_fingers": 0.8002327753675554, + "object_to_finger_line_xy": 0.011206299140143447, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049762481406371975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6312146337953612, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2666548183667141, + 0.21984710521912637, + 1.2394265657402113 + ], + "held_position": [ + 0.2729108609147015, + 0.22483826211121835, + 1.2360196745675969 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008698081566974625, + "max_held_gripper_dist": 0.008698663095752264, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034068911726143902, + "max_held_gripper_z_dist": 0.0034743608338734244, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694002573865667, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2729108609147015, + 0.1992132004850599, + 1.2360196745675969 + ], + "held_grasp_finger_b": [ + 0.26165385064658236, + 0.22483826211121835, + 1.2360196745675969 + ], + "held_grasp_midpoint": [ + 0.26728235578064197, + 0.21202573129813912, + 1.2360196745675969 + ], + "held_grasp_object_position": [ + 0.2729108609147015, + 0.22483826211121835, + 1.2360196745675969 + ], + "held_grasp_finger_gap": 0.027988641687673215, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02533232207361864, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0246848078830438, + -0.9994200046442551, + 0.023458784637204855 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0053191062845291915, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225618679319548, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23181378484861934, + 0.22306649702075407, + 0.7565864318805327 + ], + "target_position": [ + 0.2429835587032239, + 0.21819086120561076, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012187521182131995, + "xy_threshold": 0.08, + "gripper_dist": 0.20702985733000107, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864318805327, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572619545906804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08793501702400529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1783605967915739, + "release_required_pad_clearance": 0.053967508512002646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.945724148955498, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 276, + "max_placed_release_frames": 276 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 125, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9d45c1b5bac00493dee575b8d82e629c4b662decdd37596999129095516b792f", + "visual_seed": 4490050414742796475, + "episode_index": 125, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87179dd6f633e7eaa63d8ed47c9837905c6c95b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27031354580711836, + 0.2295096912067939, + 1.0454362879714345 + ], + "current_z": 1.0454362879714345, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18884978056286894, + "gripper_z": 1.0481217533499974, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26502933027309195, + 0.22450253053467384, + 1.0481217533499974 + ], + "object_minus_gripper": [ + 0.005284215534026415, + 0.0050071606721200645, + -0.0026854653785628457 + ], + "object_to_gripper_xy": 0.007279738443548087, + "object_to_gripper_z": -0.0026854653785628457, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27031354580711836, + 0.20497618022840325, + 1.0454362879714345 + ], + "finger_b": [ + 0.2581839293777606, + 0.2295096912067939, + 1.0454362879714345 + ], + "finger_midpoint": [ + 0.2642487375924395, + 0.21724293571759856, + 1.0454362879714345 + ], + "object_minus_finger_midpoint": [ + 0.006064808214678863, + 0.012266755489195341, + 0.0 + ], + "finger_gap": 0.027368243561656656, + "fingertip_max_gap": 0.09219953203679945, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013684121780828328, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454362879714345, + "object_top_z": 1.091827914470033, + "finger_top_clearance": 0.046391626498598404, + "fingertip_min_top_clearance": 0.01391748794957952, + "object_projection_between_fingers": 0.8035734075277563, + "object_to_finger_line_xy": 0.010873261821238447, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859976601839973, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7855743470683215, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2699001590298372, + 0.22826242495587634, + 1.2375184971015887 + ], + "held_position": [ + 0.2755187535082494, + 0.2328244078886288, + 1.234714792194645 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007761511025360205, + "max_held_gripper_dist": 0.007768731085336802, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028037049069435938, + "max_held_gripper_z_dist": 0.0028688580486344595, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08644955588858655, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2755187535082494, + 0.20735976863271588, + 1.234714792194645 + ], + "held_grasp_finger_b": [ + 0.2653376146512997, + 0.2328244078886288, + 1.234714792194645 + ], + "held_grasp_midpoint": [ + 0.27042818407977454, + 0.22009208826067234, + 1.234714792194645 + ], + "held_grasp_object_position": [ + 0.2755187535082494, + 0.2328244078886288, + 1.234714792194645 + ], + "held_grasp_finger_gap": 0.0274245043867391, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024602413296998405, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07650895133641482, + -0.996729672832906, + 0.026006531099135304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004115265222729801, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212007005995592, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2368226706722394, + 0.22870833988184502, + 0.7565867313929523 + ], + "target_position": [ + 0.24564234814174013, + 0.22542234369294023, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009411932937474419, + "xy_threshold": 0.08, + "gripper_dist": 0.2096577989958585, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867313929523, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758346060405467, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08783948185037903, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1803651583375405, + "release_required_pad_clearance": 0.053919740925189516, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8473558992402173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "827bbc2bbdc3ddcbbd1467142de62566d5d449f9999f22a33bf05a933efb32eb", + "visual_seed": 1388281289103741039, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1a30fd9e3f0c265d2378e0e3060aae967565e4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2644641780829233, + 0.23222144244210613, + 1.0459422102393077 + ], + "current_z": 1.0459422102393077, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.18935582204003187, + "gripper_z": 1.0490328016374448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25894680448107676, + 0.2271430292372853, + 1.0490328016374448 + ], + "object_minus_gripper": [ + 0.005517373601846509, + 0.005078413204820831, + -0.0030905913981371658 + ], + "object_to_gripper_xy": 0.007498779376755346, + "object_to_gripper_z": -0.0030905913981371658, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2644641780829233, + 0.20747229143747917, + 1.0459422102393077 + ], + "finger_b": [ + 0.2522988020574394, + 0.23222144244210613, + 1.0459422102393077 + ], + "finger_midpoint": [ + 0.2583814900701813, + 0.21984686693979266, + 1.0459422102393077 + ], + "object_minus_finger_midpoint": [ + 0.006082688012741977, + 0.012374575502313467, + 0.0 + ], + "finger_gap": 0.02757746995812426, + "fingertip_max_gap": 0.09177385074171884, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01378873497906213, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459422102393077, + "object_top_z": 1.0920627018586688, + "finger_top_clearance": 0.04612049161936116, + "fingertip_min_top_clearance": 0.013836147485808381, + "object_projection_between_fingers": 0.8054002695938405, + "object_to_finger_line_xy": 0.010917706691003804, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048386925370859424, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5745999545245356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2636555426344984, + 0.23116473853445826, + 1.2395131149551855 + ], + "held_position": [ + 0.2694811133039759, + 0.23582773916413824, + 1.2363200529031306 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008116433561962094, + "max_held_gripper_dist": 0.008118838429524987, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003193062052054829, + "max_held_gripper_z_dist": 0.0032603609394150634, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735756309235504, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2694811133039759, + 0.2103083821432724, + 1.2363200529031306 + ], + "held_grasp_finger_b": [ + 0.2589721267515553, + 0.23582773916413824, + 1.2363200529031306 + ], + "held_grasp_midpoint": [ + 0.2642266200277656, + 0.22306806065370532, + 1.2363200529031306 + ], + "held_grasp_object_position": [ + 0.2694811133039759, + 0.23582773916413824, + 1.2363200529031306 + ], + "held_grasp_finger_gap": 0.02759848512359639, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024742835419911877, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06774728315961862, + -0.9974699083047549, + 0.021542693680095204 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004386849243349755, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032116851968167374, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22848920192741973, + 0.23285291255646262, + 0.7566137188309321 + ], + "target_position": [ + 0.23958552220114834, + 0.22731839224521005, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012399969302092159, + "xy_threshold": 0.08, + "gripper_dist": 0.20777832953318726, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566137188309321, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075290659557254, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08822741615691009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18006025434929365, + "release_required_pad_clearance": 0.054113708078455044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.10620871712677, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34aff62983d521073fe9883677f054e7a194dcb290bdb4a7a769f2afcf110001", + "visual_seed": 7910913637445905980, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc0cfbf42f285d0da516f933ebe7680f8635931c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26677148486484414, + 0.22513942726705494, + 1.0452646170913609 + ], + "current_z": 1.0452646170913609, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18867816928744008, + "gripper_z": 1.0483007009980259, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26124317589241974, + 0.22003831884504568, + 1.0483007009980259 + ], + "object_minus_gripper": [ + 0.0055283089724244006, + 0.005101108422009254, + -0.003036083906664988 + ], + "object_to_gripper_xy": 0.007522200956347941, + "object_to_gripper_z": -0.003036083906664988, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26677148486484414, + 0.20042007331872744, + 1.0452646170913609 + ], + "finger_b": [ + 0.2545200222365963, + 0.22513942726705494, + 1.0452646170913609 + ], + "finger_midpoint": [ + 0.2606457535507202, + 0.2127797502928912, + 1.0452646170913609 + ], + "object_minus_finger_midpoint": [ + 0.006125731314123917, + 0.012359676974163736, + 0.0 + ], + "finger_gap": 0.02758885275168302, + "fingertip_max_gap": 0.09200589850225807, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013794426375841497, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452646170913609, + "object_top_z": 1.0914630364328761, + "finger_top_clearance": 0.04619841934151525, + "fingertip_min_top_clearance": 0.013859525802454559, + "object_projection_between_fingers": 0.8027992344035222, + "object_to_finger_line_xy": 0.010977195892057902, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850294925112904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6523994135769032, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2659582049856698, + 0.22393228301907647, + 1.2390453065293292 + ], + "held_position": [ + 0.2717963155944678, + 0.22860098226935918, + 1.2359035955971915 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00810867657212098, + "max_held_gripper_dist": 0.008111307198216823, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031417109321376646, + "max_held_gripper_z_dist": 0.0032046513658376963, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08744058304160424, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2717963155944678, + 0.20307234839191066, + 1.2359035955971915 + ], + "held_grasp_finger_b": [ + 0.2612855717217454, + 0.22860098226935918, + 1.2359035955971915 + ], + "held_grasp_midpoint": [ + 0.2665409436581066, + 0.21583666533063492, + 1.2359035955971915 + ], + "held_grasp_object_position": [ + 0.2717963155944678, + 0.22860098226935918, + 1.2359035955971915 + ], + "held_grasp_finger_gap": 0.027607732330033642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024700031532931953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07186681390428765, + -0.9971315084476695, + 0.023746913907325307 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004335376421734334, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209483552544823, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23396618937037883, + 0.22868111892613052, + 0.7565869039240123 + ], + "target_position": [ + 0.24184030853648822, + 0.22346322665415977, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009446065445675429, + "xy_threshold": 0.08, + "gripper_dist": 0.2094102925505859, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869039240123, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561513883520378, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09278229749323048, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18047847766478026, + "release_required_pad_clearance": 0.056391148746615244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.115253489859105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 276, + "max_placed_release_frames": 276 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8a880b1b01b93ad77442dc37c1004c40cd4eb690c97dda9b8ff8c4d731a5bdc", + "visual_seed": 2573864914547600918, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4644960d935dabb24de81ad1f5ffaccc7183337a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2641381284189336, + 0.22065588895733992, + 1.0451048793621671 + ], + "current_z": 1.0451048793621671, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18851831234895677, + "gripper_z": 1.0478675019402552, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25915283732959626, + 0.21574974788773818, + 1.0478675019402552 + ], + "object_minus_gripper": [ + 0.004985291089337318, + 0.004906141069601744, + -0.0027626225780881253 + ], + "object_to_gripper_xy": 0.006994522674225812, + "object_to_gripper_z": -0.0027626225780881253, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2641381284189336, + 0.1964135708392124, + 1.0451048793621671 + ], + "finger_b": [ + 0.2520535482848307, + 0.22065588895733992, + 1.0451048793621671 + ], + "finger_midpoint": [ + 0.2580958383518821, + 0.20853472989827615, + 1.0451048793621671 + ], + "object_minus_finger_midpoint": [ + 0.006042290067051481, + 0.012121159059063774, + 0.0 + ], + "finger_gap": 0.02708739678813836, + "fingertip_max_gap": 0.09196597140458312, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013543698394069206, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451048793621671, + "object_top_z": 1.0912269766795388, + "finger_top_clearance": 0.04612209731737171, + "fingertip_min_top_clearance": 0.013836629195211546, + "object_projection_between_fingers": 0.8009653943108787, + "object_to_finger_line_xy": 0.010815296804867364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048482985702291564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6851946355918956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26405272601790614, + 0.21955481303087562, + 1.239589041765238 + ], + "held_position": [ + 0.2694228582355986, + 0.22397545168133923, + 1.2367295450532518 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075204446384060765, + "max_held_gripper_dist": 0.007526013932357491, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028594967119861536, + "max_held_gripper_z_dist": 0.002913170610663096, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08757650915820728, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2694228582355986, + 0.19862968957095822, + 1.2367295450532518 + ], + "held_grasp_finger_b": [ + 0.2594837393477725, + 0.22397545168133923, + 1.2367295450532518 + ], + "held_grasp_midpoint": [ + 0.26445329879168555, + 0.2113025706261487, + 1.2367295450532518 + ], + "held_grasp_object_position": [ + 0.2694228582355986, + 0.22397545168133923, + 1.2367295450532518 + ], + "held_grasp_finger_gap": 0.027224873575874803, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02445652818854245, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08047663465751208, + -0.9964740818644078, + 0.023725839219863713 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039454074158088905, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321720940319864, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2307616625680918, + 0.21695660732314215, + 0.7565899678248864 + ], + "target_position": [ + 0.23965478779237398, + 0.21822328988304096, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008982881551168075, + "xy_threshold": 0.08, + "gripper_dist": 0.2088292374660837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565899678248864, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527231346850015, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0921419518649818, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17943442749191746, + "release_required_pad_clearance": 0.0560709759324909, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.392150080568214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 276, + "max_placed_release_frames": 276 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "666b626470e9090567a81cd90544a5c567c9ee7b0fb99864e696ed62caac88f0", + "visual_seed": 2367458412084876480, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad8ebab1c1d8b9203920136f567e49d6ca4f2ca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_16_success.json @@ -0,0 +1,684 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2632885475437521, + 0.22537214208784456, + 1.0446674091260753 + ], + "current_z": 1.0446674091260753, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18808096132215446, + "gripper_z": 1.047493784735761, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25806939243147314, + 0.22038829471763477, + 1.047493784735761 + ], + "object_minus_gripper": [ + 0.005219155112278939, + 0.004983847370209793, + -0.002826375609685794 + ], + "object_to_gripper_xy": 0.007216530655070652, + "object_to_gripper_z": -0.002826375609685794, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2632885475437521, + 0.20090398623554195, + 1.0446674091260753 + ], + "finger_b": [ + 0.2511683674354695, + 0.22537214208784456, + 1.0446674091260753 + ], + "finger_midpoint": [ + 0.25722845748961076, + 0.21313806416169326, + 1.0446674091260753 + ], + "object_minus_finger_midpoint": [ + 0.0060600900541413205, + 0.012234077926151304, + 0.0 + ], + "finger_gap": 0.027305483271126686, + "fingertip_max_gap": 0.09187662891230053, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652741635563355, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446674091260753, + "object_top_z": 1.0908532266247857, + "finger_top_clearance": 0.046185817498710424, + "fingertip_min_top_clearance": 0.01385574524961311, + "object_projection_between_fingers": 0.802976326416567, + "object_to_finger_line_xy": 0.010860765689542749, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843831445615027, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6459291421160999, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2628279840360529, + 0.22431570028429337, + 1.2363976835667627 + ], + "held_position": [ + 0.2683773548062606, + 0.22885200383751153, + 1.2334476347360785 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007750893753342039, + "max_held_gripper_dist": 0.007758378336997186, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002950048830684171, + "max_held_gripper_z_dist": 0.0030088792184943536, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08638246612462114, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2683773548062606, + 0.20343834495894003, + 1.2334476347360785 + ], + "held_grasp_finger_b": [ + 0.25823944839267027, + 0.22885200383751153, + 1.2334476347360785 + ], + "held_grasp_midpoint": [ + 0.26330840159946545, + 0.21614517439822578, + 1.2334476347360785 + ], + "held_grasp_object_position": [ + 0.2683773548062606, + 0.22885200383751153, + 1.2334476347360785 + ], + "held_grasp_finger_gap": 0.027361125781793273, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458704118795527, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07396784956964998, + -0.9969804208661471, + 0.02363890098125787 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041264421093003285, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321568252352815, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2349090972644277, + 0.22017906481656743, + 0.7565884627953012 + ], + "target_position": [ + 0.23861194883698622, + 0.2230290984657345, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00467266536034665, + "xy_threshold": 0.08, + "gripper_dist": 0.21175291229232293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565884627953012, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566634902340559, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547086668360517, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18067289949463292, + "release_required_pad_clearance": 0.052735433341802584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.518880089731439, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d50b71481e8d15d0d61ef2dc5674e47879cbc0612b3f5f5fdfdcaad4df84a78b", + "visual_seed": 4500268840997242311, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ec07f46efc7eef592c791b0ba9938453621afd5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_17_success.json @@ -0,0 +1,684 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26915278166685397, + 0.2266281702326519, + 1.0453235008365533 + ], + "current_z": 1.0453235008365533, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18873711263727733, + "gripper_z": 1.047999507542306, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26391135641963176, + 0.22173828510801438, + 1.047999507542306 + ], + "object_minus_gripper": [ + 0.005241425247222209, + 0.004889885124637505, + -0.0026760067057527426 + ], + "object_to_gripper_xy": 0.007168229569033733, + "object_to_gripper_z": -0.0026760067057527426, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26915278166685397, + 0.20200352357124315, + 1.0453235008365533 + ], + "finger_b": [ + 0.25735046248587135, + 0.2266281702326519, + 1.0453235008365533 + ], + "finger_midpoint": [ + 0.26325162207636266, + 0.21431584690194752, + 1.0453235008365533 + ], + "object_minus_finger_midpoint": [ + 0.005901159590491312, + 0.012312323330704367, + 0.0 + ], + "finger_gap": 0.02730692148978018, + "fingertip_max_gap": 0.09270445909584712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01365346074489009, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453235008365533, + "object_top_z": 1.091783249295928, + "finger_top_clearance": 0.04645974845937473, + "fingertip_min_top_clearance": 0.013937924537812401, + "object_projection_between_fingers": 0.8131946854515957, + "object_to_finger_line_xy": 0.010643013703526933, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048852229547923565, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8287971794738122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2685727336096009, + 0.22593073141153475, + 1.2387739468176238 + ], + "held_position": [ + 0.27407516617995986, + 0.23046102296365972, + 1.2359926842566706 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007650864472173183, + "max_held_gripper_dist": 0.007657452444586228, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002781262560953124, + "max_held_gripper_z_dist": 0.0028428389411847554, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738170938588183, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27407516617995986, + 0.20511490222186984, + 1.2359926842566706 + ], + "held_grasp_finger_b": [ + 0.2638457937162476, + 0.23046102296365972, + 1.2359926842566706 + ], + "held_grasp_midpoint": [ + 0.26896047994810374, + 0.21778796259276478, + 1.2359926842566706 + ], + "held_grasp_object_position": [ + 0.27407516617995986, + 0.23046102296365972, + 1.2359926842566706 + ], + "held_grasp_finger_gap": 0.02733250624547163, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024741891086161257, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054600552539675926, + -0.9981969522105039, + 0.02493239378846345 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004426641210258891, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03227075003407731, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2274820467381433, + 0.22359919583269358, + 0.7565862012896534 + ], + "target_position": [ + 0.2445735809689594, + 0.22187796537804985, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017177985232301015, + "xy_threshold": 0.08, + "gripper_dist": 0.20514839319578843, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862012896534, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752992177893163, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0911785334750566, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17684191323775936, + "release_required_pad_clearance": 0.0555892667375283, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.335729061787983, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d45cd776be561fb23c90d71ab78c6485c8ffa6321f7bbad17213e4c964167d5", + "visual_seed": 816185529358071734, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c27600d8823abd099715ebd8c8d4817ca4cff517 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26154348738553546, + 0.22677501536880737, + 1.0463587327165709 + ], + "current_z": 1.0463587327165709, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18977210609871575, + "gripper_z": 1.0494059408374574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2563259568402264, + 0.22196585097069638, + 1.0494059408374574 + ], + "object_minus_gripper": [ + 0.005217530545309046, + 0.004809164398110993, + -0.0030472081208865465 + ], + "object_to_gripper_xy": 0.007095821812819934, + "object_to_gripper_z": -0.0030472081208865465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26154348738553546, + 0.20203429182734525, + 1.0463587327165709 + ], + "finger_b": [ + 0.250021305036198, + 0.22677501536880737, + 1.0463587327165709 + ], + "finger_midpoint": [ + 0.25578239621086674, + 0.2144046535980763, + 1.0463587327165709 + ], + "object_minus_finger_midpoint": [ + 0.00576109117466872, + 0.012370361770731059, + 0.0 + ], + "finger_gap": 0.02729219828900635, + "fingertip_max_gap": 0.09534189430262546, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013646099144503175, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463587327165709, + "object_top_z": 1.0940926919994176, + "finger_top_clearance": 0.04773395928284674, + "fingertip_min_top_clearance": 0.01432018778485402, + "object_projection_between_fingers": 0.8217652208921546, + "object_to_finger_line_xy": 0.01044500428586221, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050170947151312734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7067623971753585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2611639502185674, + 0.2256289632047163, + 1.2406925856692181 + ], + "held_position": [ + 0.26663079627786346, + 0.2300867264674554, + 1.2375477213750437 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007723226694293045, + "max_held_gripper_dist": 0.007726838321549121, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031448642941744875, + "max_held_gripper_z_dist": 0.003202305619750767, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08707501541975735, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26663079627786346, + 0.20469233300872594, + 1.2375477213750437 + ], + "held_grasp_finger_b": [ + 0.25660821068006606, + 0.2300867264674554, + 1.2375477213750437 + ], + "held_grasp_midpoint": [ + 0.2616195034789648, + 0.21738952973809067, + 1.2375477213750437 + ], + "held_grasp_object_position": [ + 0.26663079627786346, + 0.2300867264674554, + 1.2375477213750437 + ], + "held_grasp_finger_gap": 0.027300685727687082, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024863321896346074, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.047970222011097546, + -0.9980198028272053, + 0.04068575874863922 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00442725456557083, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228777836138617, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22256705465548504, + 0.2334373746711734, + 0.7565862348801154 + ], + "target_position": [ + 0.2369060872341955, + 0.22182395225203147, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018452084857238992, + "xy_threshold": 0.08, + "gripper_dist": 0.20389057438870725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862348801154, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514332777756977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500761692642696, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17783921182046963, + "release_required_pad_clearance": 0.05250380846321348, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.07912801519326726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6c2ae20001f204cd455419b835d13a9344c0c39697c8916a473a04204943431", + "visual_seed": 2108172665278861450, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc36afcde736c93059d30899fcfc7b38b255a101 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26753666576066604, + 0.2243041347234789, + 1.044388491788216 + ], + "current_z": 1.044388491788216, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18780192477500568, + "gripper_z": 1.0474331104544492, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26209720914162793, + 0.21924081297669573, + 1.0474331104544492 + ], + "object_minus_gripper": [ + 0.005439456619038108, + 0.005063321746783173, + -0.0030446186662331787 + ], + "object_to_gripper_xy": 0.0074313468107635025, + "object_to_gripper_z": -0.0030446186662331787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26753666576066604, + 0.199644091152362, + 1.044388491788216 + ], + "finger_b": [ + 0.25535131891674945, + 0.2243041347234789, + 1.044388491788216 + ], + "finger_midpoint": [ + 0.26144399233870774, + 0.21197411293792046, + 1.044388491788216 + ], + "object_minus_finger_midpoint": [ + 0.0060926734219582945, + 0.012330021785558448, + 0.0 + ], + "finger_gap": 0.027506370655466923, + "fingertip_max_gap": 0.09195237155753258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013753185327733461, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044388491788216, + "object_top_z": 1.0905518304301356, + "finger_top_clearance": 0.04616333864191957, + "fingertip_min_top_clearance": 0.013849001592575854, + "object_projection_between_fingers": 0.803750206212881, + "object_to_finger_line_xy": 0.010924421395464318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847618577876629, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6041328730352584, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26679044264417584, + 0.22344332724519728, + 1.2350370544301557 + ], + "held_position": [ + 0.27252802364665074, + 0.22808466183847637, + 1.231853667577186 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00803714964538982, + "max_held_gripper_dist": 0.00803944544911137, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003183386852969594, + "max_held_gripper_z_dist": 0.0032449589456284844, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08626206726545613, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27252802364665074, + 0.20260397978058953, + 1.231853667577186 + ], + "held_grasp_finger_b": [ + 0.26216579987318833, + 0.22808466183847637, + 1.231853667577186 + ], + "held_grasp_midpoint": [ + 0.26734691175991954, + 0.21534432080953295, + 1.231853667577186 + ], + "held_grasp_object_position": [ + 0.27252802364665074, + 0.22808466183847637, + 1.231853667577186 + ], + "held_grasp_finger_gap": 0.02750710525784976, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024741637021553298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0654525864296505, + -0.9976134591272139, + 0.02198511082310084 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004345391746207712, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032151172107898196, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23623250960012432, + 0.22949027511313816, + 0.7565955985508559 + ], + "target_position": [ + 0.24271278480086872, + 0.22247008701738616, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009553900123882445, + "xy_threshold": 0.08, + "gripper_dist": 0.21009723156559068, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565955985508559, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562632506737459, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08929620244475901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18155217114000374, + "release_required_pad_clearance": 0.05464810122237951, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.304577623733688, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "533dd5dd6ec4bb0516d4b4a1c89a32d5298ce6235fdec9af771cc33fefe2a2cc", + "visual_seed": 413106159204014900, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b3ac24536b0721860d7682b80d498276adbc4edd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26157584636019987, + 0.2316448047074247, + 1.0467155136456159 + ], + "current_z": 1.0467155136456159, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19012894663240554, + "gripper_z": 1.0495370144402503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2564752641711021, + 0.2266700087538408, + 1.0495370144402503 + ], + "object_minus_gripper": [ + 0.005100582189097758, + 0.00497479595358391, + -0.0028215007946343906 + ], + "object_to_gripper_xy": 0.0071249233994153316, + "object_to_gripper_z": -0.0028215007946343906, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26157584636019987, + 0.20732773381730044, + 1.0467155136456159 + ], + "finger_b": [ + 0.24938422051247083, + 0.2316448047074247, + 1.0467155136456159 + ], + "finger_midpoint": [ + 0.25548003343633535, + 0.2194862692623626, + 1.0467155136456159 + ], + "object_minus_finger_midpoint": [ + 0.006095812923864519, + 0.012158535445062124, + 0.0 + ], + "finger_gap": 0.027202126341268694, + "fingertip_max_gap": 0.09208476795919285, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601063170634335, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467155136456159, + "object_top_z": 1.0929427608467281, + "finger_top_clearance": 0.046227247201112265, + "fingertip_min_top_clearance": 0.013868174160333646, + "object_projection_between_fingers": 0.799128859560973, + "object_to_finger_line_xy": 0.010898582937442192, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048542383979596426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7080761176827536, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2613411505339961, + 0.23050573151280543, + 1.2381010713851888 + ], + "held_position": [ + 0.2668033075789459, + 0.23500094406163535, + 1.2351484143650289 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007665525351960697, + "max_held_gripper_dist": 0.007670767733111414, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002952657020159899, + "max_held_gripper_z_dist": 0.0030141310317373105, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08633471100249837, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2668033075789459, + 0.20960800160614732, + 1.2351484143650289 + ], + "held_grasp_finger_b": [ + 0.2568073065737688, + 0.23500094406163535, + 1.2351484143650289 + ], + "held_grasp_midpoint": [ + 0.26180530707635735, + 0.22230447283389132, + 1.2351484143650289 + ], + "held_grasp_object_position": [ + 0.2668033075789459, + 0.23500094406163535, + 1.2351484143650289 + ], + "held_grasp_finger_gap": 0.027289587073519958, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02450965852086508, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07955832200250121, + -0.9965337271145301, + 0.024310576368521297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003984398162026737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215013063867103, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2280215035432902, + 0.22474602674725194, + 0.756586815801334 + ], + "target_position": [ + 0.23702869993160025, + 0.22642448095924408, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0091622483768636, + "xy_threshold": 0.08, + "gripper_dist": 0.21020650433197294, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586815801334, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758567840544331, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09540148731930663, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17923432626860197, + "release_required_pad_clearance": 0.05770074365965332, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.207980476190398, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fe351f6e06d40ecde0e3caf5701c15a5e2bead66625cb19e181969db31f967a", + "visual_seed": 3365680135330541108, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..884b2728adc9aef4d50cd13d910e4ff102453b60 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2709008121633778, + 0.22857260016715417, + 1.0453038914194026 + ], + "current_z": 1.0453038914194026, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18871732440619227, + "gripper_z": 1.0479271283325755, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2654784014212295, + 0.22356222314722404, + 1.0479271283325755 + ], + "object_minus_gripper": [ + 0.005422410742148276, + 0.005010377019930123, + -0.0026232369131728994 + ], + "object_to_gripper_xy": 0.0073828460730540005, + "object_to_gripper_z": -0.0026232369131728994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2709008121633778, + 0.20386143621027866, + 1.0453038914194026 + ], + "finger_b": [ + 0.25886959277261057, + 0.22857260016715417, + 1.0453038914194026 + ], + "finger_midpoint": [ + 0.2648852024679942, + 0.21621701818871641, + 1.0453038914194026 + ], + "object_minus_finger_midpoint": [ + 0.006015609695383617, + 0.012355581978437752, + 0.0 + ], + "finger_gap": 0.027484393101037476, + "fingertip_max_gap": 0.09258039569257265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013742196550518738, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453038914194026, + "object_top_z": 1.0918098475361115, + "finger_top_clearance": 0.046505956116708935, + "fingertip_min_top_clearance": 0.013951786835012647, + "object_projection_between_fingers": 0.8083772848215228, + "object_to_finger_line_xy": 0.010817245768296284, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048790197846286326, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8170411521484697, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2702521259014051, + 0.22761005038503052, + 1.2368168177171706 + ], + "held_position": [ + 0.27595919461511453, + 0.2322236818593305, + 1.234065882323754 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007837338465474365, + "max_held_gripper_dist": 0.007840054016260454, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027509353934165315, + "max_held_gripper_z_dist": 0.002816724775996926, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629780734918902, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27595919461511453, + 0.2067439930947714, + 1.234065882323754 + ], + "held_grasp_finger_b": [ + 0.26564430228261326, + 0.2322236818593305, + 1.234065882323754 + ], + "held_grasp_midpoint": [ + 0.2708017484488639, + 0.21948383747705097, + 1.234065882323754 + ], + "held_grasp_object_position": [ + 0.27595919461511453, + 0.2322236818593305, + 1.234065882323754 + ], + "held_grasp_finger_gap": 0.027488389246550865, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024781435068295315, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06209059429155364, + -0.9977316873130023, + 0.026004580982422643 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004369365558527911, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032169049636684724, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.24273187287482348, + 0.2227788329036472, + 0.7565865751012084 + ], + "target_position": [ + 0.2461282779269281, + 0.22671612390206286, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005199791119282274, + "xy_threshold": 0.08, + "gripper_dist": 0.21265010524636313, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865751012084, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552007187882358, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595443742701946, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18154263159243497, + "release_required_pad_clearance": 0.05297721871350973, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.989120116830434, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e54e7713fb6b8febc58a2d0e55de09870d09bbd36c8e488fb4a69e60cc52522b", + "visual_seed": 1793850670643475441, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..010d8bd847987d309303e2d680d6ba04c39fa597 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26205769780800237, + 0.23007023508792046, + 1.0467572496713164 + ], + "current_z": 1.0467572496713164, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19017074226275077, + "gripper_z": 1.0496516159257758, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2568252170323071, + 0.22515816631972796, + 1.0496516159257758 + ], + "object_minus_gripper": [ + 0.00523248077569527, + 0.004912068768192501, + -0.0028943662544593796 + ], + "object_to_gripper_xy": 0.007176856878290995, + "object_to_gripper_z": -0.0028943662544593796, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26205769780800237, + 0.20550256561257504, + 1.0467572496713164 + ], + "finger_b": [ + 0.25014838243969273, + 0.23007023508792046, + 1.0467572496713164 + ], + "finger_midpoint": [ + 0.25610304012384755, + 0.21778640035024777, + 1.0467572496713164 + ], + "object_minus_finger_midpoint": [ + 0.005954657684154818, + 0.012283834737672694, + 0.0 + ], + "finger_gap": 0.0273020544280403, + "fingertip_max_gap": 0.09219172501192979, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013651027214020138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467572496713164, + "object_top_z": 1.093093665015644, + "finger_top_clearance": 0.04633641534432753, + "fingertip_min_top_clearance": 0.013900924603298259, + "object_projection_between_fingers": 0.8097244720902985, + "object_to_finger_line_xy": 0.010716560704889199, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485958625059649, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7637671168982326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26162383153817736, + 0.2291184913786408, + 1.237928660949297 + ], + "held_position": [ + 0.26714145849580706, + 0.23362644855698728, + 1.234908028997558 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007738869591434775, + "max_held_gripper_dist": 0.00774282903862212, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030206319517389613, + "max_held_gripper_z_dist": 0.00308132780262782, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08633001149962974, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26714145849580706, + 0.20823530201678364, + 1.234908028997558 + ], + "held_grasp_finger_b": [ + 0.2570463502072266, + 0.23362644855698728, + 1.234908028997558 + ], + "held_grasp_midpoint": [ + 0.2620939043515168, + 0.22093087528688546, + 1.234908028997558 + ], + "held_grasp_object_position": [ + 0.26714145849580706, + 0.23362644855698728, + 1.234908028997558 + ], + "held_grasp_finger_gap": 0.02732437618655293, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024604399515761936, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0708039779101259, + -0.9971654214171558, + 0.025454253908702595 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041489495366634375, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032183251383664825, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22747814735459757, + 0.2233542497237149, + 0.7565862995484848 + ], + "target_position": [ + 0.2374124294297181, + 0.22580166842600916, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010231315587567461, + "xy_threshold": 0.08, + "gripper_dist": 0.2078543916032576, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862995484848, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571251907881281, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535267299290179, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17730851166589878, + "release_required_pad_clearance": 0.0526763364964509, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4092604596965132, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7311abaeeb06a8fdb47c8ae8a67a73f657420ddc8044e4975f2ad361ed459017", + "visual_seed": 7678082564290675490, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dcaf3ed9dbf73e9ddf4dc195f7b527a9efeff9c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2687734715998184, + 0.22820533817365396, + 1.0480475258762416 + ], + "current_z": 1.0480475258762416, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19146107807232082, + "gripper_z": 1.0506329158223602, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2635972838013297, + 0.22328809399756522, + 1.0506329158223602 + ], + "object_minus_gripper": [ + 0.005176187798488718, + 0.004917244176088742, + -0.002585389946118566 + ], + "object_to_gripper_xy": 0.007139482503130191, + "object_to_gripper_z": -0.002585389946118566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2687734715998184, + 0.20369369283307565, + 1.0480475258762416 + ], + "finger_b": [ + 0.2568441184987207, + 0.22820533817365396, + 1.0480475258762416 + ], + "finger_midpoint": [ + 0.2628087950492696, + 0.2159495155033648, + 1.0480475258762416 + ], + "object_minus_finger_midpoint": [ + 0.005964676550548831, + 0.012255822670289157, + 0.0 + ], + "finger_gap": 0.0272604149402199, + "fingertip_max_gap": 0.09223940408944842, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013630207470109937, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480475258762416, + "object_top_z": 1.0943900646857767, + "finger_top_clearance": 0.046342538809535094, + "fingertip_min_top_clearance": 0.013902761642860528, + "object_projection_between_fingers": 0.8084999626429713, + "object_to_finger_line_xy": 0.0107264718089532, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861970204472421, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7518741843599335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26851291746626516, + 0.22718243131512214, + 1.241987557934499 + ], + "held_position": [ + 0.2740065274950462, + 0.23168278428689315, + 1.2393033146764185 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007591975361353764, + "max_held_gripper_dist": 0.007599681925028731, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026842432580804765, + "max_held_gripper_z_dist": 0.0027470093546488883, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08643202390292923, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2740065274950462, + 0.20629544726728666, + 1.2393033146764185 + ], + "held_grasp_finger_b": [ + 0.26388234415635714, + 0.23168278428689315, + 1.2393033146764185 + ], + "held_grasp_midpoint": [ + 0.2689444358257017, + 0.2189891157770899, + 1.2393033146764185 + ], + "held_grasp_object_position": [ + 0.2740065274950462, + 0.23168278428689315, + 1.2393033146764185 + ], + "held_grasp_finger_gap": 0.02733159287751945, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02455749384009732, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07424962720166155, + -0.9969226256054388, + 0.025145007782313433 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00411837425930042, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032169761207143176, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23824238507668166, + 0.22009611297377882, + 0.75658691574364 + ], + "target_position": [ + 0.24421893031863842, + 0.22330960043316045, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00678569043508168, + "xy_threshold": 0.08, + "gripper_dist": 0.2130991365941415, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658691574364, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547452607460338, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562264606118576, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18256679736200407, + "release_required_pad_clearance": 0.05281132303059288, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6667555786491987, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3125dedacb144d5f1898d70db63dd4cd6ceb6c4b03cfbf0d7a57b0176a4d2554", + "visual_seed": 4782681086029730520, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..20ae01ddff5d84aa27df74655b6e1fa35a78e5a3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2632530653402036, + 0.22343881822730885, + 1.0476609927835652 + ], + "current_z": 1.0476609927835652, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19107454497964438, + "gripper_z": 1.050716475176954, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25798287775234086, + 0.2184361681346236, + 1.050716475176954 + ], + "object_minus_gripper": [ + 0.00527018758786274, + 0.005002650092685246, + -0.0030554823933888198 + ], + "object_to_gripper_xy": 0.007266456162470547, + "object_to_gripper_z": -0.0030554823933888198, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2632530653402036, + 0.19892130853034382, + 1.0476609927835652 + ], + "finger_b": [ + 0.2511223325615368, + 0.22343881822730885, + 1.0476609927835652 + ], + "finger_midpoint": [ + 0.25718769895087024, + 0.21118006337882633, + 1.0476609927835652 + ], + "object_minus_finger_midpoint": [ + 0.00606536638933336, + 0.012258754848482517, + 0.0 + ], + "finger_gap": 0.027354395615480066, + "fingertip_max_gap": 0.0921303631380477, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013677197807740021, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476609927835652, + "object_top_z": 1.094022891523074, + "finger_top_clearance": 0.04636189873950891, + "fingertip_min_top_clearance": 0.013908569621852673, + "object_projection_between_fingers": 0.8033382838459986, + "object_to_finger_line_xy": 0.010872671533782489, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048565181569023855, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7588097547347546, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26282548539802, + 0.2223176845941502, + 1.2413481888391604 + ], + "held_position": [ + 0.26842858041327156, + 0.22687220644800166, + 1.2381849154314433 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007883187281748307, + "max_held_gripper_dist": 0.007890702278828876, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00316327340771716, + "max_held_gripper_z_dist": 0.003221973891267549, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08642109737335793, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26842858041327156, + 0.2014373962046894, + 1.2381849154314433 + ], + "held_grasp_finger_b": [ + 0.2582027349852406, + 0.22687220644800166, + 1.2381849154314433 + ], + "held_grasp_midpoint": [ + 0.2633156576992561, + 0.2141548013263455, + 1.2381849154314433 + ], + "held_grasp_object_position": [ + 0.26842858041327156, + 0.22687220644800166, + 1.2381849154314433 + ], + "held_grasp_finger_gap": 0.027413454485549316, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024579223095339692, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07570153225581608, + -0.9967967136503045, + 0.025799024595413722 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004148914846220444, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213650125062786, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22921712495907473, + 0.22577084322314273, + 0.7565911458335098 + ], + "target_position": [ + 0.2385295705303537, + 0.22154818533919232, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010225090812453541, + "xy_threshold": 0.08, + "gripper_dist": 0.20661414820245827, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565911458335098, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564161341183291, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08749856797460347, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17762667466428286, + "release_required_pad_clearance": 0.053749283987301735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4844014247561255, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "72ae85c67b8d90ff564a2fc534a829feab3307d00aba3712584069bf20499b25", + "visual_seed": 5613076695025857461, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7aeaadc8393e7c36df24038ec62daf85d8069146 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2681045806649909, + 0.22431080467505932, + 1.0449570426565316 + ], + "current_z": 1.0449570426565316, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18837047564332143, + "gripper_z": 1.0476657379587722, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26289615306819236, + 0.21930793018559452, + 1.0476657379587722 + ], + "object_minus_gripper": [ + 0.005208427596798515, + 0.0050028744894647925, + -0.0027086953022406046 + ], + "object_to_gripper_xy": 0.00722194372647904, + "object_to_gripper_z": -0.0027086953022406046, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2681045806649909, + 0.19988501563415792, + 1.0449570426565316 + ], + "finger_b": [ + 0.25591197122015186, + 0.22431080467505932, + 1.0449570426565316 + ], + "finger_midpoint": [ + 0.26200827594257137, + 0.2120979101546086, + 1.0449570426565316 + ], + "object_minus_finger_midpoint": [ + 0.00609630472241951, + 0.012212894520450712, + 0.0 + ], + "finger_gap": 0.027299796617282636, + "fingertip_max_gap": 0.09164092002014326, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01364989830864133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449570426565316, + "object_top_z": 1.091071930646899, + "finger_top_clearance": 0.04611488799036745, + "fingertip_min_top_clearance": 0.013834466397110267, + "object_projection_between_fingers": 0.8005314171608714, + "object_to_finger_line_xy": 0.010909022888808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048320460010071634, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5828039907505941, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2677378428713819, + 0.2230005284895803, + 1.2373170858358566 + ], + "held_position": [ + 0.2732961099147483, + 0.22753115152362619, + 1.234481769795418 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077110242284127535, + "max_held_gripper_dist": 0.007716495179250174, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002835316040438629, + "max_held_gripper_z_dist": 0.002894353711993203, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08659731812913676, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2732961099147483, + 0.2020908943429839, + 1.234481769795418 + ], + "held_grasp_finger_b": [ + 0.2631967863936513, + 0.22753115152362619, + 1.234481769795418 + ], + "held_grasp_midpoint": [ + 0.2682464481541998, + 0.21481102293330506, + 1.234481769795418 + ], + "held_grasp_object_position": [ + 0.2732961099147483, + 0.22753115152362619, + 1.234481769795418 + ], + "held_grasp_finger_gap": 0.027371573228461014, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024539492519717453, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08036392571168766, + -0.9964959719116003, + 0.023182264948911402 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004022260359754944, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211885742076431, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23231108397870334, + 0.21906378338560586, + 0.7565870110455624 + ], + "target_position": [ + 0.24347799169351672, + 0.21919317143612255, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011167657282473126, + "xy_threshold": 0.08, + "gripper_dist": 0.20625498364890865, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870110455624, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552551845228817, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09216604310232972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17658548425561876, + "release_required_pad_clearance": 0.05608302155116486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.420491754728636, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64ae8de11138304b7ea6ec63897ae53a65844363ab717b1078def07ddd969545", + "visual_seed": 553231404015570513, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1604a8ea7325c6ef9ed437624d2f094968f9088f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26577565389557284, + 0.22253932553915817, + 1.0445388245196612 + ], + "current_z": 1.0445388245196612, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1879523767157404, + "gripper_z": 1.0473297205206855, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2604027918176782, + 0.21757284129851945, + 1.0473297205206855 + ], + "object_minus_gripper": [ + 0.0053728620778946135, + 0.004966484240638724, + -0.0027908960010243344 + ], + "object_to_gripper_xy": 0.0073166667698201775, + "object_to_gripper_z": -0.0027908960010243344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26577565389557284, + 0.1978252887637362, + 1.0445388245196612 + ], + "finger_b": [ + 0.2538553196491161, + 0.22253932553915817, + 1.0445388245196612 + ], + "finger_midpoint": [ + 0.25981548677234445, + 0.2101823071514472, + 1.0445388245196612 + ], + "object_minus_finger_midpoint": [ + 0.005960167123228388, + 0.012357018387710972, + 0.0 + ], + "finger_gap": 0.027438622091573012, + "fingertip_max_gap": 0.09107572722867305, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013719311045786506, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445388245196612, + "object_top_z": 1.0901758867235214, + "finger_top_clearance": 0.04563706220386021, + "fingertip_min_top_clearance": 0.01369111866115808, + "object_projection_between_fingers": 0.8112650762927767, + "object_to_finger_line_xy": 0.010736675404437726, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048037863614336526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2547890547413155, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26500000932518997, + 0.22177287756839326, + 1.238168251270814 + ], + "held_position": [ + 0.2706351062155027, + 0.22637338908051458, + 1.2352753021415004 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007828676631536762, + "max_held_gripper_dist": 0.00783432810044536, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028929491293137044, + "max_held_gripper_z_dist": 0.0029528158724594356, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741274154908057, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2706351062155027, + 0.20096351108302427, + 1.2352753021415004 + ], + "held_grasp_finger_b": [ + 0.2602524982641951, + 0.22637338908051458, + 1.2352753021415004 + ], + "held_grasp_midpoint": [ + 0.26544380223984887, + 0.21366845008176943, + 1.2352753021415004 + ], + "held_grasp_object_position": [ + 0.2706351062155027, + 0.22637338908051458, + 1.2352753021415004 + ], + "held_grasp_finger_gap": 0.02744923400967498, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024778989447534597, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05655963390241524, + -0.9982820836337049, + 0.015293440056889485 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004468731201824539, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032223493737365216, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23087176057445727, + 0.233014668983633, + 0.7565863221826408 + ], + "target_position": [ + 0.2410250355134837, + 0.21958231127876474, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016837969755852267, + "xy_threshold": 0.08, + "gripper_dist": 0.21118901476887772, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863221826408, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537973298543493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08910690562260508, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18448041345224975, + "release_required_pad_clearance": 0.05455345281130254, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.141496759949239, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 280, + "max_placed_release_frames": 280 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e4d1355f617183b950a1cae0695b7eceb30e3adfec18712db7ee15f4edf512b", + "visual_seed": 6869928497846525180, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2b4f395b04f0540c0c03096e19058321c928436b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2682051956906792, + 0.22192374218715502, + 1.0467206738590762 + ], + "current_z": 1.0467206738590762, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1901342260551554, + "gripper_z": 1.0495993605375624, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2629388264356011, + 0.2169244756318892, + 1.0495993605375624 + ], + "object_minus_gripper": [ + 0.005266369255078063, + 0.004999266555265808, + -0.002878686678486231 + ], + "object_to_gripper_xy": 0.007261357395241658, + "object_to_gripper_z": -0.002878686678486231, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2682051956906792, + 0.1974075578857061, + 1.0467206738590762 + ], + "finger_b": [ + 0.25608161720125633, + 0.22192374218715502, + 1.0467206738590762 + ], + "finger_midpoint": [ + 0.2621434064459678, + 0.20966565003643056, + 1.0467206738590762 + ], + "object_minus_finger_midpoint": [ + 0.006061789244711402, + 0.012258092150724459, + 0.0 + ], + "finger_gap": 0.02735003561408663, + "fingertip_max_gap": 0.09223942219825298, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675017807043303, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467206738590762, + "object_top_z": 1.0931653151579277, + "finger_top_clearance": 0.04644464129885151, + "fingertip_min_top_clearance": 0.013933392389655451, + "object_projection_between_fingers": 0.8035075514388037, + "object_to_finger_line_xy": 0.010867403934446355, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048619711099126495, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8172636869236274, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26779345426412227, + 0.22065923757904782, + 1.2387306975138848 + ], + "held_position": [ + 0.2733886478957871, + 0.2252079535871408, + 1.2357303839314586 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007810178659351831, + "max_held_gripper_dist": 0.007818153504546031, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030003135824261395, + "max_held_gripper_z_dist": 0.003059492713685774, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08658601732822355, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2733886478957871, + 0.1997605132967786, + 1.2357303839314586 + ], + "held_grasp_finger_b": [ + 0.2632283173840184, + 0.2252079535871408, + 1.2357303839314586 + ], + "held_grasp_midpoint": [ + 0.26830848263990276, + 0.2124842334419597, + 1.2357303839314586 + ], + "held_grasp_object_position": [ + 0.2733886478957871, + 0.2252079535871408, + 1.2357303839314586 + ], + "held_grasp_finger_gap": 0.027400812641962403, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02460164523481724, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07523731435943631, + -0.9968028582086483, + 0.02689625243502758 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004123123952087384, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213496636769245, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22913294211229623, + 0.22668432824946025, + 0.7565892248651598 + ], + "target_position": [ + 0.24351952011148612, + 0.22004658000390045, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015844031314605714, + "xy_threshold": 0.08, + "gripper_dist": 0.2034190143222976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565892248651598, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529112612158315, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08706136380602668, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17615863188743433, + "release_required_pad_clearance": 0.05353068190301334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0596541750460133, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1e91523dd94b1ea5eeac35b0f6f19bbc3a7011829a2d8b022dcf766fd679349", + "visual_seed": 6342175603578409732, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e939a8405b3cb8e87f67c37aeee5391ed9eb6e4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26165374304213096, + 0.22448948818999387, + 1.0462698037991942 + ], + "current_z": 1.0462698037991942, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18968329639062864, + "gripper_z": 1.0494820394359674, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25585564151484835, + 0.2193960805169176, + 1.0494820394359674 + ], + "object_minus_gripper": [ + 0.005798101527282606, + 0.005093407673076256, + -0.0032122356367731975 + ], + "object_to_gripper_xy": 0.0077175632841479805, + "object_to_gripper_z": -0.0032122356367731975, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26165374304213096, + 0.19939760818905208, + 1.0462698037991942 + ], + "finger_b": [ + 0.24966330114056173, + 0.22448948818999387, + 1.0462698037991942 + ], + "finger_midpoint": [ + 0.2556585220913463, + 0.211943548189523, + 1.0462698037991942 + ], + "object_minus_finger_midpoint": [ + 0.005995220950784641, + 0.012545940000470879, + 0.0 + ], + "finger_gap": 0.027809587177384878, + "fingertip_max_gap": 0.09490265088002225, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013904793588692439, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462698037991942, + "object_top_z": 1.0932630393405942, + "finger_top_clearance": 0.0469932355414, + "fingertip_min_top_clearance": 0.014097970662419967, + "object_projection_between_fingers": 0.8140991847930437, + "object_to_finger_line_xy": 0.01081866938309337, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04995132544001113, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6273782160009682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2601223681836554, + 0.22424075343623834, + 1.2405785622979595 + ], + "held_position": [ + 0.2660854066848308, + 0.22907524918002342, + 1.237270604165164 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008358993017792528, + "max_held_gripper_dist": 0.00836161445427342, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033079581327954966, + "max_held_gripper_z_dist": 0.0033737520902559215, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869376400826703, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2660854066848308, + 0.2036021035897904, + 1.237270604165164 + ], + "held_grasp_finger_b": [ + 0.25510478888772326, + 0.22907524918002342, + 1.237270604165164 + ], + "held_grasp_midpoint": [ + 0.26059509778627704, + 0.2163386763849069, + 1.237270604165164 + ], + "held_grasp_object_position": [ + 0.2660854066848308, + 0.22907524918002342, + 1.237270604165164 + ], + "held_grasp_finger_gap": 0.02773905393965995, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025296099937883457, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015005827225308311, + -0.9995182220893937, + 0.02716889509239984 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0053099283834663336, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03238740174337851, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.24011637859303991, + 0.22069183245080598, + 0.7565864965621903 + ], + "target_position": [ + 0.2365242325150625, + 0.2215218039369188, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003686782623547109, + "xy_threshold": 0.08, + "gripper_dist": 0.2198599296596082, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864965621903, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574251250466374, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08807698653653405, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18832408905247675, + "release_required_pad_clearance": 0.05403849326826703, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.088420368426219, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bdf579c84f4c5612ed1464590891fa70a37fe5ba31221d3d9ef1c2b9341a414f", + "visual_seed": 4089228343308001199, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c795aa1c67d6d65eb896e1f2b33b51dc9d11283e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_30_success.json @@ -0,0 +1,684 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.266029403662811, + 0.22334798188063965, + 1.0471876211645568 + ], + "current_z": 1.0471876211645568, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19060105415134632, + "gripper_z": 1.050157154235095, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26081159225462114, + 0.21829879002791996, + 1.050157154235095 + ], + "object_minus_gripper": [ + 0.005217811408189887, + 0.005049191852719681, + -0.002969533070538155 + ], + "object_to_gripper_xy": 0.007260846662546135, + "object_to_gripper_z": -0.002969533070538155, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.266029403662811, + 0.19897120619951622, + 1.0471876211645568 + ], + "finger_b": [ + 0.2537030143530836, + 0.22334798188063965, + 1.0471876211645568 + ], + "finger_midpoint": [ + 0.2598662090079473, + 0.21115959404007795, + 1.0471876211645568 + ], + "object_minus_finger_midpoint": [ + 0.006163194654863702, + 0.012188387840561699, + 0.0 + ], + "finger_gap": 0.027316058757126227, + "fingertip_max_gap": 0.09235892103923898, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013658029378563101, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471876211645568, + "object_top_z": 1.093539628149545, + "finger_top_clearance": 0.046352006984988314, + "fingertip_min_top_clearance": 0.013905602095496494, + "object_projection_between_fingers": 0.7963728495485153, + "object_to_finger_line_xy": 0.011000035906828414, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048679460519619494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7927901579905441, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2657025107577651, + 0.2219352494807868, + 1.2386948214566331 + ], + "held_position": [ + 0.27129286721249213, + 0.2264887216842396, + 1.235601090612977 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007845850172639968, + "max_held_gripper_dist": 0.007851042360289325, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030937308436560507, + "max_held_gripper_z_dist": 0.0031528595234766588, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08645392084223252, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27129286721249213, + 0.2010395222272243, + 1.235601090612977 + ], + "held_grasp_finger_b": [ + 0.26114115227532836, + 0.2264887216842396, + 1.235601090612977 + ], + "held_grasp_midpoint": [ + 0.26621700974391027, + 0.21376412195573197, + 1.235601090612977 + ], + "held_grasp_object_position": [ + 0.27129286721249213, + 0.2264887216842396, + 1.235601090612977 + ], + "held_grasp_finger_gap": 0.027399253076833736, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024553247626422386, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07950042871471688, + -0.9965073109254792, + 0.025551146867540668 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004061629757087808, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032116535462905466, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22555229528748663, + 0.2256182800717137, + 0.7565864906647809 + ], + "target_position": [ + 0.24137350430546728, + 0.2182456603410144, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017454689240548764, + "xy_threshold": 0.08, + "gripper_dist": 0.2022211712563535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864906647809, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522661323494195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08513177291317779, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17536458162784507, + "release_required_pad_clearance": 0.0525658864565889, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.19782330033945125, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 272, + "max_placed_release_frames": 272 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fbc5587ea772d63f553fdfb4b2cbc54bd31d6b5bd1ccb12d72c0dc20ae24cca7", + "visual_seed": 8552554264612639880, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e7b149413ed986eee146ad13a4d0d127ce57602 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2696156682664018, + 0.2275828706836238, + 1.0475303459412413 + ], + "current_z": 1.0475303459412413, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1909438385326757, + "gripper_z": 1.0500079741157125, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26448876350047756, + 0.2226212710991532, + 1.0500079741157125 + ], + "object_minus_gripper": [ + 0.005126904765924256, + 0.004961599584470594, + -0.0024776281744711692 + ], + "object_to_gripper_xy": 0.0071346074114470815, + "object_to_gripper_z": -0.0024776281744711692, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2696156682664018, + 0.2032106867141307, + 1.0475303459412413 + ], + "finger_b": [ + 0.25749019797877015, + 0.2275828706836238, + 1.0475303459412413 + ], + "finger_midpoint": [ + 0.263552933122586, + 0.21539677869887724, + 1.0475303459412413 + ], + "object_minus_finger_midpoint": [ + 0.006062735143815834, + 0.012186091984746544, + 0.0 + ], + "finger_gap": 0.02722187321142787, + "fingertip_max_gap": 0.09187196815489662, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013610936605713934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475303459412413, + "object_top_z": 1.0936604493728637, + "finger_top_clearance": 0.04613010343162238, + "fingertip_min_top_clearance": 0.013839031029486748, + "object_projection_between_fingers": 0.8015910906780369, + "object_to_finger_line_xy": 0.01085612993167271, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843598407744831, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6182634772794573, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2694086355066937, + 0.22635877200520138, + 1.2387249009649917 + ], + "held_position": [ + 0.2748890651057947, + 0.23085860919205886, + 1.2361210530615878 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00755404972203575, + "max_held_gripper_dist": 0.007560760023776659, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002603847903403844, + "max_held_gripper_z_dist": 0.00266577107501087, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08648234586908676, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2748890651057947, + 0.2054552558165393, + 1.2361210530615878 + ], + "held_grasp_finger_b": [ + 0.264869984156046, + 0.23085860919205886, + 1.2361210530615878 + ], + "held_grasp_midpoint": [ + 0.26987952463092035, + 0.21815693250429907, + 1.2361210530615878 + ], + "held_grasp_object_position": [ + 0.2748890651057947, + 0.23085860919205886, + 1.2361210530615878 + ], + "held_grasp_finger_gap": 0.027307734175488405, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024544820892072838, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07742200655414704, + -0.9967392048103159, + 0.022733026530330155 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004021811702180813, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032152117168816385, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2350475826345347, + 0.2250510756172472, + 0.7565888065230149 + ], + "target_position": [ + 0.24508650024044767, + 0.22302451167294135, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01024142705479416, + "xy_threshold": 0.08, + "gripper_dist": 0.20933916961631155, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565888065230149, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537515714833108, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09168513649393366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18048891676757864, + "release_required_pad_clearance": 0.05584256824696683, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.886085921676567, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6989425574e22acc33e6aa4f210564edcaa41fca2f575adfa7151ce02c53e0a0", + "visual_seed": 3031194472524274041, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa8c69a334a1dced043ef45e10f4a811962304c6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.265491233256139, + 0.22061412619723306, + 1.0466421792011682 + ], + "current_z": 1.0466421792011682, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19005567179260263, + "gripper_z": 1.0502892598151496, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2597896974031571, + 0.21558987188405399, + 1.0502892598151496 + ], + "object_minus_gripper": [ + 0.005701535852981887, + 0.005024254313179072, + -0.003647080613981446 + ], + "object_to_gripper_xy": 0.007599384349165161, + "object_to_gripper_z": -0.003647080613981446, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.265491233256139, + 0.19556093684624792, + 1.0466421792011682 + ], + "finger_b": [ + 0.2536318692635873, + 0.22061412619723306, + 1.0466421792011682 + ], + "finger_midpoint": [ + 0.25956155125986313, + 0.20808753152174048, + 1.0466421792011682 + ], + "object_minus_finger_midpoint": [ + 0.00592968199627586, + 0.01252659467549258, + 0.0 + ], + "finger_gap": 0.02771834791188225, + "fingertip_max_gap": 0.09321652517105108, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013859173955941138, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466421792011682, + "object_top_z": 1.0928165854475926, + "finger_top_clearance": 0.04617440624642444, + "fingertip_min_top_clearance": 0.013852321873927364, + "object_projection_between_fingers": 0.8169422523648624, + "object_to_finger_line_xy": 0.010719069283356794, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049108262585525544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3603092250850581, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2643015914387783, + 0.22025076619482042, + 1.2382048846739204 + ], + "held_position": [ + 0.2701600676000284, + 0.22499356454762784, + 1.2344357206648893 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008427483401010325, + "max_held_gripper_dist": 0.00842980093441214, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037691640090311562, + "max_held_gripper_z_dist": 0.0038317462986459105, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08714397609713176, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2701600676000284, + 0.19952460271535086, + 1.2344357206648893 + ], + "held_grasp_finger_b": [ + 0.25947338439302386, + 0.22499356454762784, + 1.2344357206648893 + ], + "held_grasp_midpoint": [ + 0.26481672599652617, + 0.21225908363148935, + 1.2344357206648893 + ], + "held_grasp_object_position": [ + 0.2701600676000284, + 0.22499356454762784, + 1.2344357206648893 + ], + "held_grasp_finger_gap": 0.027620159571965817, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025255521222668307, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019075599314853475, + -0.9996236311943059, + 0.01971591916928439 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005105677957105844, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03236860946761503, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22600545225862878, + 0.22141235903880563, + 0.7565867132099042 + ], + "target_position": [ + 0.24045965053098275, + 0.21803725979487315, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01484301662745529, + "xy_threshold": 0.08, + "gripper_dist": 0.20646030628079012, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867132099042, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516122782978, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08951771859799763, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17870238447233738, + "release_required_pad_clearance": 0.05475885929899882, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.56843871666045, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 278, + "max_placed_release_frames": 278 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe88c2573f5ff85ca542e1301006ba7f273fa9454b579f8f9c49f1e3ab47a087", + "visual_seed": 1528305430674068578, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f822c03df204cb9660672658fdf3d4d27918b691 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_33_success.json @@ -0,0 +1,684 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2652297391045718, + 0.22798693800500763, + 1.0452587462762069 + ], + "current_z": 1.0452587462762069, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18867229847228606, + "gripper_z": 1.0479799771755016, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2600242459432228, + 0.22295356501718686, + 1.0479799771755016 + ], + "object_minus_gripper": [ + 0.005205493161348995, + 0.005033372987820778, + -0.0027212308992947687 + ], + "object_to_gripper_xy": 0.00724099459241443, + "object_to_gripper_z": -0.0027212308992947687, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2652297391045718, + 0.20360358880083518, + 1.0452587462762069 + ], + "finger_b": [ + 0.2529406974187697, + 0.22798693800500763, + 1.0452587462762069 + ], + "finger_midpoint": [ + 0.25908521826167075, + 0.2157952634029214, + 1.0452587462762069 + ], + "object_minus_finger_midpoint": [ + 0.006144520842901069, + 0.012191674602086228, + 0.0 + ], + "finger_gap": 0.027305095934055976, + "fingertip_max_gap": 0.09125034556684972, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652547967027988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452587462762069, + "object_top_z": 1.0911375566491528, + "finger_top_clearance": 0.045878810372945944, + "fingertip_min_top_clearance": 0.0137636431118838, + "object_projection_between_fingers": 0.7974423632899369, + "object_to_finger_line_xy": 0.010974068559701115, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04812517278342486, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4718964496200485, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26499577368197946, + 0.22670072015613912, + 1.240100712998888 + ], + "held_position": [ + 0.2705996453597437, + 0.2312289317792386, + 1.2372810723891534 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007736824377771861, + "max_held_gripper_dist": 0.007743157227713453, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028196406097344973, + "max_held_gripper_z_dist": 0.002881894629115589, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08761544966747076, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2705996453597437, + 0.20575254782277427, + 1.2372810723891534 + ], + "held_grasp_finger_b": [ + 0.2604559014414811, + 0.2312289317792386, + 1.2372810723891534 + ], + "held_grasp_midpoint": [ + 0.2655277734006124, + 0.21849073980100642, + 1.2372810723891534 + ], + "held_grasp_object_position": [ + 0.2705996453597437, + 0.2312289317792386, + 1.2372810723891534 + ], + "held_grasp_finger_gap": 0.027421555028416627, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02451639192555311, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08499545336574266, + -0.9961603688372869, + 0.020983147168919136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003980120801696695, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0320798568898755, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22446421646741208, + 0.23570879265114425, + 0.7565863518891572 + ], + "target_position": [ + 0.24056299309068802, + 0.2228842218302504, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020582522331003508, + "xy_threshold": 0.08, + "gripper_dist": 0.20406831674067064, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863518891572, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07653223340865908, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08735048488311613, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770076132512799, + "release_required_pad_clearance": 0.053675242441558066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3600343541036546, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64726ede62c5801d4bea5586bd338b9391510dc74e0ccda54efbc7268b131e79", + "visual_seed": 9061353780748173908, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a890a2f37592b20bc91573c34a88bb8c011b232c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2649641052952403, + 0.22277181327014423, + 1.048102294898114 + ], + "current_z": 1.048102294898114, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19151572788490367, + "gripper_z": 1.0510431908102964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25966180067028066, + 0.21789864070828274, + 1.0510431908102964 + ], + "object_minus_gripper": [ + 0.0053023046249596195, + 0.004873172561861483, + -0.002940895912182384 + ], + "object_to_gripper_xy": 0.007201544636642043, + "object_to_gripper_z": -0.002940895912182384, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2649641052952403, + 0.19803753224411258, + 1.048102294898114 + ], + "finger_b": [ + 0.25326912517112365, + 0.22277181327014423, + 1.048102294898114 + ], + "finger_midpoint": [ + 0.25911661523318197, + 0.2104046727571284, + 1.048102294898114 + ], + "object_minus_finger_midpoint": [ + 0.005847490062058314, + 0.012367140513015823, + 0.0 + ], + "finger_gap": 0.02735977371942597, + "fingertip_max_gap": 0.09424925718986377, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013679886859712985, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048102294898114, + "object_top_z": 1.0952844275777796, + "finger_top_clearance": 0.047182132679665534, + "fingertip_min_top_clearance": 0.014154639803899659, + "object_projection_between_fingers": 0.8172850961575157, + "object_to_finger_line_xy": 0.01057270896865532, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049624628594931885, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3270093243519212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26435530114954287, + 0.22218153532910276, + 1.2424427678564254 + ], + "held_position": [ + 0.26989191503929216, + 0.22672431520864994, + 1.239408009439982 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007778219657759586, + "max_held_gripper_dist": 0.007779300906180202, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003034758416443406, + "max_held_gripper_z_dist": 0.003093629688881272, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08724218120012817, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26989191503929216, + 0.20137715106011442, + 1.239408009439982 + ], + "held_grasp_finger_b": [ + 0.2595863397264049, + 0.22672431520864994, + 1.239408009439982 + ], + "held_grasp_midpoint": [ + 0.26473912738284855, + 0.21405073313438217, + 1.239408009439982 + ], + "held_grasp_object_position": [ + 0.26989191503929216, + 0.22672431520864994, + 1.239408009439982 + ], + "held_grasp_finger_gap": 0.027362083489792886, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02484204512288275, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.045140598310948646, + -0.9984251023169073, + 0.03331128108618674 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00459523400498393, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231400256880712, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22380615212762073, + 0.22705430686586994, + 0.7565884386918913 + ], + "target_position": [ + 0.24030139693689195, + 0.21908916837194867, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01831765630601076, + "xy_threshold": 0.08, + "gripper_dist": 0.20537165369052965, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565884386918913, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555230295283595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08688773871574314, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17775683025089362, + "release_required_pad_clearance": 0.05344386935787157, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8966495121910778, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 280, + "max_placed_release_frames": 280 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13ad8796a331a38a5748738d8a086b383e18de4e5196d174d44770c0f0289e10", + "visual_seed": 2195908566321242046, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95b9f6b3b840eaee498f9cb119919bdc40ba8e44 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_35_success.json @@ -0,0 +1,684 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2636908701162103, + 0.23153514397315253, + 1.0452616336381089 + ], + "current_z": 1.0452616336381089, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18867518583418807, + "gripper_z": 1.0480530013946483, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2584513779805805, + 0.22666050416677141, + 1.0480530013946483 + ], + "object_minus_gripper": [ + 0.005239492135629797, + 0.004874639806381115, + -0.0027913677565394313 + ], + "object_to_gripper_xy": 0.007156423064721775, + "object_to_gripper_z": -0.0027913677565394313, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2636908701162103, + 0.2068844336355863, + 1.0452616336381089 + ], + "finger_b": [ + 0.251940100470109, + 0.23153514397315253, + 1.0452616336381089 + ], + "finger_midpoint": [ + 0.2578154852931597, + 0.21920978880436942, + 1.0452616336381089 + ], + "object_minus_finger_midpoint": [ + 0.005875384823050611, + 0.012325355168783109, + 0.0 + ], + "finger_gap": 0.02730820586238373, + "fingertip_max_gap": 0.09224739790615474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654102931191852, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452616336381089, + "object_top_z": 1.0915598148280856, + "finger_top_clearance": 0.04629818118997675, + "fingertip_min_top_clearance": 0.013889454356993024, + "object_projection_between_fingers": 0.8148403763983367, + "object_to_finger_line_xy": 0.01060724458608662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048623698953077374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7511699897678475, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2632355570986267, + 0.23070662287519522, + 1.2393016770837308 + ], + "held_position": [ + 0.26874414336692654, + 0.2352111419521278, + 1.2364082210028091 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007681621110284842, + "max_held_gripper_dist": 0.007685214738328484, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028934560809217302, + "max_held_gripper_z_dist": 0.002955756090220474, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0862853158080597, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26874414336692654, + 0.20983043693697961, + 1.2364082210028091 + ], + "held_grasp_finger_b": [ + 0.2585931611910228, + 0.2352111419521278, + 1.2364082210028091 + ], + "held_grasp_midpoint": [ + 0.2636686522789747, + 0.22252078944455372, + 1.2364082210028091 + ], + "held_grasp_object_position": [ + 0.26874414336692654, + 0.2352111419521278, + 1.2364082210028091 + ], + "held_grasp_finger_gap": 0.027335373167408625, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02464153376224184, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06652303852664786, + -0.9974824547033955, + 0.02456497311358219 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004231852233995431, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322041839063189, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23307667886814948, + 0.2337660754875084, + 0.7565866407825461 + ], + "target_position": [ + 0.2390686727969034, + 0.22723556701078906, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008862930226890369, + "xy_threshold": 0.08, + "gripper_dist": 0.20954865957929, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866407825461, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581529049002404, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08738977974056529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.180553879035058, + "release_required_pad_clearance": 0.05369488987028265, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3988514542301265, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 272, + "max_placed_release_frames": 272 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f10557a70868554f10b7f413815ef7732fc53f0abde580adad9e29fe56d024d", + "visual_seed": 126770505978087660, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af7ce904c8999e3e1da9841e1176b7b186a05676 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.270262720958544, + 0.21958768415773194, + 1.001609907855958 + ], + "current_z": 1.001609907855958, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14502340044739237, + "gripper_z": 1.0477894448813907, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26574424469832947, + 0.21382496242390497, + 1.0477894448813907 + ], + "object_minus_gripper": [ + 0.00451847626021451, + 0.00576272173382697, + -0.04617953702543276 + ], + "object_to_gripper_xy": 0.007322949507926695, + "object_to_gripper_z": -0.04617953702543276, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.270262720958544, + 0.193545355371666, + 1.034224409955732 + ], + "finger_b": [ + 0.25949855609030575, + 0.21958768415773194, + 1.034294101844704 + ], + "finger_midpoint": [ + 0.2648806385244249, + 0.20656651976469897, + 1.034259255900218 + ], + "object_minus_finger_midpoint": [ + 0.005382082434119084, + 0.013021164393032969, + -0.03264934804426001 + ], + "finger_gap": 0.028179336239016722, + "fingertip_max_gap": 0.1002784126628746, + "finger_z_skew": 6.969188897198997e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014089625029717535, + "object_to_finger_midpoint_z": 0.03264934804426001, + "finger_midpoint_minus_object_z": 0.03264934804426001, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.001609907855958, + "object_top_z": 1.0503093552175295, + "finger_top_clearance": 0.016050099317311606, + "fingertip_min_top_clearance": 0.014609834208471466, + "object_projection_between_fingers": 0.8540843681656092, + "object_to_finger_line_xy": 0.009947884348051354, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0526392063314373, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4169767315037345, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27659179273121826, + 0.19866572510156905, + 1.1985605650567495 + ], + "held_position": [ + 0.2810589413888771, + 0.19976768158903574, + 1.151939666226735 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04684738982001391, + "max_held_gripper_dist": 0.04688368147002068, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04662089883001452, + "max_held_gripper_z_dist": 0.046664368817178614, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09087919889649115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2810589413888771, + 0.1722973714387511, + 1.1857923413528613 + ], + "held_grasp_finger_b": [ + 0.2810589413888771, + 0.2231463897990368, + 1.1819626071031135 + ], + "held_grasp_midpoint": [ + 0.2810589413888771, + 0.19772188061889395, + 1.1838774742279874 + ], + "held_grasp_object_position": [ + 0.2810589413888771, + 0.19976768158903574, + 1.151939666226735 + ], + "held_grasp_finger_gap": 0.05099303415789616, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.04656969476929617, + "held_grasp_world_z_skew": 0.0038297342497477516, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.40736536201697016, + -0.9103677728834126, + 0.07269098929082174 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03172858081179129, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.04101620283346871, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.24370253152918311, + 0.21974660648641123, + 0.756586338076826 + ], + "target_position": [ + 0.24314232848836528, + 0.22148185458108702, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0018234345058206786, + "xy_threshold": 0.08, + "gripper_dist": 0.2153370497020629, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586338076826, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514246171097304, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550186906300776, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18539283587968325, + "release_required_pad_clearance": 0.05275093453150388, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5524912491736949, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 408, + "max_placed_release_frames": 408 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c599b7ab2e97d9f2176493925959b8d9bc66b226b86f246bc8574c14bec4d39", + "visual_seed": 1392542952780015278, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4235d92a4752d2aaa2330b3d2d939f3e754ea37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26197596774681325, + 0.22269754898911337, + 1.0452335261437502 + ], + "current_z": 1.0452335261437502, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18864695913053986, + "gripper_z": 1.048590956585853, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.256469111218382, + 0.2176419873474696, + 1.048590956585853 + ], + "object_minus_gripper": [ + 0.005506856528431248, + 0.00505556164164378, + -0.0033574304421029044 + ], + "object_to_gripper_xy": 0.007475571706377099, + "object_to_gripper_z": -0.0033574304421029044, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26197596774681325, + 0.19793195868616104, + 1.0452335261437502 + ], + "finger_b": [ + 0.24987363187297512, + 0.22269754898911337, + 1.0452335261437502 + ], + "finger_midpoint": [ + 0.2559247998098942, + 0.2103147538376372, + 1.0452335261437502 + ], + "object_minus_finger_midpoint": [ + 0.006051167936919066, + 0.012382795151476167, + 0.0 + ], + "finger_gap": 0.02756448796290031, + "fingertip_max_gap": 0.09185412127561712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013782243981450155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452335261437502, + "object_top_z": 1.0914008146553928, + "finger_top_clearance": 0.046167288511642646, + "fingertip_min_top_clearance": 0.013850186553492794, + "object_projection_between_fingers": 0.8072304007922573, + "object_to_finger_line_xy": 0.010873464885819754, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048427060637808564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6069402250260534, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26112994704470294, + 0.22184674551931508, + 1.236784920977767 + ], + "held_position": [ + 0.26690446543097984, + 0.2265026785647035, + 1.2332878325164018 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008200756234836123, + "max_held_gripper_dist": 0.008202890153621589, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034970884613652053, + "max_held_gripper_z_dist": 0.0035556545475106116, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08623304793684763, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26690446543097984, + 0.20100612658096412, + 1.2332878325164018 + ], + "held_grasp_finger_b": [ + 0.2565086819650003, + 0.2265026785647035, + 1.2332878325164018 + ], + "held_grasp_midpoint": [ + 0.2617065736979901, + 0.2137544025728338, + 1.2332878325164018 + ], + "held_grasp_object_position": [ + 0.26690446543097984, + 0.2265026785647035, + 1.2332878325164018 + ], + "held_grasp_finger_gap": 0.02753445980823044, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02476399282896103, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06470810681655313, + -0.9976519300390827, + 0.022438524940618487 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004371698016901139, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321455370843719, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22998979100848113, + 0.22258685214365137, + 0.7565863356961835 + ], + "target_position": [ + 0.23703723572697888, + 0.21906233869210362, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007879636548117104, + "xy_threshold": 0.08, + "gripper_dist": 0.21125198018566863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863356961835, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586608675183308, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08918782101049576, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1815731397961109, + "release_required_pad_clearance": 0.05459391050524788, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.225517729441979, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 282, + "max_placed_release_frames": 282 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "056307b3109c069d362236ccebdb581541b87c63abe399838c8551c5632923cb", + "visual_seed": 8418739783576948763, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2fbb9390819bb86e5fd7511198bf3debe8cb20e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26515387562759674, + 0.232505583132956, + 1.0446306992563756 + ], + "current_z": 1.0446306992563756, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18804431105709962, + "gripper_z": 1.047530950198526, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2597922981944746, + 0.22756040550887863, + 1.047530950198526 + ], + "object_minus_gripper": [ + 0.0053615774331221555, + 0.004945177624077368, + -0.0029002509421502953 + ], + "object_to_gripper_xy": 0.0072939217369697796, + "object_to_gripper_z": -0.0029002509421502953, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26515387562759674, + 0.207784566612727, + 1.0446306992563756 + ], + "finger_b": [ + 0.253284765382181, + 0.232505583132956, + 1.0446306992563756 + ], + "finger_midpoint": [ + 0.25921932050488883, + 0.22014507487284152, + 1.0446306992563756 + ], + "object_minus_finger_midpoint": [ + 0.005934555122707907, + 0.012360508260114478, + 0.0 + ], + "finger_gap": 0.02742269928018151, + "fingertip_max_gap": 0.09299417434020957, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013711349640090756, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446306992563756, + "object_top_z": 1.0913137416683272, + "finger_top_clearance": 0.046683042411951536, + "fingertip_min_top_clearance": 0.014004912723585445, + "object_projection_between_fingers": 0.812666293828632, + "object_to_finger_line_xy": 0.010699766184920956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048997087170104786, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9037310511192539, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26437665144294453, + 0.23169139504282346, + 1.2370261651204466 + ], + "held_position": [ + 0.2699814099411619, + 0.23628196682508854, + 1.2340082978881692 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007848196591773255, + "max_held_gripper_dist": 0.007852343587823473, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030178672322773714, + "max_held_gripper_z_dist": 0.0030832241684926043, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08713465814263557, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2699814099411619, + 0.21088360869708925, + 1.2340082978881692 + ], + "held_grasp_finger_b": [ + 0.25966228615910913, + 0.23628196682508854, + 1.2340082978881692 + ], + "held_grasp_midpoint": [ + 0.26482184805013553, + 0.2235827877610889, + 1.2340082978881692 + ], + "held_grasp_object_position": [ + 0.2699814099411619, + 0.23628196682508854, + 1.2340082978881692 + ], + "held_grasp_finger_gap": 0.027414611272593925, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024787303452000028, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054626310567911104, + -0.9981353512989518, + 0.02723576106989667 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044718426305310685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032242877579303636, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23122015143215804, + 0.23839867606811574, + 0.7565864564129371 + ], + "target_position": [ + 0.24045454931114893, + 0.22734320939388153, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014404771694567553, + "xy_threshold": 0.08, + "gripper_dist": 0.20828586847082603, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864564129371, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515898711438154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08827933446961993, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18161739326206125, + "release_required_pad_clearance": 0.054139667234809966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.293977131753278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "beb53655c8dbb43809574d5f57fae6a3d4475a44aa9d2ed2b3f6505505fa8757", + "visual_seed": 7587561742001900459, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f11b2cb3ca1e67253adbea986e1d730f26ab9f48 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_3_success.json @@ -0,0 +1,684 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26919684971194446, + 0.22354643665040697, + 1.0451154078553628 + ], + "current_z": 1.0451154078553628, + "required_z": 0.8565866266178549, + "initial_z": 0.7565866266178549, + "lift_margin": 0.18852878123750794, + "gripper_z": 1.0478429604170998, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2639139594751359, + 0.2186804401227036, + 1.0478429604170998 + ], + "object_minus_gripper": [ + 0.005282890236808557, + 0.0048659965277033645, + -0.0027275525617369567 + ], + "object_to_gripper_xy": 0.007182398726176957, + "object_to_gripper_z": -0.0027275525617369567, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26919684971194446, + 0.19882647753787797, + 1.0451154078553628 + ], + "finger_b": [ + 0.25751205869651245, + 0.22354643665040697, + 1.0451154078553628 + ], + "finger_midpoint": [ + 0.2633544542042284, + 0.21118645709414247, + 1.0451154078553628 + ], + "object_minus_finger_midpoint": [ + 0.005842395507716036, + 0.0123599795562645, + 0.0 + ], + "finger_gap": 0.027342470985619174, + "fingertip_max_gap": 0.09371285581258312, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013671235492809597, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451154078553628, + "object_top_z": 1.0920580914388591, + "finger_top_clearance": 0.04694268358349629, + "fingertip_min_top_clearance": 0.014082805075048888, + "object_projection_between_fingers": 0.8173724138847601, + "object_to_finger_line_xy": 0.010564061905445414, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049356427906291564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1554580094653022, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2685763537555698, + 0.22264977899801025, + 1.238059282116638 + ], + "held_position": [ + 0.27409603744019795, + 0.22717479637156485, + 1.2352173391950882 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007682403906243673, + "max_held_gripper_dist": 0.007685371488112146, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028419429215498226, + "max_held_gripper_z_dist": 0.0029023737334943345, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740682412580372, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27409603744019795, + 0.2018008951541411, + 1.2352173391950882 + ], + "held_grasp_finger_b": [ + 0.26392260885354923, + 0.22717479637156485, + 1.2352173391950882 + ], + "held_grasp_midpoint": [ + 0.2690093231468736, + 0.21448784576285296, + 1.2352173391950882 + ], + "held_grasp_object_position": [ + 0.27409603744019795, + 0.22717479637156485, + 1.2352173391950882 + ], + "held_grasp_finger_gap": 0.027337401343200486, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02483403216040268, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048907404145250834, + -0.9983324175014153, + 0.030666757010691763 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004477410687336585, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228565290217936, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.24037374516381232, + 0.23108089054001005, + 0.756591882173109 + ], + "target_position": [ + 0.24456120692905878, + 0.2218382343473471, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010146996084121243, + "xy_threshold": 0.08, + "gripper_dist": 0.21259079305973236, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756591882173109, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537991014028951, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08819840459803004, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18453054246394743, + "release_required_pad_clearance": 0.05409920229901502, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1916002903223304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "484490ce0ae1170306f64ac6561e711b91dcf4b9129b2d361b09d45cc9fde314", + "visual_seed": 2854104736783479984, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8524ae679af3ec7813bba428906948b52e086aba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26496136233205714, + 0.2214139021427667, + 1.0480976726410232 + ], + "current_z": 1.0480976726410232, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.1915111056278127, + "gripper_z": 1.0511299309432653, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2597102675266614, + 0.21646420364764313, + 1.0511299309432653 + ], + "object_minus_gripper": [ + 0.005251094805395762, + 0.004949698495123583, + -0.0030322583022421856 + ], + "object_to_gripper_xy": 0.007216197880316408, + "object_to_gripper_z": -0.0030322583022421856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26496136233205714, + 0.19684482553330176, + 1.0480976726410232 + ], + "finger_b": [ + 0.2529907260723805, + 0.2214139021427667, + 1.0480976726410232 + ], + "finger_midpoint": [ + 0.2589760442022188, + 0.20912936383803424, + 1.0480976726410232 + ], + "object_minus_finger_midpoint": [ + 0.005985318129838324, + 0.012284538304732473, + 0.0 + ], + "finger_gap": 0.027330123634979095, + "fingertip_max_gap": 0.09228077664013087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013665061817489547, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480976726410232, + "object_top_z": 1.094450042606571, + "finger_top_clearance": 0.046352369965547924, + "fingertip_min_top_clearance": 0.013905710989664376, + "object_projection_between_fingers": 0.8081546503433261, + "object_to_finger_line_xy": 0.010761293408552839, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864038832006544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7671118050742247, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2645366679948489, + 0.220401720487024, + 1.240611493728874 + ], + "held_position": [ + 0.2700839908357807, + 0.22493567003822604, + 1.2374603245165239 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007826835672175061, + "max_held_gripper_dist": 0.007833419261791826, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031511692123500357, + "max_held_gripper_z_dist": 0.0032083668832660894, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08645645185122178, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2700839908357807, + 0.19952957014935238, + 1.2374603245165239 + ], + "held_grasp_finger_b": [ + 0.2599289200641596, + 0.22493567003822604, + 1.2374603245165239 + ], + "held_grasp_midpoint": [ + 0.26500645544997015, + 0.2122326200937892, + 1.2374603245165239 + ], + "held_grasp_object_position": [ + 0.2700839908357807, + 0.22493567003822604, + 1.2374603245165239 + ], + "held_grasp_finger_gap": 0.02736047101093218, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024594051593794544, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07255864349939004, + -0.9970396819827149, + 0.025438470970862714 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004155386124364777, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216636100908437, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23061825601553265, + 0.22011846326409296, + 0.7565872056909537 + ], + "target_position": [ + 0.24028072120945743, + 0.21933598804631824, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009694096197698851, + "xy_threshold": 0.08, + "gripper_dist": 0.21085502486828236, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872056909537, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754226412874197, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08794372441360233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18132415068402113, + "release_required_pad_clearance": 0.05397186220680117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9523596156043173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 279, + "max_placed_release_frames": 279 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f8db02f9fe4b4710682e9217823a47de99032f77a7b86658e18253e6efdf6c7", + "visual_seed": 2611911105582202218, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a79bb7833f3cd44aba548a4e7f524d8d69a00cb6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_41_success.json @@ -0,0 +1,684 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26801930744099467, + 0.23202689773684118, + 1.0476395046043003 + ], + "current_z": 1.0476395046043003, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19105299719573476, + "gripper_z": 1.0502995814326108, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26268155222007405, + 0.22710624067377258, + 1.0502995814326108 + ], + "object_minus_gripper": [ + 0.005337755220920615, + 0.004920657063068601, + -0.002660076828310487 + ], + "object_to_gripper_xy": 0.007259786273079407, + "object_to_gripper_z": -0.002660076828310487, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26801930744099467, + 0.20731203040911303, + 1.0476395046043003 + ], + "finger_b": [ + 0.25619753199028306, + 0.23202689773684118, + 1.0476395046043003 + ], + "finger_midpoint": [ + 0.26210841971563886, + 0.2196694640729771, + 1.0476395046043003 + ], + "object_minus_finger_midpoint": [ + 0.005910887725355807, + 0.012357433663864076, + 0.0 + ], + "finger_gap": 0.027396697644684335, + "fingertip_max_gap": 0.09163313985188995, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013698348822342167, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476395046043003, + "object_top_z": 1.0934960667042077, + "finger_top_clearance": 0.045856562099907405, + "fingertip_min_top_clearance": 0.013756968629972222, + "object_projection_between_fingers": 0.8138045868353606, + "object_to_finger_line_xy": 0.010664555839240744, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831656992594498, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4943291302814093, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26738239171148986, + 0.23117975433987198, + 1.241179799374932 + ], + "held_position": [ + 0.27297094630487956, + 0.23575030986959308, + 1.238419817784971 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007729127937256901, + "max_held_gripper_dist": 0.007736320351251833, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002759981589961047, + "max_held_gripper_z_dist": 0.002826583510152636, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08718014922037615, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27297094630487956, + 0.2103625242765863, + 1.238419817784971 + ], + "held_grasp_finger_b": [ + 0.26263944165782466, + 0.23575030986959308, + 1.238419817784971 + ], + "held_grasp_midpoint": [ + 0.2678051939813521, + 0.2230564170730897, + 1.238419817784971 + ], + "held_grasp_object_position": [ + 0.27297094630487956, + 0.23575030986959308, + 1.238419817784971 + ], + "held_grasp_finger_gap": 0.027409480943436336, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02481796775020535, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05150801044278689, + -0.998516507341168, + 0.017655294600232078 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004510746009397238, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032259085841457896, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2330865522673911, + 0.22422519219917034, + 0.7565858447635557 + ], + "target_position": [ + 0.24336840384396755, + 0.22785003160320488, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01090210679400036, + "xy_threshold": 0.08, + "gripper_dist": 0.20789123373941537, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565858447635557, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588097411438995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08746044196824572, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1767733707158149, + "release_required_pad_clearance": 0.05373022098412286, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4657863040924326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "398c48fd8639c01221f3b93b51b8aa33e640b878b2a04e5b4f548e5b6c782906", + "visual_seed": 6155039895081143004, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee4b4d0a70039f3de07365508cf7136283cc1c49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26974435031900834, + 0.22191971955374612, + 1.0471306572413892 + ], + "current_z": 1.0471306572413892, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19054414983282364, + "gripper_z": 1.0505194151616128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26399099140337945, + 0.21682802286448194, + 1.0505194151616128 + ], + "object_minus_gripper": [ + 0.005753358915628892, + 0.00509169668926418, + -0.0033887579202236395 + ], + "object_to_gripper_xy": 0.007682871467590115, + "object_to_gripper_z": -0.0033887579202236395, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26974435031900834, + 0.1968231973625002, + 1.0471306572413892 + ], + "finger_b": [ + 0.2577874723322529, + 0.22191971955374612, + 1.0471306572413892 + ], + "finger_midpoint": [ + 0.26376591132563065, + 0.20937145845812316, + 1.0471306572413892 + ], + "object_minus_finger_midpoint": [ + 0.005978438993377688, + 0.012548261095622959, + 0.0 + ], + "finger_gap": 0.027799322964522994, + "fingertip_max_gap": 0.09104903895575991, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013899661482261485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471306572413892, + "object_top_z": 1.0924971132708134, + "finger_top_clearance": 0.04536645602942424, + "fingertip_min_top_clearance": 0.013609936808827239, + "object_projection_between_fingers": 0.8150019473384267, + "object_to_finger_line_xy": 0.010794365536008911, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04802451947787996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6710129646725361, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2688303530634055, + 0.22052473498054714, + 1.2393431919446927 + ], + "held_position": [ + 0.27480828919503597, + 0.2252598978230667, + 1.235825779047313 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008398195105478512, + "max_held_gripper_dist": 0.008399496809990198, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035174128973796126, + "max_held_gripper_z_dist": 0.0035825809449019363, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08721276317173515, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27480828919503597, + 0.1996028454505657, + 1.235825779047313 + ], + "held_grasp_finger_b": [ + 0.2643032123919813, + 0.2252598978230667, + 1.235825779047313 + ], + "held_grasp_midpoint": [ + 0.26955575079350863, + 0.2124313716368162, + 1.235825779047313 + ], + "held_grasp_object_position": [ + 0.27480828919503597, + 0.2252598978230667, + 1.235825779047313 + ], + "held_grasp_finger_gap": 0.02772437510717487, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02519518649457991, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04167161569274422, + -0.9990605953399666, + 0.011891311303125042 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004715900511324822, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032164868195161164, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23578577262528225, + 0.2214677111258015, + 0.7565863838716923 + ], + "target_position": [ + 0.24463040075883466, + 0.21836716569104717, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00937234382712258, + "xy_threshold": 0.08, + "gripper_dist": 0.207464571101237, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863838716923, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586855136516142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08815381257227971, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17771383980853941, + "release_required_pad_clearance": 0.054076906286139856, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1667586453469796, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0970a2978ddaa741f7d28aa262f754d88f77789c676975ec538412094076038c", + "visual_seed": 3118547526529771629, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..deb9a43d760a35e97c606cc7d5be8a07efa79309 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2630339964751688, + 0.22661757453264397, + 1.0466392044933235 + ], + "current_z": 1.0466392044933235, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.19005275668940258, + "gripper_z": 1.0497909203530917, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25761243264765726, + 0.22161674962935585, + 1.0497909203530917 + ], + "object_minus_gripper": [ + 0.005421563827511522, + 0.005000824903288126, + -0.003151715859768256 + ], + "object_to_gripper_xy": 0.007375744304755153, + "object_to_gripper_z": -0.003151715859768256, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2630339964751688, + 0.20190007366006602, + 1.0466392044933235 + ], + "finger_b": [ + 0.2510235041276222, + 0.22661757453264397, + 1.0466392044933235 + ], + "finger_midpoint": [ + 0.2570287503013955, + 0.214258824096355, + 1.0466392044933235 + ], + "object_minus_finger_midpoint": [ + 0.006005246173773293, + 0.012358750436288979, + 0.0 + ], + "finger_gap": 0.02748102574170708, + "fingertip_max_gap": 0.09174986622970435, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01374051287085354, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466392044933235, + "object_top_z": 1.0927862614156043, + "finger_top_clearance": 0.04614705692228083, + "fingertip_min_top_clearance": 0.013844117076684247, + "object_projection_between_fingers": 0.8089901586561628, + "object_to_finger_line_xy": 0.010802702849261702, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837493311485218, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.587150623300794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2623310646146316, + 0.2255714876853766, + 1.2406942178357734 + ], + "held_position": [ + 0.2680376016521536, + 0.23017572072414214, + 1.2374392237190759 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008022375803688439, + "max_held_gripper_dist": 0.00802867301543327, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003254994116697496, + "max_held_gripper_z_dist": 0.003316520808153145, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740074082511673, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2680376016521536, + 0.20471331104303442, + 1.2374392237190759 + ], + "held_grasp_finger_b": [ + 0.2576587868295514, + 0.23017572072414214, + 1.2374392237190759 + ], + "held_grasp_midpoint": [ + 0.2628481942408525, + 0.21744451588358826, + 1.2374392237190759 + ], + "held_grasp_object_position": [ + 0.2680376016521536, + 0.23017572072414214, + 1.2374392237190759 + ], + "held_grasp_finger_gap": 0.027496438021868134, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024733880320213775, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06447143876966227, + -0.9976674542079594, + 0.022429542955192058 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004367403691738761, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216414768136683, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23123182068217504, + 0.2351698899741868, + 0.7565864231694416 + ], + "target_position": [ + 0.23821041351930125, + 0.22139681632959682, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015440152706682942, + "xy_threshold": 0.08, + "gripper_dist": 0.20999036616225464, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864231694416, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07632827120469887, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617942045131398, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18282562539255454, + "release_required_pad_clearance": 0.05308971022565699, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2072147050759756, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d9048822ba97bad64e066110ee867502cf3a065ea47abc25153fc69a4627e5c", + "visual_seed": 3182932450008028755, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6db8a2f2f1f62af02a1e80581f3f01f2d60ab5a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2642925234461574, + 0.2223828442092696, + 1.0459217436916861 + ], + "current_z": 1.0459217436916861, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18933523628312054, + "gripper_z": 1.0489325848092705, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25875501271380397, + 0.21736088085535246, + 1.0489325848092705 + ], + "object_minus_gripper": [ + 0.005537510732353423, + 0.005021963353917136, + -0.0030108411175844285 + ], + "object_to_gripper_xy": 0.007475569613013847, + "object_to_gripper_z": -0.0030108411175844285, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2642925234461574, + 0.19750403265798075, + 1.0459217436916861 + ], + "finger_b": [ + 0.25235072487082333, + 0.2223828442092696, + 1.0459217436916861 + ], + "finger_midpoint": [ + 0.25832162415849036, + 0.20994343843362517, + 1.0459217436916861 + ], + "object_minus_finger_midpoint": [ + 0.005970899287667031, + 0.012439405775644424, + 0.0 + ], + "finger_gap": 0.02759640950229566, + "fingertip_max_gap": 0.09169863634753117, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01379820475114783, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459217436916861, + "object_top_z": 1.0918528972902286, + "finger_top_clearance": 0.045931153598542496, + "fingertip_min_top_clearance": 0.013779346079562731, + "object_projection_between_fingers": 0.8127446125158031, + "object_to_finger_line_xy": 0.010765811991392253, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834931817376559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4437061930217021, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2635544668753722, + 0.22132008295356917, + 1.2371044899151187 + ], + "held_position": [ + 0.26933965538903776, + 0.22596204592389516, + 1.2339534102132848 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00805887893219865, + "max_held_gripper_dist": 0.008060901012282065, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031510797018339254, + "max_held_gripper_z_dist": 0.0032098673214793205, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08761427913971184, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26933965538903776, + 0.20041043890558474, + 1.2339534102132848 + ], + "held_grasp_finger_b": [ + 0.25903815157588045, + 0.22596204592389516, + 1.2339534102132848 + ], + "held_grasp_midpoint": [ + 0.2641889034824591, + 0.21318624241473993, + 1.2339534102132848 + ], + "held_grasp_object_position": [ + 0.26933965538903776, + 0.22596204592389516, + 1.2339534102132848 + ], + "held_grasp_finger_gap": 0.027550056298139655, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024937155340352898, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05538743014912869, + -0.9982827751286313, + 0.01907179758056632 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004442063579996542, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216107347275209, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.222945727001513, + 0.2279320029009651, + 0.7565870564432675 + ], + "target_position": [ + 0.23933308284726798, + 0.21943015394053234, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018461496888427326, + "xy_threshold": 0.08, + "gripper_dist": 0.20323199879509676, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870564432675, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553022732355971, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08611758469740745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1759246797862028, + "release_required_pad_clearance": 0.053058792348703726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1473805658170648, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 278, + "max_placed_release_frames": 278 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34efc613a77b07c7f77e1e95d68e0dd132b13cf6a57777750c0e2a46a04374a4", + "visual_seed": 7907608707915763726, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..be1cc9fbe51ff74ddef66e968be44a6bd0664154 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26215202738964416, + 0.2253761545423328, + 1.0455643186361991 + ], + "current_z": 1.0455643186361991, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18897781122763357, + "gripper_z": 1.048781700351068, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2565784264566475, + 0.22029163202857188, + 1.048781700351068 + ], + "object_minus_gripper": [ + 0.005573600932996636, + 0.005084522513760931, + -0.00321738171486885 + ], + "object_to_gripper_xy": 0.007544361904975314, + "object_to_gripper_z": -0.00321738171486885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26215202738964416, + 0.2005395893582676, + 1.0455643186361991 + ], + "finger_b": [ + 0.2500292596919558, + 0.2253761545423328, + 1.0455643186361991 + ], + "finger_midpoint": [ + 0.25609064354079997, + 0.2129578719503002, + 1.0455643186361991 + ], + "object_minus_finger_midpoint": [ + 0.006061383848844193, + 0.01241828259203262, + 0.0 + ], + "finger_gap": 0.027637229723589108, + "fingertip_max_gap": 0.09167321242477067, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013818614861794566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455643186361991, + "object_top_z": 1.091517239914125, + "finger_top_clearance": 0.04595292127792594, + "fingertip_min_top_clearance": 0.013785876383377764, + "object_projection_between_fingers": 0.8075957994609874, + "object_to_finger_line_xy": 0.010894286914651628, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048336606212385336, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4608192075307338, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26143002159894146, + 0.22396692028623044, + 1.23656865791972 + ], + "held_position": [ + 0.2672935315809344, + 0.22863390070540915, + 1.2332083266214593 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008212994702055887, + "max_held_gripper_dist": 0.008214187464425454, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033603312982606326, + "max_held_gripper_z_dist": 0.003422581247434442, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870374625887142, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2672935315809344, + 0.20302001425087904, + 1.2332083266214593 + ], + "held_grasp_finger_b": [ + 0.2569846539640604, + 0.22863390070540915, + 1.2332083266214593 + ], + "held_grasp_midpoint": [ + 0.26213909277249736, + 0.2158269574781441, + 1.2332083266214593 + ], + "held_grasp_object_position": [ + 0.2672935315809344, + 0.22863390070540915, + 1.2332083266214593 + ], + "held_grasp_finger_gap": 0.027610580164589924, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024903650357084306, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0634259276398525, + -0.9977986170989726, + 0.019366760658469203 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004339044719071061, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209454966149267, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22536164406696074, + 0.22663744592223212, + 0.7565861652616657 + ], + "target_position": [ + 0.2371324755500443, + 0.22085399280578313, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013114907691376042, + "xy_threshold": 0.08, + "gripper_dist": 0.20876448551789395, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861652616657, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539659831991966, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552288550919591, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18064155878147822, + "release_required_pad_clearance": 0.05276144275459796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5719803517170794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 280, + "max_placed_release_frames": 280 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "96a50b5c6182b10df169f954fb6fa8493f1aba0ccd3aa55c590f77bd88088ff5", + "visual_seed": 2042107594781013985, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a46461c5b6e08e9b6cc84d88e66e85dd8a3a6e45 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27045529490104286, + 0.23233636152078924, + 1.0480105921396465 + ], + "current_z": 1.0480105921396465, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19142408473108097, + "gripper_z": 1.0507804047061777, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2649779592147395, + 0.2272449607625795, + 1.0507804047061777 + ], + "object_minus_gripper": [ + 0.005477335686303375, + 0.005091400758209741, + -0.0027698125665311935 + ], + "object_to_gripper_xy": 0.007478206195415528, + "object_to_gripper_z": -0.0027698125665311935, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27045529490104286, + 0.20763245903137892, + 1.0480105921396465 + ], + "finger_b": [ + 0.2582507350315706, + 0.23233636152078924, + 1.0480105921396465 + ], + "finger_midpoint": [ + 0.2643530149663067, + 0.21998441027608406, + 1.0480105921396465 + ], + "object_minus_finger_midpoint": [ + 0.006102279934736166, + 0.012351951244705173, + 0.0 + ], + "finger_gap": 0.027554202579893806, + "fingertip_max_gap": 0.0912519559080239, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013777101289946928, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480105921396465, + "object_top_z": 1.0937438401533226, + "finger_top_clearance": 0.045733248013676064, + "fingertip_min_top_clearance": 0.013719974404102818, + "object_projection_between_fingers": 0.8038137570904906, + "object_to_finger_line_xy": 0.010942078837789245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04812597795401195, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30368887677841044, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26988985461860343, + 0.23109799037893206, + 1.2391540827981475 + ], + "held_position": [ + 0.2756881693790435, + 0.23575409355125918, + 1.2362523600156847 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007982464902444331, + "max_held_gripper_dist": 0.007988288650664177, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029017227824628122, + "max_held_gripper_z_dist": 0.002970802111734283, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08640694899848392, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2756881693790435, + 0.21020023688587858, + 1.2362523600156847 + ], + "held_grasp_finger_b": [ + 0.26533725795495333, + 0.23575409355125918, + 1.2362523600156847 + ], + "held_grasp_midpoint": [ + 0.2705127136669984, + 0.22297716521856886, + 1.2362523600156847 + ], + "held_grasp_object_position": [ + 0.2756881693790435, + 0.23575409355125918, + 1.2362523600156847 + ], + "held_grasp_finger_gap": 0.027570653923767872, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024791017240950477, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06770207863888927, + -0.9975713566048029, + 0.01636511624239234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004303778625640931, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210393812611761, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23905073419576262, + 0.23269375369594103, + 0.7565861763843872 + ], + "target_position": [ + 0.24562821229661952, + 0.22736509021680776, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008465097320238016, + "xy_threshold": 0.08, + "gripper_dist": 0.2096001087911043, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861763843872, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588439944557535, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09284233434450147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1802208402033837, + "release_required_pad_clearance": 0.056421167172250736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.1829263871551, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec83752ac027fdb399ace2009dbfa7a666f1b8f1295a77b449788d7f4732a709", + "visual_seed": 5065208482325409976, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08de9835c2da38dace627b23a559cf03e2081593 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_47_success.json @@ -0,0 +1,684 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2620343253556686, + 0.22411394319157146, + 1.0476889275270482 + ], + "current_z": 1.0476889275270482, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1911023009091931, + "gripper_z": 1.0508688508848052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25666821145385993, + 0.21917303985391556, + 1.0508688508848052 + ], + "object_minus_gripper": [ + 0.005366113901808689, + 0.0049409033376559, + -0.003179923357756964 + ], + "object_to_gripper_xy": 0.0072943611234462255, + "object_to_gripper_z": -0.003179923357756964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2620343253556686, + 0.1993556738595016, + 1.0476889275270482 + ], + "finger_b": [ + 0.250208817244235, + 0.22411394319157146, + 1.0476889275270482 + ], + "finger_midpoint": [ + 0.25612157129995183, + 0.21173480852553653, + 1.0476889275270482 + ], + "object_minus_finger_midpoint": [ + 0.005912754055716785, + 0.012379134666034936, + 0.0 + ], + "finger_gap": 0.02743746603483809, + "fingertip_max_gap": 0.09474716648908188, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013718733017419035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476889275270482, + "object_top_z": 1.0951542359276445, + "finger_top_clearance": 0.04746530840059626, + "fingertip_min_top_clearance": 0.014239592520178911, + "object_projection_between_fingers": 0.8142402488063476, + "object_to_finger_line_xy": 0.010670778213983056, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04987358324454094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5207953009060522, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2615725924192459, + 0.22285844767520113, + 1.2399212910804829 + ], + "held_position": [ + 0.267205265248336, + 0.2274031254596112, + 1.2366141184118395 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007957291651303315, + "max_held_gripper_dist": 0.007958590150540599, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033071726686433323, + "max_held_gripper_z_dist": 0.003364853512438204, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08696748939120055, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.267205265248336, + 0.20191008871638141, + 1.2366141184118395 + ], + "held_grasp_finger_b": [ + 0.25709768096994645, + 0.2274031254596112, + 1.2366141184118395 + ], + "held_grasp_midpoint": [ + 0.2621514731091412, + 0.2146566070879963, + 1.2366141184118395 + ], + "held_grasp_object_position": [ + 0.267205265248336, + 0.2274031254596112, + 1.2366141184118395 + ], + "held_grasp_finger_gap": 0.027423679226836264, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02487951001410666, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05504398238180562, + -0.9977576214730083, + 0.038077405322272107 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004372127211802301, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032204108267815154, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2211423364283487, + 0.2295347136535901, + 0.7565863593167317 + ], + "target_position": [ + 0.2372204671948293, + 0.22253464424300845, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01753588494194151, + "xy_threshold": 0.08, + "gripper_dist": 0.20701590306105452, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863593167317, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567906626236309, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0881647198910052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17900577702489107, + "release_required_pad_clearance": 0.0540823599455026, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1753980455018795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 282, + "max_placed_release_frames": 282 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "35aca4e901d4c5fd6be341211538c848944a5d2946e48e452cb2bf31ea079f1c", + "visual_seed": 2301756305511606053, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37da0b056db388136093b424e2520d1d61112446 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26901239484572187, + 0.22589588205541575, + 1.0446256729831003 + ], + "current_z": 1.0446256729831003, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1880391655745347, + "gripper_z": 1.0476619314682156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.263480574485887, + 0.2207968630862191, + 1.0476619314682156 + ], + "object_minus_gripper": [ + 0.005531820359834849, + 0.00509901896919665, + -0.0030362584851153507 + ], + "object_to_gripper_xy": 0.007523365665824747, + "object_to_gripper_z": -0.0030362584851153507, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26901239484572187, + 0.2011704464245894, + 1.0446256729831003 + ], + "finger_b": [ + 0.2567662482356877, + 0.22589588205541575, + 1.0446256729831003 + ], + "finger_midpoint": [ + 0.26288932154070477, + 0.21353316424000257, + 1.0446256729831003 + ], + "object_minus_finger_midpoint": [ + 0.0061230733050171016, + 0.012362717815413177, + 0.0 + ], + "finger_gap": 0.027591942192034768, + "fingertip_max_gap": 0.09195350666246907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013795971096017394, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0446256729831003, + "object_top_z": 1.0908186810924305, + "finger_top_clearance": 0.04619300810933025, + "fingertip_min_top_clearance": 0.013857902432799057, + "object_projection_between_fingers": 0.8030144515286344, + "object_to_finger_line_xy": 0.010973903454301662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847675333123454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6692452104277472, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2682703627028291, + 0.22463121068543723, + 1.235295075568899 + ], + "held_position": [ + 0.27409782136909544, + 0.22929673019113672, + 1.2321242036480669 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008110534846939896, + "max_held_gripper_dist": 0.008113545038097867, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003170871920832097, + "max_held_gripper_z_dist": 0.0032344833558135555, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08646097334875352, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27409782136909544, + 0.20375412123021117, + 1.2321242036480669 + ], + "held_grasp_finger_b": [ + 0.26368576489592943, + 0.22929673019113672, + 1.2321242036480669 + ], + "held_grasp_midpoint": [ + 0.26889179313251244, + 0.21652542571067396, + 1.2321242036480669 + ], + "held_grasp_object_position": [ + 0.27409782136909544, + 0.22929673019113672, + 1.2321242036480669 + ], + "held_grasp_finger_gap": 0.027583252029649306, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02471940273041841, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07198569109547848, + -0.9971151283068279, + 0.02407241531639026 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004284540515258828, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209100451965556, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23493993396227708, + 0.22777232002478073, + 0.7565864420928401 + ], + "target_position": [ + 0.2441036317590873, + 0.22222254101326125, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010713235010395637, + "xy_threshold": 0.08, + "gripper_dist": 0.20824481444339213, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864420928401, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536527498707869, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09041921517551317, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1799576036331923, + "release_required_pad_clearance": 0.05520960758775659, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.519061987201647, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d92740d0040e7380c79b432415c935ede2597ee01c1d75b980f5a2b024d1b49", + "visual_seed": 3545474701036194427, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b10a41e22bba95bea13dd8be17ca4ceb2d044c43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_49_success.json @@ -0,0 +1,684 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2698138177081143, + 0.2249231960084781, + 1.0472339760318774 + ], + "current_z": 1.0472339760318774, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19064740901866695, + "gripper_z": 1.050322566859946, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2639152509206887, + 0.219703939639075, + 1.050322566859946 + ], + "object_minus_gripper": [ + 0.005898566787425619, + 0.005219256369403097, + -0.0030885908280686714 + ], + "object_to_gripper_xy": 0.007876149261871272, + "object_to_gripper_z": -0.0030885908280686714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2698138177081143, + 0.19986253367278786, + 1.0472339760318774 + ], + "finger_b": [ + 0.25751166746713106, + 0.2249231960084781, + 1.0472339760318774 + ], + "finger_midpoint": [ + 0.2636627425876227, + 0.21239286484063297, + 1.0472339760318774 + ], + "object_minus_finger_midpoint": [ + 0.0061510751204916225, + 0.012530331167845132, + 0.0 + ], + "finger_gap": 0.027917372678230436, + "fingertip_max_gap": 0.0943363527509615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013958686339115232, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472339760318774, + "object_top_z": 1.0938483424318455, + "finger_top_clearance": 0.04661436639996808, + "fingertip_min_top_clearance": 0.013984309919990423, + "object_projection_between_fingers": 0.8058162137341808, + "object_to_finger_line_xy": 0.011043303993739326, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04966817637548075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5381441956973012, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2683393837323197, + 0.22458643507231277, + 1.2395984709133414 + ], + "held_position": [ + 0.274469656154942, + 0.22951270812982832, + 1.2363921658586596 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008492867496696584, + "max_held_gripper_dist": 0.008494157749905506, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032063050546817795, + "max_held_gripper_z_dist": 0.0032754956297322835, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08688856090909178, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.274469656154942, + 0.2039352406674798, + 1.2363921658586596 + ], + "held_grasp_finger_b": [ + 0.263369810520131, + 0.22951270812982832, + 1.2363921658586596 + ], + "held_grasp_midpoint": [ + 0.2689197333375365, + 0.21672397439865407, + 1.2363921658586596 + ], + "held_grasp_object_position": [ + 0.274469656154942, + 0.22951270812982832, + 1.2363921658586596 + ], + "held_grasp_finger_gap": 0.027882134331936113, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025310122713902535, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02292238771631785, + -0.9994952673390137, + 0.021994879138022557 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005262913492881916, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229072864362709, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23327757169533406, + 0.22576607404929394, + 0.7565867076219898 + ], + "target_position": [ + 0.2446466919631556, + 0.21965710365615695, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012906448579234146, + "xy_threshold": 0.08, + "gripper_dist": 0.206223521267754, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867076219898, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577401903060378, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0918180327345139, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17757689224311202, + "release_required_pad_clearance": 0.05590901636725695, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.036725055258163, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51fc3703b8bc6fdd6af7d26f432bb38dfc0ea41b37848f3210cf21b0f8ed0665", + "visual_seed": 3422546422484604549, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2629914268e0d044a901262940239e7891052b9c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_4_success.json @@ -0,0 +1,684 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2669937148563596, + 0.22312249633066303, + 1.0472818728993991 + ], + "current_z": 1.0472818728993991, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19069542509547832, + "gripper_z": 1.0503498467884582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26150872114224666, + 0.21807110285492814, + 1.0503498467884582 + ], + "object_minus_gripper": [ + 0.005484993714112929, + 0.005051393475734883, + -0.0030679738890591057 + ], + "object_to_gripper_xy": 0.007456656897736095, + "object_to_gripper_z": -0.0030679738890591057, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2669937148563596, + 0.1983787127506189, + 1.0472818728993991 + ], + "finger_b": [ + 0.2548895706784673, + 0.22312249633066303, + 1.0472818728993991 + ], + "finger_midpoint": [ + 0.26094164276741344, + 0.21075060454064098, + 1.0472818728993991 + ], + "object_minus_finger_midpoint": [ + 0.006052072088946148, + 0.012371891790022044, + 0.0 + ], + "finger_gap": 0.027545691716405758, + "fingertip_max_gap": 0.09202154706254895, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013772845858202865, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472818728993991, + "object_top_z": 1.0935616254766483, + "finger_top_clearance": 0.046279752577249145, + "fingertip_min_top_clearance": 0.013883925773174743, + "object_projection_between_fingers": 0.8069095427897368, + "object_to_finger_line_xy": 0.010872928044171752, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048510773531274476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6801023440830312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26627940031750374, + 0.22213881314976047, + 1.2387608206342078 + ], + "held_position": [ + 0.2720499375555261, + 0.2267827607458269, + 1.2355608672628506 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008068770096444295, + "max_held_gripper_dist": 0.008071143921496408, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003199953371357145, + "max_held_gripper_z_dist": 0.0032614328039730633, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086408969831298, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2720499375555261, + 0.201278586669964, + 1.2355608672628506 + ], + "held_grasp_finger_b": [ + 0.2616705029593658, + 0.2267827607458269, + 1.2355608672628506 + ], + "held_grasp_midpoint": [ + 0.26686022025744593, + 0.21403067370789547, + 1.2355608672628506 + ], + "held_grasp_object_position": [ + 0.2720499375555261, + 0.2267827607458269, + 1.2355608672628506 + ], + "held_grasp_finger_gap": 0.027535351056921106, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0247554834398135, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06606754627169625, + -0.9975318996644907, + 0.023773693053244394 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043467500698133234, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032136739470448164, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23621983014995085, + 0.2179293568046727, + 0.7565866382771558 + ], + "target_position": [ + 0.2421164012628893, + 0.21999848345639758, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006249066809597927, + "xy_threshold": 0.08, + "gripper_dist": 0.2100620063150376, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866382771558, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562801991095824, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548158947908431, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1794084741513706, + "release_required_pad_clearance": 0.05274079473954216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5322885945990691, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d811ae13c916348e6a9fcb442ac8d68129311d538a7a4be7fe029ec3f73abef7", + "visual_seed": 1969920285331254726, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a04eced9e755bda77feab648c5b37202c7c3333b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2686189202918273, + 0.2323439450480986, + 1.0460609678836363 + ], + "current_z": 1.0460609678836363, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18947446047507077, + "gripper_z": 1.0490348880117932, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26315568720148064, + 0.22721983926750244, + 1.0490348880117932 + ], + "object_minus_gripper": [ + 0.005463233090346686, + 0.005124105780596161, + -0.0029739201281568928 + ], + "object_to_gripper_xy": 0.007490218678396379, + "object_to_gripper_z": -0.0029739201281568928, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2686189202918273, + 0.2077353124001547, + 1.0460609678836363 + ], + "finger_b": [ + 0.25625708177406986, + 0.2323439450480986, + 1.0460609678836363 + ], + "finger_midpoint": [ + 0.26243800103294856, + 0.22003962872412663, + 1.0460609678836363 + ], + "object_minus_finger_midpoint": [ + 0.006180919258878759, + 0.01230431632397197, + 0.0 + ], + "finger_gap": 0.027539060483984617, + "fingertip_max_gap": 0.09268149004943219, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013769530241992333, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460609678836363, + "object_top_z": 1.092629426312461, + "finger_top_clearance": 0.04656845842882462, + "fingertip_min_top_clearance": 0.013970537528647419, + "object_projection_between_fingers": 0.798503321081226, + "object_to_finger_line_xy": 0.011046416892602745, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048840745024716095, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8969479634998434, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26794478145468975, + 0.23122931629264992, + 1.239042272013647 + ], + "held_position": [ + 0.2737518729206244, + 0.23589805301379185, + 1.2359577847534793 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008064333544888056, + "max_held_gripper_dist": 0.008067065011345534, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030844872601676343, + "max_held_gripper_z_dist": 0.0031566238971840743, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745430983482627, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2737518729206244, + 0.21037037307056322, + 1.2359577847534793 + ], + "held_grasp_finger_b": [ + 0.2632949761662251, + 0.23589805301379185, + 1.2359577847534793 + ], + "held_grasp_midpoint": [ + 0.26852342454342476, + 0.22313421304217754, + 1.2359577847534793 + ], + "held_grasp_object_position": [ + 0.2737518729206244, + 0.23589805301379185, + 1.2359577847534793 + ], + "held_grasp_finger_gap": 0.027586393983557986, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024702670140162582, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07171664665364068, + -0.9970590263743452, + 0.027018891875869366 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00431382003381788, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209895632610063, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23698849102453454, + 0.2342127374710539, + 0.7565864040810322 + ], + "target_position": [ + 0.2437946490939348, + 0.2270087630937876, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009910652576595137, + "xy_threshold": 0.08, + "gripper_dist": 0.21112748445702556, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864040810322, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751448718739154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709380159112294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18370516327094705, + "release_required_pad_clearance": 0.05354690079556147, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1047813937264745, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51282b0ae8fb4a82bf0f683b656e0c3b1dc57a37e952c9252b9b5ea56aa76c94", + "visual_seed": 8119470610426285386, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7cffa4e72f56b0adae31f212d19f34d738b42836 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_51_success.json @@ -0,0 +1,684 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26444179255546685, + 0.2292936381317408, + 1.044860094124655 + ], + "current_z": 1.044860094124655, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1882735867160894, + "gripper_z": 1.0477354172508042, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.259109819263488, + 0.22434979090854662, + 1.0477354172508042 + ], + "object_minus_gripper": [ + 0.005331973291978875, + 0.004943847223194187, + -0.002875323126149132 + ], + "object_to_gripper_xy": 0.007271283556062225, + "object_to_gripper_z": -0.002875323126149132, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26444179255546685, + 0.20462909913665037, + 1.044860094124655 + ], + "finger_b": [ + 0.252524242404473, + 0.2292936381317408, + 1.044860094124655 + ], + "finger_midpoint": [ + 0.25848301747996993, + 0.21696136863419557, + 1.044860094124655 + ], + "object_minus_finger_midpoint": [ + 0.005958775075496914, + 0.012332269497545234, + 0.0 + ], + "finger_gap": 0.027392836389132653, + "fingertip_max_gap": 0.09246261709072501, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013696418194566339, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044860094124655, + "object_top_z": 1.091388453839489, + "finger_top_clearance": 0.04652835971483382, + "fingertip_min_top_clearance": 0.013958507914450113, + "object_projection_between_fingers": 0.8107220737078821, + "object_to_finger_line_xy": 0.010730574820712848, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048731308545362506, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8301588961067319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2638135538326565, + 0.2283245325341561, + 1.2397960060791495 + ], + "held_position": [ + 0.26943088496566814, + 0.23287922483327406, + 1.2368232675156512 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007819002849753707, + "max_held_gripper_dist": 0.007825326542857036, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002972738563498334, + "max_held_gripper_z_dist": 0.0030358445928932998, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735580432988632, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26943088496566814, + 0.20745389151015003, + 1.2368232675156512 + ], + "held_grasp_finger_b": [ + 0.25914576820190316, + 0.23287922483327406, + 1.2368232675156512 + ], + "held_grasp_midpoint": [ + 0.26428832658378565, + 0.22016655817171205, + 1.2368232675156512 + ], + "held_grasp_object_position": [ + 0.26943088496566814, + 0.23287922483327406, + 1.2368232675156512 + ], + "held_grasp_finger_gap": 0.027426833602081015, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024697160323870617, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06472768208807556, + -0.9975441332337264, + 0.02675872609970098 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0043226710892899835, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218591303575175, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2328309425220339, + 0.23092682797238706, + 0.756586705335576 + ], + "target_position": [ + 0.2397212010029329, + 0.2259429546474157, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008503802399689305, + "xy_threshold": 0.08, + "gripper_dist": 0.2097164744652166, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586705335576, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579904315250899, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09268494690530645, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18032827551789118, + "release_required_pad_clearance": 0.056342473452653224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.006219583856247, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9fb0ea29ab3a33dad21fd1fbdc875dd1de25e6f5c6cbdd2b096af0afa626d522", + "visual_seed": 1008159233533397562, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..294dc3e9ee7cf927a93ca17880dc8a6816a52004 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_53_success.json @@ -0,0 +1,684 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2622872958104716, + 0.22663547346484916, + 1.0458464683889064 + ], + "current_z": 1.0458464683889064, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18925990137569604, + "gripper_z": 1.0489644315030926, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2570084450764123, + 0.2216207184600244, + 1.0489644315030926 + ], + "object_minus_gripper": [ + 0.005278850734059315, + 0.005014755004824761, + -0.0031179631141862174 + ], + "object_to_gripper_xy": 0.007281073604276609, + "object_to_gripper_z": -0.0031179631141862174, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2622872958104716, + 0.2021242587934811, + 1.0458464683889064 + ], + "finger_b": [ + 0.2501240264173448, + 0.22663547346484916, + 1.0458464683889064 + ], + "finger_midpoint": [ + 0.2562056611139082, + 0.21437986612916513, + 1.0458464683889064 + ], + "object_minus_finger_midpoint": [ + 0.0060816346965634205, + 0.012255607335684038, + 0.0 + ], + "finger_gap": 0.027363200963989292, + "fingertip_max_gap": 0.09230390138846545, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013681600481994656, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458464683889064, + "object_top_z": 1.0922842086712699, + "finger_top_clearance": 0.04643774028236347, + "fingertip_min_top_clearance": 0.013931322084709041, + "object_projection_between_fingers": 0.8024091401354242, + "object_to_finger_line_xy": 0.01089552744918136, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048651950694232726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8145114643710543, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26182707610364864, + 0.22557245863134168, + 1.2400476286564215 + ], + "held_position": [ + 0.2674469445095524, + 0.23013604325175216, + 1.236834924347017 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007920271110700018, + "max_held_gripper_dist": 0.00792883864744842, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003212704309404568, + "max_held_gripper_z_dist": 0.003272933625579677, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635823851381927, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2674469445095524, + 0.20470768366792128, + 1.236834924347017 + ], + "held_grasp_finger_b": [ + 0.25715564352733444, + 0.23013604325175216, + 1.236834924347017 + ], + "held_grasp_midpoint": [ + 0.26230129401844343, + 0.21742186345983672, + 1.236834924347017 + ], + "held_grasp_object_position": [ + 0.2674469445095524, + 0.23013604325175216, + 1.236834924347017 + ], + "held_grasp_finger_gap": 0.027431958497912697, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024593481666408967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07355524904914995, + -0.9969365420377079, + 0.026592414091530236 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004210520143085779, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214650492581949, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22707200295032218, + 0.22878642533152724, + 0.7565867511615922 + ], + "target_position": [ + 0.23756262578182147, + 0.2231651367971425, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011901766767147617, + "xy_threshold": 0.08, + "gripper_dist": 0.20724589404197588, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867511615922, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562827184163505, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08953571021518324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17843925096076899, + "release_required_pad_clearance": 0.05476785510759162, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.58639716416267, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "961ba0ab8532d55540d20cc26d551550443b55ab54113c5f43bc48b97120a6f6", + "visual_seed": 1285589105155413113, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..67e89eb751de4f4e05b63e24bedc869073f23538 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2667857404454119, + 0.2307397463114065, + 1.0471793609573636 + ], + "current_z": 1.0471793609573636, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1905927939441533, + "gripper_z": 1.0497771803918952, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26163420443826274, + 0.22575930889661214, + 1.0497771803918952 + ], + "object_minus_gripper": [ + 0.005151536007149182, + 0.00498043741479437, + -0.002597819434531523 + ], + "object_to_gripper_xy": 0.007165408577020445, + "object_to_gripper_z": -0.002597819434531523, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2667857404454119, + 0.20635505888808273, + 1.0471793609573636 + ], + "finger_b": [ + 0.2546267033781176, + 0.2307397463114065, + 1.0471793609573636 + ], + "finger_midpoint": [ + 0.26070622191176474, + 0.21854740259974462, + 1.0471793609573636 + ], + "object_minus_finger_midpoint": [ + 0.006079518533647188, + 0.01219234371166189, + 0.0 + ], + "finger_gap": 0.027248030445099002, + "fingertip_max_gap": 0.09161955011620196, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013624015222549515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471793609573636, + "object_top_z": 1.0932109183862968, + "finger_top_clearance": 0.04603155742893317, + "fingertip_min_top_clearance": 0.013809467228679984, + "object_projection_between_fingers": 0.8008739251281244, + "object_to_finger_line_xy": 0.010881311911771918, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830977505810098, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.537647271835065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26654059552402165, + 0.22952733712392143, + 1.238957723919165 + ], + "held_position": [ + 0.2720471194212257, + 0.23403943727295493, + 1.2362373341604718 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007621113673511914, + "max_held_gripper_dist": 0.007628102892408629, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027203897586931536, + "max_held_gripper_z_dist": 0.0027839223840870897, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0863588635348328, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2720471194212257, + 0.2086254219563501, + 1.2362373341604718 + ], + "held_grasp_finger_b": [ + 0.26198709773724826, + 0.23403943727295493, + 1.2362373341604718 + ], + "held_grasp_midpoint": [ + 0.267017108579237, + 0.2213324296146525, + 1.2362373341604718 + ], + "held_grasp_object_position": [ + 0.2720471194212257, + 0.23403943727295493, + 1.2362373341604718 + ], + "held_grasp_finger_gap": 0.027332694905455663, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024536030242901342, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0788165561059801, + -0.9966518942732628, + 0.021747462498183597 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00402264173070401, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032139313580877515, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23245519291491548, + 0.22725195832458497, + 0.7565862477808117 + ], + "target_position": [ + 0.24222121510231623, + 0.22784657281528603, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009784107305081816, + "xy_threshold": 0.08, + "gripper_dist": 0.20781382667173698, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862477808117, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554031406983965, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0926339355327158, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.177889358501387, + "release_required_pad_clearance": 0.0563169677663579, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.9476940543074885, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c7b3bfa08dcb25d951bc9cb122b8028f3a297694cd16f24828697505679a038", + "visual_seed": 916236791447255702, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c7041ad780179f9f1e4fb3c831e4bd423c2c62ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_55_success.json @@ -0,0 +1,684 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26787722338299436, + 0.22704277810793405, + 1.0450029138557777 + ], + "current_z": 1.0450029138557777, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18841634684256736, + "gripper_z": 1.0487632879211686, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2620149212184087, + 0.22185032488439144, + 1.0487632879211686 + ], + "object_minus_gripper": [ + 0.005862302164585664, + 0.005192453223542615, + -0.00376037406539087 + ], + "object_to_gripper_xy": 0.007831229606363477, + "object_to_gripper_z": -0.00376037406539087, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26787722338299436, + 0.20184926640643117, + 1.0450029138557777 + ], + "finger_b": [ + 0.25581111216349206, + 0.22704277810793405, + 1.0450029138557777 + ], + "finger_midpoint": [ + 0.2618441677732432, + 0.21444602225718262, + 1.0450029138557777 + ], + "object_minus_finger_midpoint": [ + 0.006033055609751148, + 0.012596755850751429, + 0.0 + ], + "finger_gap": 0.027933923315838792, + "fingertip_max_gap": 0.09117910413526287, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013966961657919382, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450029138557777, + "object_top_z": 1.0904756474170039, + "finger_top_clearance": 0.045472733561226164, + "fingertip_min_top_clearance": 0.013641820068367866, + "object_projection_between_fingers": 0.8134175570521862, + "object_to_finger_line_xy": 0.01088238521897147, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048089552067631436, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5753576310749835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2667460121515205, + 0.22579624677708077, + 1.237501948536232 + ], + "held_position": [ + 0.2728269771774364, + 0.23062733641257208, + 1.2336093653948 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008687333666063782, + "max_held_gripper_dist": 0.00869195288770095, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038925831414320378, + "max_held_gripper_z_dist": 0.003961449844470888, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08646179532161632, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2728269771774364, + 0.20491242672301246, + 1.2336093653948 + ], + "held_grasp_finger_b": [ + 0.26215356888278923, + 0.23062733641257208, + 1.2336093653948 + ], + "held_grasp_midpoint": [ + 0.26749027303011286, + 0.21776988156779226, + 1.2336093653948 + ], + "held_grasp_object_position": [ + 0.2728269771774364, + 0.23062733641257208, + 1.2336093653948 + ], + "held_grasp_finger_gap": 0.02784202264503156, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02524873573527128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.041452421098542476, + -0.9990769814326209, + 0.011264189120919421 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00480136694932732, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213341848298874, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2288091554963525, + 0.23053923977488794, + 0.7565870017235445 + ], + "target_position": [ + 0.24266051463095067, + 0.22478964711505683, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014997265271695369, + "xy_threshold": 0.08, + "gripper_dist": 0.2073536016148244, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870017235445, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566203336044773, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09207851925677853, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17917574001068257, + "release_required_pad_clearance": 0.056039259628389265, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.321459446356506, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07a72018146983f99fdc6759f2785f5e49175f27405422f417cbd37db680bb53", + "visual_seed": 5506737317068860504, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..beaf688c7fb53c72026c63708549a97ed75a346e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26582178629296893, + 0.22650752222005233, + 1.046408490355313 + ], + "current_z": 1.046408490355313, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18982198294674768, + "gripper_z": 1.0493628536073563, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2605241012651164, + 0.22149187392996073, + 1.0493628536073563 + ], + "object_minus_gripper": [ + 0.00529768502785255, + 0.005015648290091601, + -0.002954363252043235 + ], + "object_to_gripper_xy": 0.007295354304228951, + "object_to_gripper_z": -0.002954363252043235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26582178629296893, + 0.20197096917297608, + 1.046408490355313 + ], + "finger_b": [ + 0.25367193342505256, + 0.22650752222005233, + 1.046408490355313 + ], + "finger_midpoint": [ + 0.25974685985901075, + 0.2142392456965142, + 1.046408490355313 + ], + "object_minus_finger_midpoint": [ + 0.006074926433958183, + 0.012268276523538124, + 0.0 + ], + "finger_gap": 0.02737994448759899, + "fingertip_max_gap": 0.0922015953160833, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013689972243799494, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046408490355313, + "object_top_z": 1.0928409671193826, + "finger_top_clearance": 0.046432476764069586, + "fingertip_min_top_clearance": 0.013929743029220875, + "object_projection_between_fingers": 0.8030858564143422, + "object_to_finger_line_xy": 0.01088809765640047, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860079765804165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8122433150109952, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2653666705296944, + 0.2253518518249672, + 1.2394553900850978 + ], + "held_position": [ + 0.2709978077999754, + 0.22991827643810417, + 1.2363929677478376 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007870220535408182, + "max_held_gripper_dist": 0.007878207536814053, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030624223372601733, + "max_held_gripper_z_dist": 0.0031249864989442155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08642208552627503, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2709978077999754, + 0.20446510975966783, + 1.2363929677478376 + ], + "held_grasp_finger_b": [ + 0.26075396915161636, + 0.22991827643810417, + 1.2363929677478376 + ], + "held_grasp_midpoint": [ + 0.2658758884757959, + 0.217191693098886, + 1.2363929677478376 + ], + "held_grasp_object_position": [ + 0.2709978077999754, + 0.22991827643810417, + 1.2363929677478376 + ], + "held_grasp_finger_gap": 0.027437199642344624, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024605392518404913, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07489297599745635, + -0.9968340835921873, + 0.0266992871659274 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004168694447222448, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213033714459495, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2285796559330997, + 0.2276759949105551, + 0.756596596369645 + ], + "target_position": [ + 0.24110783369937638, + 0.22337434273391638, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01324611073455941, + "xy_threshold": 0.08, + "gripper_dist": 0.20710327740785583, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756596596369645, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549280366283108, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872216881030073, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17834061749679342, + "release_required_pad_clearance": 0.05361084405150365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1808743239107007, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4947b16d7d10934ab520ecfd97f9472da0bf28cbc977fc75ef5eadc0d6c5ae95", + "visual_seed": 4789870338711613730, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f3477a3bef984602c47ec5ce847633be181220e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2640332016081456, + 0.22121522668242644, + 1.0471842180344837 + ], + "current_z": 1.0471842180344837, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1905977702305629, + "gripper_z": 1.0501787173926689, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.258576698835549, + 0.21621808843127455, + 1.0501787173926689 + ], + "object_minus_gripper": [ + 0.005456502772596572, + 0.004997138251151889, + -0.0029944993581851875 + ], + "object_to_gripper_xy": 0.007398973794282518, + "object_to_gripper_z": -0.0029944993581851875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2640332016081456, + 0.1964247244986768, + 1.0471842180344837 + ], + "finger_b": [ + 0.25209300915692606, + 0.22121522668242644, + 1.0471842180344837 + ], + "finger_midpoint": [ + 0.25806310538253585, + 0.2088199755905516, + 1.0471842180344837 + ], + "object_minus_finger_midpoint": [ + 0.005970096225609733, + 0.012395251091874837, + 0.0 + ], + "finger_gap": 0.027516126077168922, + "fingertip_max_gap": 0.0909016442603808, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013758063038584463, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471842180344837, + "object_top_z": 1.092826005086422, + "finger_top_clearance": 0.04564178705193833, + "fingertip_min_top_clearance": 0.013692536115581466, + "object_projection_between_fingers": 0.811700974610057, + "object_to_finger_line_xy": 0.010757450602101733, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047950822130190404, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1850591462638396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26320777326067313, + 0.22025272090914277, + 1.238944793977739 + ], + "held_position": [ + 0.26890282283090083, + 0.2248902077531943, + 1.235825188942081 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0079794617246155, + "max_held_gripper_dist": 0.007985004405982366, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003119605035657891, + "max_held_gripper_z_dist": 0.0031777142807871694, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08728368113896828, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26890282283090083, + 0.199443507452881, + 1.235825188942081 + ], + "held_grasp_finger_b": [ + 0.25850916901153087, + 0.2248902077531943, + 1.235825188942081 + ], + "held_grasp_midpoint": [ + 0.26370599592121585, + 0.21216685760303766, + 1.235825188942081 + ], + "held_grasp_object_position": [ + 0.26890282283090083, + 0.2248902077531943, + 1.235825188942081 + ], + "held_grasp_finger_gap": 0.027487498902062157, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024803650888617527, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05752087973410236, + -0.9982238443562235, + 0.015508222119154032 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004460833153327994, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03220054741016014, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23979184531812717, + 0.2219623434397188, + 0.7565861490130462 + ], + "target_position": [ + 0.23917935515195715, + 0.21828616990659055, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003726848004591487, + "xy_threshold": 0.08, + "gripper_dist": 0.21437528670093906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861490130462, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518245566565127, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08736780270580859, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1853545323635071, + "release_required_pad_clearance": 0.053683901352904295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3765596215299953, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 279, + "max_placed_release_frames": 279 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0c89033cc124037736e423083f1667388dabd6fa5a5c301d1dd4d4e73f39c5c9", + "visual_seed": 7426476382189408847, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..507226824c57d41c16ef5eae47019e45172ada0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_59_success.json @@ -0,0 +1,684 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2635930106102766, + 0.23226628574550792, + 1.0481451138712363 + ], + "current_z": 1.0481451138712363, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19155860646267076, + "gripper_z": 1.050890249260666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2584586895341423, + 0.22729989976977916, + 1.050890249260666 + ], + "object_minus_gripper": [ + 0.005134321076134318, + 0.004966385975728765, + -0.002745135389429665 + ], + "object_to_gripper_xy": 0.007143265539846074, + "object_to_gripper_z": -0.002745135389429665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2635930106102766, + 0.20789589784016985, + 1.0481451138712363 + ], + "finger_b": [ + 0.2514502175716615, + 0.23226628574550792, + 1.0481451138712363 + ], + "finger_midpoint": [ + 0.2575216140909691, + 0.22008109179283888, + 1.0481451138712363 + ], + "object_minus_finger_midpoint": [ + 0.006071396519307548, + 0.012185193952669038, + 0.0 + ], + "finger_gap": 0.027227986143585566, + "fingertip_max_gap": 0.09204484103165461, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013613993071792783, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481451138712363, + "object_top_z": 1.094401604170152, + "finger_top_clearance": 0.046256490298915764, + "fingertip_min_top_clearance": 0.013876947089674728, + "object_projection_between_fingers": 0.8011131157786809, + "object_to_finger_line_xy": 0.010868397502655655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852242051582731, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6308971379903381, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2632696511661906, + 0.23126323407792126, + 1.2413600391719908 + ], + "held_position": [ + 0.26875003269078135, + 0.2357760997806582, + 1.2385058408315885 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007651600268726122, + "max_held_gripper_dist": 0.007654476472285254, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028541983404022364, + "max_held_gripper_z_dist": 0.002917075098865629, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08729980275214669, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26875003269078135, + 0.21040707828616015, + 1.2385058408315885 + ], + "held_grasp_finger_b": [ + 0.25861058915445095, + 0.2357760997806582, + 1.2385058408315885 + ], + "held_grasp_midpoint": [ + 0.2636803109226161, + 0.22309158903340917, + 1.2385058408315885 + ], + "held_grasp_object_position": [ + 0.26875003269078135, + 0.2357760997806582, + 1.2385058408315885 + ], + "held_grasp_finger_gap": 0.027320240972852638, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024502957221346384, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07725605451232187, + -0.9967389017900334, + 0.023303727160851828 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004085653862377978, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032165412952570235, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22627442291278052, + 0.23486746346123155, + 0.7565876864978129 + ], + "target_position": [ + 0.2390555907982263, + 0.2270821747491874, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014965592966729805, + "xy_threshold": 0.08, + "gripper_dist": 0.20865335740923344, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565876864978129, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536929812431865, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08934131654795575, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18105461739789086, + "release_required_pad_clearance": 0.05467065827397788, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.381954704830632, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a3ecc4b15d4cc2126306e1d47ed3fbd21ce3087a99d5606330ef39c5e20c2c59", + "visual_seed": 3768547224035845330, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..effced16ab6b1bd62b0d702656367badcff1513b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_5_success.json @@ -0,0 +1,684 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2704277177482797, + 0.22585649421271523, + 1.0461620885052934 + ], + "current_z": 1.0461620885052934, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18957558109672779, + "gripper_z": 1.0488268828735279, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2650781183676457, + 0.22096694054258836, + 1.0488268828735279 + ], + "object_minus_gripper": [ + 0.0053495993806339515, + 0.004889553670126862, + -0.0026647943682345243 + ], + "object_to_gripper_xy": 0.007247478777225237, + "object_to_gripper_z": -0.0026647943682345243, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2704277177482797, + 0.2010814663808946, + 1.0461620885052934 + ], + "finger_b": [ + 0.2587147991314235, + 0.22585649421271523, + 1.0461620885052934 + ], + "finger_midpoint": [ + 0.2645712584398516, + 0.21346898029680492, + 1.0461620885052934 + ], + "object_minus_finger_midpoint": [ + 0.005856459308428097, + 0.012387513915910309, + 0.0 + ], + "finger_gap": 0.027404278253451278, + "fingertip_max_gap": 0.0920845793782396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013702139126725639, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461620885052934, + "object_top_z": 1.0924558322120799, + "finger_top_clearance": 0.046293743706786517, + "fingertip_min_top_clearance": 0.013888123112035989, + "object_projection_between_fingers": 0.8173189435768189, + "object_to_finger_line_xy": 0.010589145316677538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048542289689119805, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6882861607981949, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.269893320980563, + 0.22470103152925924, + 1.2369041315667062 + ], + "held_position": [ + 0.2754775564501281, + 0.22923832636350752, + 1.2341013035581985 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077218245925247805, + "max_held_gripper_dist": 0.007725278116192629, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028028280085077295, + "max_held_gripper_z_dist": 0.002865003233307739, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08650175851369421, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2754775564501281, + 0.2037959419175061, + 1.2341013035581985 + ], + "held_grasp_finger_b": [ + 0.2653733869161812, + 0.22923832636350752, + 1.2341013035581985 + ], + "held_grasp_midpoint": [ + 0.2704254716831547, + 0.21651713414050683, + 1.2341013035581985 + ], + "held_grasp_object_position": [ + 0.2754775564501281, + 0.22923832636350752, + 1.2341013035581985 + ], + "held_grasp_finger_gap": 0.027375338687747337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024789910802070946, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.059387182914113504, + -0.9979398361920836, + 0.02427438663371384 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004299059723214536, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03220521140046758, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23564721182447307, + 0.23031053667081022, + 0.7565863604154557 + ], + "target_position": [ + 0.24571649806822743, + 0.2225415941298817, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012717979150120894, + "xy_threshold": 0.08, + "gripper_dist": 0.20898615971514922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863604154557, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579804171346843, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09041772051061013, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18033913820620706, + "release_required_pad_clearance": 0.05520886025530507, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.5173592916681935, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b808de4d37254ab7ea93d07aedb257071317db1b96a6b4bb4ad0542834eb96dd", + "visual_seed": 2378196169056119680, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6acb35cd31e9e563f690be1f3f66be71dc9b1ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26432925703569043, + 0.23056501332413695, + 1.0449700416101273 + ], + "current_z": 1.0449700416101273, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18838347459691696, + "gripper_z": 1.048083770757367, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25883069820976096, + 0.22545645361929317, + 1.048083770757367 + ], + "object_minus_gripper": [ + 0.005498558825929478, + 0.005108559704843779, + -0.003113729147239619 + ], + "object_to_gripper_xy": 0.007505433459844976, + "object_to_gripper_z": -0.003113729147239619, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26432925703569043, + 0.20590542899318112, + 1.0449700416101273 + ], + "finger_b": [ + 0.2520234694029446, + 0.23056501332413695, + 1.0449700416101273 + ], + "finger_midpoint": [ + 0.25817636321931753, + 0.21823522115865904, + 1.0449700416101273 + ], + "object_minus_finger_midpoint": [ + 0.006152893816372906, + 0.012329792165477915, + 0.0 + ], + "finger_gap": 0.027559526640306472, + "fingertip_max_gap": 0.09177526529330968, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013779763320153236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449700416101273, + "object_top_z": 1.090885823142456, + "finger_top_clearance": 0.04591578153232878, + "fingertip_min_top_clearance": 0.013774734459698667, + "object_projection_between_fingers": 0.80062287732825, + "object_to_finger_line_xy": 0.01101091509477224, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838763264665484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5329482005724534, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.263469011802939, + 0.22981523908671495, + 1.2366976112204566 + ], + "held_position": [ + 0.2692665729741713, + 0.23450002026236452, + 1.233462752677463 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00812546613992569, + "max_held_gripper_dist": 0.00812770470558662, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003234858542993546, + "max_held_gripper_z_dist": 0.003301127528953174, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716819352321264, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2692665729741713, + 0.2090198595648487, + 1.233462752677463 + ], + "held_grasp_finger_b": [ + 0.2587412069438031, + 0.23450002026236452, + 1.233462752677463 + ], + "held_grasp_midpoint": [ + 0.26400388995898716, + 0.2217599399136066, + 1.233462752677463 + ], + "held_grasp_object_position": [ + 0.2692665729741713, + 0.23450002026236452, + 1.233462752677463 + ], + "held_grasp_finger_gap": 0.027568495048595938, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024780403234766987, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06149276873150773, + -0.9979386486509066, + 0.018360090482773095 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00447557314364659, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216278944930739, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23333494730502297, + 0.23246041222767685, + 0.7565868316712775 + ], + "target_position": [ + 0.23944734292582642, + 0.22674651117110298, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008367200577823706, + "xy_threshold": 0.08, + "gripper_dist": 0.21088185388870284, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868316712775, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531163827946867, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08945836127774444, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18265941971745206, + "release_required_pad_clearance": 0.05472918063887222, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5056287576284495, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ab7f5f621e71fe8448101600b80bced1518c067250d1976c8c58428511c34990", + "visual_seed": 8929561622203525185, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5dcb18b2361db2f485cb21562eb5ad7f329ed4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26564250258169725, + 0.22058769280676271, + 1.0484418173959171 + ], + "current_z": 1.0484418173959171, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1918552503827068, + "gripper_z": 1.0513169853054112, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26047365574377934, + 0.21565405618140182, + 1.0513169853054112 + ], + "object_minus_gripper": [ + 0.0051688468379179064, + 0.004933636625360893, + -0.0028751679094940474 + ], + "object_to_gripper_xy": 0.007145470452318473, + "object_to_gripper_z": -0.0028751679094940474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26564250258169725, + 0.19614417662884795, + 1.0484418173959171 + ], + "finger_b": [ + 0.253601164454268, + 0.22058769280676271, + 1.0484418173959171 + ], + "finger_midpoint": [ + 0.2596218335179826, + 0.20836593471780535, + 1.0484418173959171 + ], + "object_minus_finger_midpoint": [ + 0.006020669063714623, + 0.012221758088957368, + 0.0 + ], + "finger_gap": 0.02724847348089544, + "fingertip_max_gap": 0.0923676646247042, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013624236740447708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484418173959171, + "object_top_z": 1.0948885408610574, + "finger_top_clearance": 0.04644672346514023, + "fingertip_min_top_clearance": 0.013934017039542067, + "object_projection_between_fingers": 0.804716680283922, + "object_to_finger_line_xy": 0.010801803026797908, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486838323123521, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8477883776554745, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2653758161984891, + 0.2193222096040517, + 1.2405721042232247 + ], + "held_position": [ + 0.27087566319142137, + 0.22380467876081506, + 1.237573645447712 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007702700936389158, + "max_held_gripper_dist": 0.007706011215023698, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029984587755127468, + "max_held_gripper_z_dist": 0.0030543010824588546, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08711340150065214, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27087566319142137, + 0.19840137911747036, + 1.237573645447712 + ], + "held_grasp_finger_b": [ + 0.2608486015661527, + 0.22380467876081506, + 1.237573645447712 + ], + "held_grasp_midpoint": [ + 0.26586213237878703, + 0.2111030289391427, + 1.237573645447712 + ], + "held_grasp_object_position": [ + 0.27087566319142137, + 0.22380467876081506, + 1.237573645447712 + ], + "held_grasp_finger_gap": 0.027310613277744106, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02457653173635145, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07446996327612518, + -0.9968487166188656, + 0.02732875308119908 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004068989492258642, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216524418663384, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23724426621211103, + 0.21594031221188062, + 0.7565865464882625 + ], + "target_position": [ + 0.24101504171904387, + 0.21886179173104073, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004770093343379828, + "xy_threshold": 0.08, + "gripper_dist": 0.21196476659302743, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865464882625, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575978839227049, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581880780591432, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18085067054274268, + "release_required_pad_clearance": 0.05290940390295716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8577438574672662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6e24f347b7a0c59fec1f8f9a83bdcf124d6312425860016463e27dde904581f3", + "visual_seed": 7443525135462340528, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d469947a4e538e032a18781b0d4dfa81123640 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26871657271922145, + 0.22384066787120063, + 1.0458186352612298 + ], + "current_z": 1.0458186352612298, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1892321278526642, + "gripper_z": 1.0486914489648755, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26327735330934776, + 0.2187936688199683, + 1.0486914489648755 + ], + "object_minus_gripper": [ + 0.005439219409873686, + 0.00504699905123232, + -0.0028728137036457824 + ], + "object_to_gripper_xy": 0.007420061132624623, + "object_to_gripper_z": -0.0028728137036457824, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26871657271922145, + 0.1991380726754256, + 1.0458186352612298 + ], + "finger_b": [ + 0.2566061181959982, + 0.22384066787120063, + 1.0458186352612298 + ], + "finger_midpoint": [ + 0.26266134545760983, + 0.2114893702733131, + 1.0458186352612298 + ], + "object_minus_finger_midpoint": [ + 0.006055227261611618, + 0.012351297597887528, + 0.0 + ], + "finger_gap": 0.027511476117529313, + "fingertip_max_gap": 0.09107294497220889, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013755738058764668, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458186352612298, + "object_top_z": 1.0915180236111992, + "finger_top_clearance": 0.04569938834996945, + "fingertip_min_top_clearance": 0.013709816504990835, + "object_projection_between_fingers": 0.8062270725421565, + "object_to_finger_line_xy": 0.01087399507194793, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048036472486104445, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23271460940522606, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2681397860042072, + 0.22241903326832158, + 1.23932912206146 + ], + "held_position": [ + 0.2738947614937446, + 0.22704099366463498, + 1.2363447840067174 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00796169168049418, + "max_held_gripper_dist": 0.007962801207552118, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002984338054742519, + "max_held_gripper_z_dist": 0.003048459565468953, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08657601654203789, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2738947614937446, + 0.20151622939716757, + 1.2363447840067174 + ], + "held_grasp_finger_b": [ + 0.2635576069756871, + 0.22704099366463498, + 1.2363447840067174 + ], + "held_grasp_midpoint": [ + 0.26872618423471584, + 0.21427861153090128, + 1.2363447840067174 + ], + "held_grasp_object_position": [ + 0.2738947614937446, + 0.22704099366463498, + 1.2363447840067174 + ], + "held_grasp_finger_gap": 0.02753852491401778, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024760627529667338, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06790284325922645, + -0.9975625806310263, + 0.01606554082749812 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004295077556408921, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032117989017991046, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23442408489348102, + 0.22538329440932978, + 0.7565871156850059 + ], + "target_position": [ + 0.2438832991190703, + 0.22152117238714364, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01021727558010676, + "xy_threshold": 0.08, + "gripper_dist": 0.21053945438410068, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565871156850059, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515763705133847, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08803185401778442, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1822052213492494, + "release_required_pad_clearance": 0.05401592700889221, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0375618803029045, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca49733ea53d95695435374ce893ddad657e8b06b35b0731f9d564732c463cbf", + "visual_seed": 1823465773019183404, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..36b3c4cd128e3a75a4c9cb33098627f601e28acd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26406173999380583, + 0.22597488983394454, + 1.0450760217033226 + ], + "current_z": 1.0450760217033226, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18848945469011213, + "gripper_z": 1.047974617166636, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25887192760364186, + 0.22099741996504169, + 1.047974617166636 + ], + "object_minus_gripper": [ + 0.0051898123901639726, + 0.004977469868902851, + -0.0028985954633133915 + ], + "object_to_gripper_xy": 0.007190921981285518, + "object_to_gripper_z": -0.0028985954633133915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26406173999380583, + 0.20154104441356915, + 1.0450760217033226 + ], + "finger_b": [ + 0.25193358456691883, + 0.22597488983394454, + 1.0450760217033226 + ], + "finger_midpoint": [ + 0.25799766228036236, + 0.21375796712375683, + 1.0450760217033226 + ], + "object_minus_finger_midpoint": [ + 0.006064077713443472, + 0.012216922710187705, + 0.0 + ], + "finger_gap": 0.027278287264517316, + "fingertip_max_gap": 0.09211840049772951, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013639143632258658, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450760217033226, + "object_top_z": 1.0913493746370602, + "finger_top_clearance": 0.04627335293373758, + "fingertip_min_top_clearance": 0.013882005880121256, + "object_projection_between_fingers": 0.8023233780990678, + "object_to_finger_line_xy": 0.010863492713500017, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855920024886476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7247521571506543, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26368127437067596, + 0.2248851718407387, + 1.238692694122122 + ], + "held_position": [ + 0.26921921495107126, + 0.22940520969704664, + 1.2356909422597724 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007753066640856691, + "max_held_gripper_dist": 0.0077613506519702315, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003001751862349522, + "max_held_gripper_z_dist": 0.0030614313423842354, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08641668037272063, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26921921495107126, + 0.20400135438420836, + 1.2356909422597724 + ], + "held_grasp_finger_b": [ + 0.25905492138707864, + 0.22940520969704664, + 1.2356909422597724 + ], + "held_grasp_midpoint": [ + 0.26413706816907495, + 0.2167032820406275, + 1.2356909422597724 + ], + "held_grasp_object_position": [ + 0.26921921495107126, + 0.22940520969704664, + 1.2356909422597724 + ], + "held_grasp_finger_gap": 0.02736181149724272, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024568946719812364, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07444212751135801, + -0.9969194850738754, + 0.024696354622131933 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004134760078080738, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215909996835098, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2235390370472849, + 0.22697569731303135, + 0.7565862624446191 + ], + "target_position": [ + 0.2394442490334618, + 0.22086348416156093, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01703921705754795, + "xy_threshold": 0.08, + "gripper_dist": 0.20339684048770212, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862624446191, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523057812620133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864550896674587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17608086897461395, + "release_required_pad_clearance": 0.05322754483372935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4740259764053334, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e59d14479a0acd9d80c91e4f68b5d9191de1cfcaf437fb112770501217371962", + "visual_seed": 72898001924356670, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ebcdd185669b4981cf9df6e7b2f99b0f5663dabf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2695591308435415, + 0.22240535986257606, + 1.0483706496303495 + ], + "current_z": 1.0483706496303495, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1917840826171392, + "gripper_z": 1.0511707510852184, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2643112643775303, + 0.21738069875227936, + 1.0511707510852184 + ], + "object_minus_gripper": [ + 0.0052478664660112195, + 0.005024661110296702, + -0.002800101454868864 + ], + "object_to_gripper_xy": 0.007265488401918564, + "object_to_gripper_z": -0.002800101454868864, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2695591308435415, + 0.1979459552305457, + 1.0483706496303495 + ], + "finger_b": [ + 0.25734534479295823, + 0.22240535986257606, + 1.0483706496303495 + ], + "finger_midpoint": [ + 0.2634522378182499, + 0.21017565754656087, + 1.0483706496303495 + ], + "object_minus_finger_midpoint": [ + 0.006106893025291604, + 0.012229702316015195, + 0.0 + ], + "finger_gap": 0.027339331459324507, + "fingertip_max_gap": 0.09193287995168628, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013669665729662253, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483706496303495, + "object_top_z": 1.0945985746350355, + "finger_top_clearance": 0.04622792500468598, + "fingertip_min_top_clearance": 0.013868377501405826, + "object_projection_between_fingers": 0.8004164075202796, + "object_to_finger_line_xy": 0.010927185090269388, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846643997584314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6613268225902912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2692288118381447, + 0.2210971005191205, + 1.2402991801757226 + ], + "held_position": [ + 0.27482369610488283, + 0.22565319202686032, + 1.2373710107041045 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007786839939257097, + "max_held_gripper_dist": 0.007793640933217397, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002928169471618114, + "max_held_gripper_z_dist": 0.0029885205027622153, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656553385287236, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27482369610488283, + 0.2001973923747398, + 1.2373710107041045 + ], + "held_grasp_finger_b": [ + 0.2646853420192013, + 0.22565319202686032, + 1.2373710107041045 + ], + "held_grasp_midpoint": [ + 0.26975451906204206, + 0.21292529220080006, + 1.2373710107041045 + ], + "held_grasp_object_position": [ + 0.27482369610488283, + 0.22565319202686032, + 1.2373710107041045 + ], + "held_grasp_finger_gap": 0.027400437213583928, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024580829036502945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07793686978129273, + -0.9966679878611429, + 0.024057562252121415 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004073669152782363, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321196588653869, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23139546513785636, + 0.22180509106300586, + 0.75658686779395 + ], + "target_position": [ + 0.24490266317793122, + 0.21853987350072984, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0138962600948168, + "xy_threshold": 0.08, + "gripper_dist": 0.20743065756831144, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658686779395, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541541511317487, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670881579151311, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17890574531930734, + "release_required_pad_clearance": 0.05335440789575656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7250545560793702, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "85a66b8ec20065b66a3843a62bcffbccc8a5f0990615278afdbff0cbf5b5747b", + "visual_seed": 7056980335078765144, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f4c69a875fcd811a91d92f27b4403763c24596a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26242238610685653, + 0.2294374936562661, + 1.0459188561489117 + ], + "current_z": 1.0459188561489117, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18933228913570133, + "gripper_z": 1.0492789198674783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.256973197472789, + 0.22431098358406118, + 1.0492789198674783 + ], + "object_minus_gripper": [ + 0.005449188634067514, + 0.0051265100722049095, + -0.003360063718566675 + ], + "object_to_gripper_xy": 0.007481628318091522, + "object_to_gripper_z": -0.003360063718566675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26242238610685653, + 0.2048572155086734, + 1.0459188561489117 + ], + "finger_b": [ + 0.2500362217232073, + 0.2294374936562661, + 1.0459188561489117 + ], + "finger_midpoint": [ + 0.2562293039150319, + 0.21714735458246975, + 1.0459188561489117 + ], + "object_minus_finger_midpoint": [ + 0.006193082191824628, + 0.012290139073796336, + 0.0 + ], + "finger_gap": 0.027524664247757947, + "fingertip_max_gap": 0.09238061047769827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013762332123878961, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459188561489117, + "object_top_z": 1.0921594443907388, + "finger_top_clearance": 0.046240588241827085, + "fingertip_min_top_clearance": 0.013872176472548108, + "object_projection_between_fingers": 0.7974978591892141, + "object_to_finger_line_xy": 0.011061183634845066, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869030523884914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7861003746240595, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26168406794701793, + 0.22841544867630054, + 1.240740128728391 + ], + "held_position": [ + 0.26749130753673644, + 0.23307287639989077, + 1.2372846908838644 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008207052781007794, + "max_held_gripper_dist": 0.008210162927497534, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003455437844526621, + "max_held_gripper_z_dist": 0.00351962891148494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08736445628887923, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26749130753673644, + 0.20757684270721866, + 1.2372846908838644 + ], + "held_grasp_finger_b": [ + 0.2569617128917848, + 0.23307287639989077, + 1.2372846908838644 + ], + "held_grasp_midpoint": [ + 0.26222651021426063, + 0.2203248595535547, + 1.2372846908838644 + ], + "held_grasp_object_position": [ + 0.26749130753673644, + 0.23307287639989077, + 1.2372846908838644 + ], + "held_grasp_finger_gap": 0.027584780177570125, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024718354570513645, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06766849493016287, + -0.9974444142530052, + 0.02292630082167035 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004400080319098303, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212852585870537, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22232999226433922, + 0.23047582388799553, + 0.756586880590028 + ], + "target_position": [ + 0.2375693295641269, + 0.2275081099110624, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01552561520795825, + "xy_threshold": 0.08, + "gripper_dist": 0.20438498057627036, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586880590028, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587892668229732, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564753640552582, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1750378723375, + "release_required_pad_clearance": 0.05282376820276291, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6909675976903904, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fadb7abfa1d6557f7ad4ba0020b460a3ada82e18561aaebc3da812be54e97ad6", + "visual_seed": 2940412114246144526, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8e517e3e4b67a1d86ec57f64b4aaf7555f235ea2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2623015088058681, + 0.2284748649618493, + 1.0476927448339481 + ], + "current_z": 1.0476927448339481, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19110623742538257, + "gripper_z": 1.050680533920139, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25708705921669583, + 0.22355415460047587, + 1.050680533920139 + ], + "object_minus_gripper": [ + 0.005214449589172276, + 0.004920710361373426, + -0.0029877890861909062 + ], + "object_to_gripper_xy": 0.007169649571530446, + "object_to_gripper_z": -0.0029877890861909062, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2623015088058681, + 0.20391480436458712, + 1.0476927448339481 + ], + "finger_b": [ + 0.25039423036750963, + 0.2284748649618493, + 1.0476927448339481 + ], + "finger_midpoint": [ + 0.25634786958668887, + 0.2161948346632182, + 1.0476927448339481 + ], + "object_minus_finger_midpoint": [ + 0.005953639219179241, + 0.01228003029863109, + 0.0 + ], + "finger_gap": 0.02729431912229699, + "fingertip_max_gap": 0.09233978854516667, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013647159561148495, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476927448339481, + "object_top_z": 1.0940479760239477, + "finger_top_clearance": 0.04635523118999951, + "fingertip_min_top_clearance": 0.013906569356999887, + "object_projection_between_fingers": 0.8096817268277574, + "object_to_finger_line_xy": 0.010714444961393392, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048669894272583336, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7757166346483624, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26186610883227535, + 0.22742218965454392, + 1.241715018934343 + ], + "held_position": [ + 0.2673837932001748, + 0.23193456518479721, + 1.2386308804850519 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007766484641341105, + "max_held_gripper_dist": 0.007774539467536268, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030841384492912294, + "max_held_gripper_z_dist": 0.00314549027044686, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08739778261494402, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2673837932001748, + 0.20654938982260956, + 1.2386308804850519 + ], + "held_grasp_finger_b": [ + 0.2572101159988237, + 0.23193456518479721, + 1.2386308804850519 + ], + "held_grasp_midpoint": [ + 0.26229695459949925, + 0.2192419775037034, + 1.2386308804850519 + ], + "held_grasp_object_position": [ + 0.2673837932001748, + 0.23193456518479721, + 1.2386308804850519 + ], + "held_grasp_finger_gap": 0.027347958533797543, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02457133010727422, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0726137282585344, + -0.9970417134349864, + 0.02520055830775325 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004164415582656062, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217581128048471, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21945260797913319, + 0.21666989973711864, + 0.756587750605121 + ], + "target_position": [ + 0.23767052292308857, + 0.2253454587028217, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02017815026885724, + "xy_threshold": 0.08, + "gripper_dist": 0.20389467950105306, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587750605121, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755244426494533, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854667703749149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1729100799815472, + "release_required_pad_clearance": 0.054273338518745745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.561403057460692, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea13b43894a58921d2e81cc4aea9917c175926c46c021e1914989d642cd873d3", + "visual_seed": 8817437622893038184, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..27519b8ed74a9d28a539c756f6337ca02b0c7f0b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26663796151779007, + 0.23030572435477212, + 1.0478796744263388 + ], + "current_z": 1.0478796744263388, + "required_z": 0.8565866862225, + "initial_z": 0.7565866862225, + "lift_margin": 0.19129298820383878, + "gripper_z": 1.0505478567398996, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26159044882729254, + 0.22550590384055097, + 1.0505478567398996 + ], + "object_minus_gripper": [ + 0.005047512690497524, + 0.004799820514221148, + -0.0026681823135608074 + ], + "object_to_gripper_xy": 0.00696531846576104, + "object_to_gripper_z": -0.0026681823135608074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26663796151779007, + 0.20583561255077834, + 1.0478796744263388 + ], + "finger_b": [ + 0.2549395981668585, + 0.23030572435477212, + 1.0478796744263388 + ], + "finger_midpoint": [ + 0.2607887798423243, + 0.21807066845277523, + 1.0478796744263388 + ], + "object_minus_finger_midpoint": [ + 0.0058491816754657755, + 0.012235055901996889, + 0.0 + ], + "finger_gap": 0.02712264877902551, + "fingertip_max_gap": 0.09312324851895365, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013561324389512755, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478796744263388, + "object_top_z": 1.0947364466817382, + "finger_top_clearance": 0.046856772255399415, + "fingertip_min_top_clearance": 0.014057031676619824, + "object_projection_between_fingers": 0.8139687036218825, + "object_to_finger_line_xy": 0.010554288463979572, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906162425947683, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0745310030497357, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2664129317455004, + 0.22965947223639865, + 1.239482019870329 + ], + "held_position": [ + 0.2717300392524965, + 0.23408610661587442, + 1.2366935785319804 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007459365205426138, + "max_held_gripper_dist": 0.007462869142272268, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027884413383485462, + "max_held_gripper_z_dist": 0.002849413915895438, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08623500146158736, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2717300392524965, + 0.20881063530276647, + 1.2366935785319804 + ], + "held_grasp_finger_b": [ + 0.26178033489282865, + 0.23408610661587442, + 1.2366935785319804 + ], + "held_grasp_midpoint": [ + 0.26675518707266255, + 0.22144837095932046, + 1.2366935785319804 + ], + "held_grasp_object_position": [ + 0.2717300392524965, + 0.23408610661587442, + 1.2366935785319804 + ], + "held_grasp_finger_gap": 0.027163322089621814, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02457982557950364, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06357906222393642, + -0.9975053734812646, + 0.030671366495934264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041797564693170555, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03227771930346586, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22924107155501985, + 0.22698976207032637, + 0.7565866692633988 + ], + "target_position": [ + 0.24222543598455842, + 0.22708123207017158, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012984686611541233, + "xy_threshold": 0.08, + "gripper_dist": 0.2066001151582725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866692633988, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514541003294413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09257917757453697, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1777959967588244, + "release_required_pad_clearance": 0.05628958878726849, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.886252349897896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 269, + "max_placed_release_frames": 269 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "90a6d0bd8f9e66cd81962ed233b85a92858f85643eb900f6f438618b502d7059", + "visual_seed": 8571224369427891783, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f33f0a7916f23897885bd7c04759fd22b962c00 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2621348421079187, + 0.22789928829116693, + 1.0475065869217983 + ], + "current_z": 1.0475065869217983, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19092001990858798, + "gripper_z": 1.0503829342894109, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2570204312713549, + 0.22295656275553472, + 1.0503829342894109 + ], + "object_minus_gripper": [ + 0.005114410836563832, + 0.004942725535632214, + -0.002876347367612553 + ], + "object_to_gripper_xy": 0.0071125054605077325, + "object_to_gripper_z": -0.002876347367612553, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2621348421079187, + 0.2035271963913365, + 1.0475065869217983 + ], + "finger_b": [ + 0.2500462388851037, + 0.22789928829116693, + 1.0475065869217983 + ], + "finger_midpoint": [ + 0.2560905404965112, + 0.21571324234125172, + 1.0475065869217983 + ], + "object_minus_finger_midpoint": [ + 0.00604430161140751, + 0.012186045949915209, + 0.0 + ], + "finger_gap": 0.027205389014907197, + "fingertip_max_gap": 0.09236120926586885, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013602694507453598, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475065869217983, + "object_top_z": 1.0939396598815758, + "finger_top_clearance": 0.0464330729597775, + "fingertip_min_top_clearance": 0.013929921887933216, + "object_projection_between_fingers": 0.8025567160528492, + "object_to_finger_line_xy": 0.010829639249988076, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868060463293443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7798288722246437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2618444017279414, + 0.22700323776041148, + 1.2415652572083284 + ], + "held_position": [ + 0.2673218504491175, + 0.23149741841768137, + 1.2385920870795721 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007683738991390942, + "max_held_gripper_dist": 0.0076863661775226095, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029731701287563084, + "max_held_gripper_z_dist": 0.0030315882404339245, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635215251351372, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2673218504491175, + 0.20612859058419628, + 1.2385920870795721 + ], + "held_grasp_finger_b": [ + 0.257190242718755, + 0.23149741841768137, + 1.2385920870795721 + ], + "held_grasp_midpoint": [ + 0.26225604658393625, + 0.21881300450093882, + 1.2385920870795721 + ], + "held_grasp_object_position": [ + 0.2673218504491175, + 0.23149741841768137, + 1.2385920870795721 + ], + "held_grasp_finger_gap": 0.027317153966819985, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024501514029891147, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07730378737619839, + -0.9966848230285219, + 0.025367065299314207 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040831833242004085, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216625630109821, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22804489789168078, + 0.22345885456815945, + 0.7565864945553347 + ], + "target_position": [ + 0.23758519251639357, + 0.22461721355886, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00961035988283792, + "xy_threshold": 0.08, + "gripper_dist": 0.20914354195539714, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864945553347, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525597513033822, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09183870327493467, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17993425484148884, + "release_required_pad_clearance": 0.055919351637467335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.058949601941441, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1051e52922ff5c0c315a4779a1e374296ce25002585a689dbe19e90f08934c04", + "visual_seed": 1871875083959449792, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..74d637bf90517635661a40f847696f379230d285 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_73_success.json @@ -0,0 +1,684 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2626520781664373, + 0.22715111333807292, + 1.0460933940823534 + ], + "current_z": 1.0460933940823534, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18950694627843256, + "gripper_z": 1.0489260131986509, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25751516821642717, + 0.2222066396120584, + 1.0489260131986509 + ], + "object_minus_gripper": [ + 0.005136909950010149, + 0.004944473726014531, + -0.002832619116297508 + ], + "object_to_gripper_xy": 0.007129913341812878, + "object_to_gripper_z": -0.002832619116297508, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2626520781664373, + 0.2027440823424231, + 1.0460933940823534 + ], + "finger_b": [ + 0.25058490121972526, + 0.22715111333807292, + 1.0460933940823534 + ], + "finger_midpoint": [ + 0.2566184896930813, + 0.21494759784024803, + 1.0460933940823534 + ], + "object_minus_finger_midpoint": [ + 0.006033588473356, + 0.01220351549782489, + 0.0 + ], + "finger_gap": 0.027227190848228715, + "fingertip_max_gap": 0.09200268998572503, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013613595424114331, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460933940823534, + "object_top_z": 1.0923116131219988, + "finger_top_clearance": 0.0462182190396454, + "fingertip_min_top_clearance": 0.013865465711893621, + "object_projection_between_fingers": 0.8035709614124614, + "object_to_finger_line_xy": 0.010817273196127488, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048501344992862516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6810260165024122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26232547907634934, + 0.2261013504949588, + 1.2385478610785245 + ], + "held_position": [ + 0.26779993696522647, + 0.23059583180970045, + 1.2356015987979954 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007671408794434034, + "max_held_gripper_dist": 0.007679109633536271, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029462622805291883, + "max_held_gripper_z_dist": 0.0030056048414814907, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08632631291657378, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26779993696522647, + 0.20521885182339253, + 1.2356015987979954 + ], + "held_grasp_finger_b": [ + 0.25772351326570386, + 0.23059583180970045, + 1.2356015987979954 + ], + "held_grasp_midpoint": [ + 0.26276172511546514, + 0.21790734181654647, + 1.2356015987979954 + ], + "held_grasp_object_position": [ + 0.26779993696522647, + 0.23059583180970045, + 1.2356015987979954 + ], + "held_grasp_finger_gap": 0.027304311523965834, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024551392700620758, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0742508176328115, + -0.9969498109221534, + 0.024039354881973056 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004093889528467056, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321763459169962, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2284929747236792, + 0.2198887263901795, + 0.7565873929362334 + ], + "target_position": [ + 0.23807748134029916, + 0.22402214786146032, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010437812996182546, + "xy_threshold": 0.08, + "gripper_dist": 0.2093030877496973, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873929362334, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559261067114648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09204362454006, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17833058090750636, + "release_required_pad_clearance": 0.05602181227003, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.28413732316467, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29e2cf531b1141771e6818d47e1d8af914f58f25726e218cf5daaa314a3394b7", + "visual_seed": 2780181182298937959, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9023601308cf0b3cf820e453e2ccdcb5f192e2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2659710972344448, + 0.23070084975234345, + 1.0484167922830963 + ], + "current_z": 1.0484167922830963, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.191830463688465, + "gripper_z": 1.0512889209864658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.260628406743191, + 0.22561924958917692, + 1.0512889209864658 + ], + "object_minus_gripper": [ + 0.005342690491253799, + 0.0050816001631665275, + -0.002872128703369503 + ], + "object_to_gripper_xy": 0.007373398260207287, + "object_to_gripper_z": -0.002872128703369503, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2659710972344448, + 0.20620374443007336, + 1.0484167922830963 + ], + "finger_b": [ + 0.2536349527050298, + 0.23070084975234345, + 1.0484167922830963 + ], + "finger_midpoint": [ + 0.2598030249697373, + 0.2184522970912084, + 1.0484167922830963 + ], + "object_minus_finger_midpoint": [ + 0.006168072264707503, + 0.01224855266113506, + 0.0 + ], + "finger_gap": 0.02742788054190497, + "fingertip_max_gap": 0.09201001228519476, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0137139402709525, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484167922830963, + "object_top_z": 1.0946503242021377, + "finger_top_clearance": 0.04623353191904145, + "fingertip_min_top_clearance": 0.013870059575712468, + "object_projection_between_fingers": 0.7977100070699251, + "object_to_finger_line_xy": 0.01101797972855094, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850500614259738, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.641988501213191, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26547352701222715, + 0.22960441241320528, + 1.2425140622811135 + ], + "held_position": [ + 0.27117252524068314, + 0.23421376697944601, + 1.239537978317389 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007910866329575222, + "max_held_gripper_dist": 0.007913610068943856, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029760839637245073, + "max_held_gripper_z_dist": 0.0030409470018646356, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08740157540996382, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27117252524068314, + 0.2087418893501002, + 1.239537978317389 + ], + "held_grasp_finger_b": [ + 0.26080455415895726, + 0.23421376697944601, + 1.239537978317389 + ], + "held_grasp_midpoint": [ + 0.26598853969982017, + 0.22147782816477313, + 1.239537978317389 + ], + "held_grasp_object_position": [ + 0.27117252524068314, + 0.23421376697944601, + 1.239537978317389 + ], + "held_grasp_finger_gap": 0.02750111587401266, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02459721194433833, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07647971191098818, + -0.9967915108275542, + 0.023612234289329903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004205862844005971, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210867955220976, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23332716192541408, + 0.23061597770023845, + 0.7565867820362997 + ], + "target_position": [ + 0.24123203146885772, + 0.22750431604777754, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008495257543962895, + "xy_threshold": 0.08, + "gripper_dist": 0.20963808535757628, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867820362997, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516113481488985, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09081694893578195, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18137935605213137, + "release_required_pad_clearance": 0.055408474467890975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.94446166949483, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7fdbc2e13407510273663e0f8d83c4996ba4620b23f550b9a7ceef3d03765328", + "visual_seed": 2476732159007231602, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f814080cb4a694612bdb00d7a51739026d0ae0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_75_success.json @@ -0,0 +1,684 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2654463365116466, + 0.23220208807797224, + 1.045194373713945 + ], + "current_z": 1.045194373713945, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18860774709608996, + "gripper_z": 1.0480267215484291, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2601798516295428, + 0.2271517746752769, + 1.0480267215484291 + ], + "object_minus_gripper": [ + 0.005266484882103795, + 0.00505031340269535, + -0.0028323478344840503 + ], + "object_to_gripper_xy": 0.007296679277511936, + "object_to_gripper_z": -0.0028323478344840503, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2654463365116466, + 0.2077692535764358, + 1.045194373713945 + ], + "finger_b": [ + 0.2531419739136278, + 0.23220208807797224, + 1.045194373713945 + ], + "finger_midpoint": [ + 0.2592941552126372, + 0.21998567082720402, + 1.045194373713945 + ], + "object_minus_finger_midpoint": [ + 0.006152181299009407, + 0.012216417250768219, + 0.0 + ], + "finger_gap": 0.027356182860973015, + "fingertip_max_gap": 0.09213123093885844, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013678091430486507, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045194373713945, + "object_top_z": 1.0914576416824249, + "finger_top_clearance": 0.04626326796847979, + "fingertip_min_top_clearance": 0.013878980390543938, + "object_projection_between_fingers": 0.7976947069707867, + "object_to_finger_line_xy": 0.010989488428708189, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048565615469429224, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6788742169873181, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26493217903196753, + 0.23099353773474313, + 1.2370192512993883 + ], + "held_position": [ + 0.27054785802853065, + 0.23557097000999608, + 1.2340606269094567 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007825739269082855, + "max_held_gripper_dist": 0.007828635038631945, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029586243899315523, + "max_held_gripper_z_dist": 0.0030237202410385855, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08630635840328457, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27054785802853065, + 0.2101282375795056, + 1.2340606269094567 + ], + "held_grasp_finger_b": [ + 0.2603218384283647, + 0.23557097000999608, + 1.2340606269094567 + ], + "held_grasp_midpoint": [ + 0.26543484822844765, + 0.22284960379475083, + 1.2340606269094567 + ], + "held_grasp_object_position": [ + 0.27054785802853065, + 0.23557097000999608, + 1.2340606269094567 + ], + "held_grasp_finger_gap": 0.027420869978768175, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024575386590975305, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07676176660531815, + -0.9967621987972055, + 0.02393220083049096 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004132985818133313, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212756434047377, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2319695713009318, + 0.22107589805762926, + 0.7565863881992758 + ], + "target_position": [ + 0.24077853775042304, + 0.22725907493661493, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010762414516505371, + "xy_threshold": 0.08, + "gripper_dist": 0.21027578188008214, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863881992758, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568789610508825, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17905291461406603, + "release_required_pad_clearance": 0.052461859836684444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1076fa8d412b1beacc2dfac96f21fb659ca02d82f2a35a895d05ed04d3f3a77", + "visual_seed": 1330748522312822206, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfc3b1d6e372f05c7ad2ecc4581ec00afce51913 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2692379971994642, + 0.22607206381137013, + 1.0480827779836026 + ], + "current_z": 1.0480827779836026, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1914961513657475, + "gripper_z": 1.0508205869549372, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2639836887558304, + 0.22110511078514467, + 1.0508205869549372 + ], + "object_minus_gripper": [ + 0.005254308443633782, + 0.004966953026225462, + -0.0027378089713345766 + ], + "object_to_gripper_xy": 0.007230378937896099, + "object_to_gripper_z": -0.0027378089713345766, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2692379971994642, + 0.20152605702095167, + 1.0480827779836026 + ], + "finger_b": [ + 0.2572104037862203, + 0.22607206381137013, + 1.0480827779836026 + ], + "finger_midpoint": [ + 0.26322420049284223, + 0.2137990604161609, + 1.0480827779836026 + ], + "object_minus_finger_midpoint": [ + 0.006013796706621943, + 0.012273003395209231, + 0.0 + ], + "finger_gap": 0.02733440053612987, + "fingertip_max_gap": 0.09203908319468307, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013667200268064936, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480827779836026, + "object_top_z": 1.0943818306518969, + "finger_top_clearance": 0.04629905266829426, + "fingertip_min_top_clearance": 0.013889715800488311, + "object_projection_between_fingers": 0.8063852814144927, + "object_to_finger_line_xy": 0.01080065352827662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851954159734154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7079569712347641, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26886250529080996, + 0.2249740110882429, + 1.239880236567305 + ], + "held_position": [ + 0.2744239151417004, + 0.22951648042327025, + 1.2370164549434073 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00773075367468263, + "max_held_gripper_dist": 0.007738660889251791, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028637816238976654, + "max_held_gripper_z_dist": 0.002926664845713356, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08636711346130388, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2744239151417004, + 0.20409257904787947, + 1.2370164549434073 + ], + "held_grasp_finger_b": [ + 0.26428414557137325, + 0.22951648042327025, + 1.2370164549434073 + ], + "held_grasp_midpoint": [ + 0.2693540303565368, + 0.21680452973557485, + 1.2370164549434073 + ], + "held_grasp_object_position": [ + 0.2744239151417004, + 0.22951648042327025, + 1.2370164549434073 + ], + "held_grasp_finger_gap": 0.02737132967330833, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024614594335689206, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07246115651041468, + -0.9970670272518155, + 0.024631767382807368 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041476141824595275, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215818836815116, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2264844884239907, + 0.22381696687300578, + 0.756588524491695 + ], + "target_position": [ + 0.24460155481725895, + 0.22298232075437688, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018136282111872674, + "xy_threshold": 0.08, + "gripper_dist": 0.2020750229772562, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756588524491695, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559373089052798, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700336546998909, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17326936090905162, + "release_required_pad_clearance": 0.053501682734994546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.005753663817965, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5463208041b51ae1ef6b113d274904b412c164721ee1fa634acde65483ccf8da", + "visual_seed": 834958386432594947, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f220986f40373620c3ff4ff4d69fafdd5c27a75 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26862215364122005, + 0.2259280415648402, + 1.0470751379480958 + ], + "current_z": 1.0470751379480958, + "required_z": 0.8565866266178549, + "initial_z": 0.7565866266178549, + "lift_margin": 0.19048851133024092, + "gripper_z": 1.0496587468956833, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26354377866128076, + 0.22098777440155504, + 1.0496587468956833 + ], + "object_minus_gripper": [ + 0.005078374979939293, + 0.004940267163285161, + -0.002583608947587468 + ], + "object_to_gripper_xy": 0.007084922870540443, + "object_to_gripper_z": -0.002583608947587468, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26862215364122005, + 0.20161954144065736, + 1.0470751379480958 + ], + "finger_b": [ + 0.2564883158486312, + 0.2259280415648402, + 1.0470751379480958 + ], + "finger_midpoint": [ + 0.2625552347449256, + 0.21377379150274878, + 1.0470751379480958 + ], + "object_minus_finger_midpoint": [ + 0.00606691889629446, + 0.01215425006209142, + 0.0 + ], + "finger_gap": 0.027168606844375644, + "fingertip_max_gap": 0.09252158475347305, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013584303422187834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470751379480958, + "object_top_z": 1.0933990723725846, + "finger_top_clearance": 0.04632393442448879, + "fingertip_min_top_clearance": 0.013897180327346603, + "object_projection_between_fingers": 0.800537328489141, + "object_to_finger_line_xy": 0.010856478551789304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876079237673653, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8426751421577381, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2683582705869462, + 0.22487707325883882, + 1.2414635083823644 + ], + "held_position": [ + 0.27379988787293824, + 0.2293571753358177, + 1.2387832563449084 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075409723704337244, + "max_held_gripper_dist": 0.007544260982196541, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026802520374560324, + "max_held_gripper_z_dist": 0.002740201276349774, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738031067985438, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27379988787293824, + 0.2040140099797929, + 1.2387832563449084 + ], + "held_grasp_finger_b": [ + 0.2636822576731037, + 0.2293571753358177, + 1.2387832563449084 + ], + "held_grasp_midpoint": [ + 0.26874107277302095, + 0.2166855926578053, + 1.2387832563449084 + ], + "held_grasp_object_position": [ + 0.27379988787293824, + 0.2293571753358177, + 1.2387832563449084 + ], + "held_grasp_finger_gap": 0.027288137919678927, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024531730665580575, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07279238618697177, + -0.9970426643796064, + 0.024641305160690297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004135150061674066, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032197873188217166, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2376968902698412, + 0.21978209776700686, + 0.7565866829852046 + ], + "target_position": [ + 0.24413944330280396, + 0.22360821965212302, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007493043324464535, + "xy_threshold": 0.08, + "gripper_dist": 0.21292899405020763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866829852046, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529136737804869, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08719939201749029, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18250368562566427, + "release_required_pad_clearance": 0.053599696008745146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2096428941278212, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 276, + "max_placed_release_frames": 276 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1eec7b8dceb98b2995d1afafef5a6d58edbddd2d9ab7bafee101c9572b307a0c", + "visual_seed": 683785632976813872, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..067c67d262b4ef40b91231fc568fb78d10c7914d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26517663404953556, + 0.22639136744888833, + 1.0456226975412182 + ], + "current_z": 1.0456226975412182, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1890361901326526, + "gripper_z": 1.0485894874539887, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2598153965225827, + 0.2212925470763028, + 1.0485894874539887 + ], + "object_minus_gripper": [ + 0.005361237526952889, + 0.005098820372585522, + -0.002966789912770551 + ], + "object_to_gripper_xy": 0.007398705090237149, + "object_to_gripper_z": -0.002966789912770551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26517663404953556, + 0.20187530672498358, + 1.0456226975412182 + ], + "finger_b": [ + 0.25282572049762386, + 0.22639136744888833, + 1.0456226975412182 + ], + "finger_midpoint": [ + 0.25900117727357974, + 0.21413333708693594, + 1.0456226975412182 + ], + "object_minus_finger_midpoint": [ + 0.006175456775955823, + 0.012258030361952388, + 0.0 + ], + "finger_gap": 0.027451453494942324, + "fingertip_max_gap": 0.09192267941553856, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013725726747471162, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456226975412182, + "object_top_z": 1.0918667082907598, + "finger_top_clearance": 0.04624401074954165, + "fingertip_min_top_clearance": 0.013873203224862463, + "object_projection_between_fingers": 0.7975734491478065, + "object_to_finger_line_xy": 0.011030226384557461, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846133970776928, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6733452526840922, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2646201325449519, + 0.22518905197976224, + 1.2374074384382914 + ], + "held_position": [ + 0.2703337207123535, + 0.22980964042067736, + 1.23431579677195 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00797202455340221, + "max_held_gripper_dist": 0.007977600471675901, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0030916416663413493, + "max_held_gripper_z_dist": 0.0031539238112161527, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635550972106437, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2703337207123535, + 0.20431142251282805, + 1.23431579677195 + ], + "held_grasp_finger_b": [ + 0.26002711748632956, + 0.22980964042067736, + 1.23431579677195 + ], + "held_grasp_midpoint": [ + 0.26518041909934154, + 0.2170605314667527, + 1.23431579677195 + ], + "held_grasp_object_position": [ + 0.2703337207123535, + 0.22980964042067736, + 1.23431579677195 + ], + "held_grasp_finger_gap": 0.02750245782716255, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024606193590217543, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07823841534900682, + -0.996640862749458, + 0.024202087961423972 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004151881088411166, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032090755866666924, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23094739076780058, + 0.21998717433982135, + 0.7565864551578099 + ], + "target_position": [ + 0.24038137408153382, + 0.22476858738144367, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010576481070677208, + "xy_threshold": 0.08, + "gripper_dist": 0.20825296150850514, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864551578099, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587150792935092, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09066278940609517, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17682993281135934, + "release_required_pad_clearance": 0.055331394703047584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.7794945001849545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 273, + "max_placed_release_frames": 273 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cce066c84391dc7c51b1470ad665d0a11bbe997c3eb1d1249864b2474dec9834", + "visual_seed": 6548496503680771827, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0dae0e4e566061b83864e6408c9d3637c16d41e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2660214936096926, + 0.23119927288507652, + 1.0461463757599132 + ], + "current_z": 1.0461463757599132, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.18955986835134753, + "gripper_z": 1.0488772240479667, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2607502479206034, + 0.2262045744604772, + 1.0488772240479667 + ], + "object_minus_gripper": [ + 0.00527124568908921, + 0.00499469842459932, + -0.002730848288053478 + ], + "object_to_gripper_xy": 0.007261752093498958, + "object_to_gripper_z": -0.002730848288053478, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2660214936096926, + 0.206670650614423, + 1.0461463757599132 + ], + "finger_b": [ + 0.2539150973004926, + 0.23119927288507652, + 1.0461463757599132 + ], + "finger_midpoint": [ + 0.2599682954550926, + 0.21893496174974975, + 1.0461463757599132 + ], + "object_minus_finger_midpoint": [ + 0.006053198154600037, + 0.012264311135326778, + 0.0 + ], + "finger_gap": 0.02735357640404289, + "fingertip_max_gap": 0.0916821653979076, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367678820202147, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461463757599132, + "object_top_z": 1.092286473583472, + "finger_top_clearance": 0.04614009782355888, + "fingertip_min_top_clearance": 0.013842029347067663, + "object_projection_between_fingers": 0.8041148385073145, + "object_to_finger_line_xy": 0.010856102242020212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048341082698953805, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6070888689899208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26561743410931715, + 0.2301789253938002, + 1.2405250381985653 + ], + "held_position": [ + 0.2712251809506685, + 0.2347345664291494, + 1.237697724473215 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077585045454132175, + "max_held_gripper_dist": 0.007766475296391826, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002827313725350278, + "max_held_gripper_z_dist": 0.0028917843092863826, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08636940039158711, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2712251809506685, + 0.2092973758915615, + 1.237697724473215 + ], + "held_grasp_finger_b": [ + 0.2609703122907339, + 0.2347345664291494, + 1.237697724473215 + ], + "held_grasp_midpoint": [ + 0.2660977466207012, + 0.22201597116035543, + 1.237697724473215 + ], + "held_grasp_object_position": [ + 0.2712251809506685, + 0.2347345664291494, + 1.237697724473215 + ], + "held_grasp_finger_gap": 0.027426501666783155, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024599491824374802, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07420748921366493, + -0.9969843109194749, + 0.02270533692821308 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004179769927352968, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032139490998153726, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23014588725715582, + 0.2248098428249276, + 0.7565866579375735 + ], + "target_position": [ + 0.2413497365206053, + 0.22643221568105779, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011320703688481794, + "xy_threshold": 0.08, + "gripper_dist": 0.20844551725455476, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866579375735, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537455704515277, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08975508255648516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17902764374469252, + "release_required_pad_clearance": 0.054877541278242584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.816206799276061, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 272, + "max_placed_release_frames": 272 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7599fb87952c9e91f64fda6afd9a2a49b63ea39eab7cba9711692a76f71c97ee", + "visual_seed": 6885868826880565388, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc51db243e5dfa017451ee11484fff9efb162d83 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2624876051071461, + 0.22544820990240733, + 1.0463642174922565 + ], + "current_z": 1.0463642174922565, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1897777696883357, + "gripper_z": 1.0492446099023498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2574072527020609, + 0.22049148578613537, + 1.0492446099023498 + ], + "object_minus_gripper": [ + 0.005080352405085198, + 0.00495672411627196, + -0.002880392410093302 + ], + "object_to_gripper_xy": 0.007097823224389785, + "object_to_gripper_z": -0.002880392410093302, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2624876051071461, + 0.20113936247556885, + 1.0463642174922565 + ], + "finger_b": [ + 0.2503316535310671, + 0.22544820990240733, + 1.0463642174922565 + ], + "finger_midpoint": [ + 0.2564096293191066, + 0.2132937861889881, + 1.0463642174922565 + ], + "object_minus_finger_midpoint": [ + 0.00607797578803948, + 0.012154423713419238, + 0.0 + ], + "finger_gap": 0.027178800965849986, + "fingertip_max_gap": 0.09230772323147088, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013589400482924993, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463642174922565, + "object_top_z": 1.092675287677959, + "finger_top_clearance": 0.046311070185702574, + "fingertip_min_top_clearance": 0.013893321055710806, + "object_projection_between_fingers": 0.7999597741360128, + "object_to_finger_line_xy": 0.0108723402685141, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865386161573544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7589198252254151, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26223677910854004, + 0.22440791647480124, + 1.239419476119897 + ], + "held_position": [ + 0.2676811455479984, + 0.2288911564232657, + 1.2364298891334724 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007660169496297496, + "max_held_gripper_dist": 0.007666847726344057, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002989586986424486, + "max_held_gripper_z_dist": 0.0030470799609549903, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635022991568206, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2676811455479984, + 0.20353042295051524, + 1.2364298891334724 + ], + "held_grasp_finger_b": [ + 0.2576178255066496, + 0.2288911564232657, + 1.2364298891334724 + ], + "held_grasp_midpoint": [ + 0.262649485527324, + 0.21621078968689048, + 1.2364298891334724 + ], + "held_grasp_object_position": [ + 0.2676811455479984, + 0.2288911564232657, + 1.2364298891334724 + ], + "held_grasp_finger_gap": 0.027284376711416713, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02449822762024212, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07736916732232854, + -0.9966911382708523, + 0.02491559431766588 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004048236472280902, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217252046359246, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2324836256122313, + 0.21966182230459283, + 0.7565864760750414 + ], + "target_position": [ + 0.23793749952848706, + 0.22275562314003283, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006270274659357773, + "xy_threshold": 0.08, + "gripper_dist": 0.2102661718848875, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864760750414, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573766770726294, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08741581328956806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17904847181186548, + "release_required_pad_clearance": 0.05370790664478403, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.425137571209309, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 278, + "max_placed_release_frames": 278 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec7f5ea94f121099fff17b5881fed4dae025c7cdf8cc0853910c681e894de645", + "visual_seed": 8752317118531477659, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b5c7346e301ec9d4d00a4590ec9de1f9b8c37ce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_83_success.json @@ -0,0 +1,684 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26215536644418513, + 0.22887413025825684, + 1.045632694774515 + ], + "current_z": 1.045632694774515, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18904618736594936, + "gripper_z": 1.0486999829900332, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25704050981769255, + 0.22402659140880898, + 1.0486999829900332 + ], + "object_minus_gripper": [ + 0.005114856626492581, + 0.004847538849447858, + -0.0030672882155182712 + ], + "object_to_gripper_xy": 0.00704701292793488, + "object_to_gripper_z": -0.0030672882155182712, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26215536644418513, + 0.20436447915969802, + 1.045632694774515 + ], + "finger_b": [ + 0.2503755178551076, + 0.22887413025825684, + 1.045632694774515 + ], + "finger_midpoint": [ + 0.25626544214964636, + 0.21661930470897744, + 1.045632694774515 + ], + "object_minus_finger_midpoint": [ + 0.005889924294538773, + 0.012254825549279397, + 0.0 + ], + "finger_gap": 0.027193525511685274, + "fingertip_max_gap": 0.09270618556354887, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013596762755842625, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045632694774515, + "object_top_z": 1.0921346925150215, + "finger_top_clearance": 0.04650199774050656, + "fingertip_min_top_clearance": 0.013950599322151968, + "object_projection_between_fingers": 0.8123500790707713, + "object_to_finger_line_xy": 0.010617232355108808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885309278177444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8633905772899314, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26176613537782806, + 0.22824249489656434, + 1.2373186649109726 + ], + "held_position": [ + 0.2671490656640573, + 0.23270724091280842, + 1.234131558556903 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007685541123962708, + "max_held_gripper_dist": 0.0076886107574937355, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003187106354069602, + "max_held_gripper_z_dist": 0.0032456186868869974, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08629584794376041, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2671490656640573, + 0.20740304543713745, + 1.234131558556903 + ], + "held_grasp_finger_b": [ + 0.2571137295778293, + 0.23270724091280842, + 1.234131558556903 + ], + "held_grasp_midpoint": [ + 0.2621313976209433, + 0.22005514317497293, + 1.234131558556903 + ], + "held_grasp_object_position": [ + 0.2671490656640573, + 0.23270724091280842, + 1.234131558556903 + ], + "held_grasp_finger_gap": 0.027221503981861784, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024527061804647952, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07031555046586739, + -0.997174638882368, + 0.02642844930185783 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004129548543093121, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032231053882473694, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2227371981187988, + 0.22804624103316812, + 0.7565908359765051 + ], + "target_position": [ + 0.23763173544146338, + 0.22385345420895159, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01547341925398429, + "xy_threshold": 0.08, + "gripper_dist": 0.2055802873838046, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565908359765051, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513848595648515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08600491797626507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17810484143561373, + "release_required_pad_clearance": 0.053002458988132536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0355090518755015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f85de663a6444998dbd7a0c8240eca9360828751e52026a5cb15e2cec2dffa2", + "visual_seed": 3380234444924743575, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c18c8687bc4387d762517351aefa556aad95b17a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.27014034188995073, + 0.22835927080075286, + 1.0482574657838626 + ], + "current_z": 1.0482574657838626, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1916710179799418, + "gripper_z": 1.0511753123111691, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2647814300488205, + 0.2233075847185727, + 1.0511753123111691 + ], + "object_minus_gripper": [ + 0.005358911841130243, + 0.005051686082180151, + -0.0029178465273065335 + ], + "object_to_gripper_xy": 0.007364609181341436, + "object_to_gripper_z": -0.0029178465273065335, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.27014034188995073, + 0.20378702707367313, + 1.0482574657838626 + ], + "finger_b": [ + 0.25792848724487183, + 0.22835927080075286, + 1.0482574657838626 + ], + "finger_midpoint": [ + 0.2640344145674113, + 0.216073148937213, + 1.0482574657838626 + ], + "object_minus_finger_midpoint": [ + 0.006105927322539451, + 0.012286121863539862, + 0.0 + ], + "finger_gap": 0.02743947076121447, + "fingertip_max_gap": 0.09221775008339297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013719735380607235, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482574657838626, + "object_top_z": 1.094703583726565, + "finger_top_clearance": 0.04644611794270248, + "fingertip_min_top_clearance": 0.013933835382810743, + "object_projection_between_fingers": 0.8019331515324353, + "object_to_finger_line_xy": 0.0109358038028452, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860887504169649, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8286320012118088, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2697166883811384, + 0.2270785564863148, + 1.2398583285908795 + ], + "held_position": [ + 0.2754060070365807, + 0.23167531712109785, + 1.2368118065661475 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007923373747579496, + "max_held_gripper_dist": 0.00793063138494567, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00304652202473199, + "max_held_gripper_z_dist": 0.0031121188442120307, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08650969873700454, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2754060070365807, + 0.20617706654339193, + 1.2368118065661475 + ], + "held_grasp_finger_b": [ + 0.26517192038646303, + 0.23167531712109785, + 1.2368118065661475 + ], + "held_grasp_midpoint": [ + 0.2702889637115219, + 0.21892619183224488, + 1.2368118065661475 + ], + "held_grasp_object_position": [ + 0.2754060070365807, + 0.23167531712109785, + 1.2368118065661475 + ], + "held_grasp_finger_gap": 0.027475394666602995, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024643944580413975, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07547587000788868, + -0.9967888226924173, + 0.02674763544721293 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004154641487751473, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210582608195004, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.24131278569536604, + 0.22384234132928643, + 0.756586436955651 + ], + "target_position": [ + 0.24539825013104316, + 0.2234025327468329, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004109069389093147, + "xy_threshold": 0.08, + "gripper_dist": 0.21165271333284302, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586436955651, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548251378853607, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855843516467485, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1815702264580407, + "release_required_pad_clearance": 0.052792175823374254, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6317981032406479, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c0e83f4ca302acb5ced007e77e2a3f9a8a97bfb328cc6412b46affd5a0f714a1", + "visual_seed": 493265494082627395, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f151b3b9c3a4c0a0f91db1be5d916bd3e029d98 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26571586611716846, + 0.22283290370947723, + 1.044806518004746 + ], + "current_z": 1.044806518004746, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18822001059618054, + "gripper_z": 1.0478372708684207, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2603985086340399, + 0.21775753427845765, + 1.0478372708684207 + ], + "object_minus_gripper": [ + 0.00531735748312856, + 0.005075369431019577, + -0.0030307528636746017 + ], + "object_to_gripper_xy": 0.007350759516180031, + "object_to_gripper_z": -0.0030307528636746017, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26571586611716846, + 0.1983487043049832, + 1.044806518004746 + ], + "finger_b": [ + 0.25339664446937427, + 0.22283290370947723, + 1.044806518004746 + ], + "finger_midpoint": [ + 0.25955625529327137, + 0.2105908040072302, + 1.044806518004746 + ], + "object_minus_finger_midpoint": [ + 0.006159610823897099, + 0.012242099702247017, + 0.0 + ], + "finger_gap": 0.027408743905668265, + "fingertip_max_gap": 0.09171282581506435, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013704371952834133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044806518004746, + "object_top_z": 1.0909274713410517, + "finger_top_clearance": 0.046120953336305615, + "fingertip_min_top_clearance": 0.013836286000891701, + "object_projection_between_fingers": 0.7979828349951953, + "object_to_finger_line_xy": 0.011004746528000316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048356412907532176, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5989221506821977, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26521302358651777, + 0.22151669332046398, + 1.238107257214525 + ], + "held_position": [ + 0.2708967494538403, + 0.22610913814949002, + 1.2349663893895948 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007953636899947185, + "max_held_gripper_dist": 0.007958951389844175, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031408678249302824, + "max_held_gripper_z_dist": 0.003200371676970626, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08652552647042011, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2708967494538403, + 0.2006219409486996, + 1.2349663893895948 + ], + "held_grasp_finger_b": [ + 0.2606192694438525, + 0.22610913814949002, + 1.2349663893895948 + ], + "held_grasp_midpoint": [ + 0.2657580094488464, + 0.21336553954909482, + 1.2349663893895948 + ], + "held_grasp_object_position": [ + 0.2708967494538403, + 0.22610913814949002, + 1.2349663893895948 + ], + "held_grasp_finger_gap": 0.02748133578463169, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024583017470362678, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0794752517445418, + -0.9965718310002417, + 0.022984125325261614 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004120443785705513, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209191091953616, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23166426236302443, + 0.22271200966770793, + 0.7565862818063329 + ], + "target_position": [ + 0.24094577044353754, + 0.22073936453980764, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009488820846093527, + "xy_threshold": 0.08, + "gripper_dist": 0.21040320318749917, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862818063329, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518420146990605, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675005459468925, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18178443485524456, + "release_required_pad_clearance": 0.05337502729734463, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7658615164354896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f217913479717b5d5769e1c6f531b115d5142f32aaf7504fd449d0613d96309", + "visual_seed": 8226950901387479969, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..916722dd782b02bba62dff4a0272b0101a03e973 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_88_success.json @@ -0,0 +1,684 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26533125081750963, + 0.2282849029995392, + 1.0448790802832482 + ], + "current_z": 1.0448790802832482, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18829257287468282, + "gripper_z": 1.0477624509318937, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26005230823664516, + 0.22325972903052654, + 1.0477624509318937 + ], + "object_minus_gripper": [ + 0.005278942580864476, + 0.0050251739690126696, + -0.0028833706486455224 + ], + "object_to_gripper_xy": 0.007288319984118881, + "object_to_gripper_z": -0.0028833706486455224, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26533125081750963, + 0.20377424480853462, + 1.0448790802832482 + ], + "finger_b": [ + 0.2531531468675428, + 0.2282849029995392, + 1.0448790802832482 + ], + "finger_midpoint": [ + 0.2592421988425262, + 0.21602957390403693, + 1.0448790802832482 + ], + "object_minus_finger_midpoint": [ + 0.006089051974983439, + 0.012255329095502282, + 0.0 + ], + "finger_gap": 0.027369299968622838, + "fingertip_max_gap": 0.0917511758293392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013684649984311419, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448790802832482, + "object_top_z": 1.0909515327899701, + "finger_top_clearance": 0.046072452506721984, + "fingertip_min_top_clearance": 0.013821735752016595, + "object_projection_between_fingers": 0.8020151428395369, + "object_to_finger_line_xy": 0.010906137302538392, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483755879146696, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5735819322493075, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2648977192148665, + 0.22707394499750388, + 1.2388813745643088 + ], + "held_position": [ + 0.2705218248506449, + 0.23164295392273296, + 1.2358949421081333 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007837422125706626, + "max_held_gripper_dist": 0.007842350574453169, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029864324561754696, + "max_held_gripper_z_dist": 0.0030487114290764783, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08640864322238712, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2705218248506449, + 0.20619013487858606, + 1.2358949421081333 + ], + "held_grasp_finger_b": [ + 0.26027014013405203, + 0.23164295392273296, + 1.2358949421081333 + ], + "held_grasp_midpoint": [ + 0.26539598249234847, + 0.2189165444006595, + 1.2358949421081333 + ], + "held_grasp_object_position": [ + 0.2705218248506449, + 0.23164295392273296, + 1.2358949421081333 + ], + "held_grasp_finger_gap": 0.027439807521601002, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02455168187628356, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07944512843812805, + -0.9965940606148159, + 0.022107689040737233 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004108544313311555, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210993761865208, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23054845324050346, + 0.22154822234127883, + 0.7566036676380049 + ], + "target_position": [ + 0.24063300861150835, + 0.22574496703756866, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010922953953793835, + "xy_threshold": 0.08, + "gripper_dist": 0.2075043108704801, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566036676380049, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538265686288817, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09021406033853456, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770563019893823, + "release_required_pad_clearance": 0.05510703016926728, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.209791064035126, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 272, + "max_placed_release_frames": 272 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7903725562a04756ba379fc2967c5c961cc0de58bf12759fb7d1ba41f644e3d5", + "visual_seed": 6642470302621128219, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71cb21da703cc2ed55767e0cc7e66dfc772c89c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2662815296170902, + 0.22704443103854285, + 1.047503535679782 + ], + "current_z": 1.047503535679782, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.19091684945728205, + "gripper_z": 1.0507347589892817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.260300830970689, + 0.22174718080090608, + 1.0507347589892817 + ], + "object_minus_gripper": [ + 0.005980698646401161, + 0.005297250237636775, + -0.0032312233094997644 + ], + "object_to_gripper_xy": 0.007989343926706844, + "object_to_gripper_z": -0.0032312233094997644, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2662815296170902, + 0.20197847213185643, + 1.047503535679782 + ], + "finger_b": [ + 0.2537943293845343, + 0.22704443103854285, + 1.047503535679782 + ], + "finger_midpoint": [ + 0.2600379295008122, + 0.21451145158519963, + 1.047503535679782 + ], + "object_minus_finger_midpoint": [ + 0.0062436001162779475, + 0.012532979453343224, + 0.0 + ], + "finger_gap": 0.028004150863035218, + "fingertip_max_gap": 0.09417663246684266, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014002075431517623, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047503535679782, + "object_top_z": 1.0940803614429293, + "finger_top_clearance": 0.04657682576314737, + "fingertip_min_top_clearance": 0.013973047728944176, + "object_projection_between_fingers": 0.8011684334737779, + "object_to_finger_line_xy": 0.01117704476810142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04958831623342133, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5302791963470945, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2647660095009069, + 0.22647401758941116, + 1.2403879717087016 + ], + "held_position": [ + 0.270979838054677, + 0.23142069608134458, + 1.2370463993124878 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008616693070856335, + "max_held_gripper_dist": 0.008618828735730864, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003341572396213799, + "max_held_gripper_z_dist": 0.003415899473975248, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704781064717193, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.270979838054677, + 0.20579160020422782, + 1.2370463993124878 + ], + "held_grasp_finger_b": [ + 0.2598379034196201, + 0.23142069608134458, + 1.2370463993124878 + ], + "held_grasp_midpoint": [ + 0.2654088707371486, + 0.2186061481427862, + 1.2370463993124878 + ], + "held_grasp_object_position": [ + 0.270979838054677, + 0.23142069608134458, + 1.2370463993124878 + ], + "held_grasp_finger_gap": 0.027946256688335277, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02530655910176388, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02747517215711131, + -0.9993597041748921, + 0.022919349607030903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00522514197491457, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032240818842667364, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23190263756599855, + 0.22356869429957682, + 0.7565887271289475 + ], + "target_position": [ + 0.24099223074755738, + 0.22501725371944228, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009204294030457836, + "xy_threshold": 0.08, + "gripper_dist": 0.20944764873417065, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565887271289475, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519453513235859, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09287861293266149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18004483450539271, + "release_required_pad_clearance": 0.056439306466330746, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.225606417284473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b600380bde364729865bc01f657baa77d2c44182a07619b0194c33e8eaefd6f", + "visual_seed": 5250969896839023417, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b37f38f6209d9e6eefb758f55272949992198ec3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2669220341539551, + 0.22709799941009132, + 1.045531483482556 + ], + "current_z": 1.045531483482556, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18894491646934564, + "gripper_z": 1.0483000609016326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26172091251192997, + 0.22206270137208733, + 1.0483000609016326 + ], + "object_minus_gripper": [ + 0.0052011216420251305, + 0.0050352980380039825, + -0.0027685774190766566 + ], + "object_to_gripper_xy": 0.007239191437354654, + "object_to_gripper_z": -0.0027685774190766566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2669220341539551, + 0.20272337810098592, + 1.045531483482556 + ], + "finger_b": [ + 0.25462584394556165, + 0.22709799941009132, + 1.045531483482556 + ], + "finger_midpoint": [ + 0.2607739390497584, + 0.21491068875553862, + 1.045531483482556 + ], + "object_minus_finger_midpoint": [ + 0.006148095104196727, + 0.012187310654552697, + 0.0 + ], + "finger_gap": 0.027300521196550184, + "fingertip_max_gap": 0.09188264168315985, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013650260598275092, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045531483482556, + "object_top_z": 1.0916814902756984, + "finger_top_clearance": 0.046150006793142406, + "fingertip_min_top_clearance": 0.013845002037942722, + "object_projection_between_fingers": 0.7971386699221273, + "object_to_finger_line_xy": 0.010978361098549038, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844132084157993, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6530095942604319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2666397642991325, + 0.22571315895711733, + 1.2403536905912094 + ], + "held_position": [ + 0.2722360565110181, + 0.23025128619454585, + 1.2374892414186622 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077535897754529345, + "max_held_gripper_dist": 0.007758974702406829, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028644491725471344, + "max_held_gripper_z_dist": 0.0029263251027618065, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08663356650873924, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2722360565110181, + 0.20479325059522444, + 1.2374892414186622 + ], + "held_grasp_finger_b": [ + 0.2620535358112186, + 0.23025128619454585, + 1.2374892414186622 + ], + "held_grasp_midpoint": [ + 0.26714479616111836, + 0.21752226839488514, + 1.2374892414186622 + ], + "held_grasp_object_position": [ + 0.2722360565110181, + 0.23025128619454585, + 1.2374892414186622 + ], + "held_grasp_finger_gap": 0.027418885906946737, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024528760053021684, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08212432310431984, + -0.9963452432938129, + 0.023489395914966127 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004040145341629636, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209961231933317, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23036670823609157, + 0.22494224352744863, + 0.7565886492009133 + ], + "target_position": [ + 0.24227736273087705, + 0.22402263324133032, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011946102861288624, + "xy_threshold": 0.08, + "gripper_dist": 0.2092582662799723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565886492009133, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075394890211666, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09168562166989637, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18015237126827327, + "release_required_pad_clearance": 0.05584281083494819, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.882558394128394, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "77dad9a181fbc1f6de200422972a05622ce330383eddf2360f14311262e6374e", + "visual_seed": 5252883406552233930, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..074cd3b5ad1ef46acf075219ce4381314f839794 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26804491364467464, + 0.22943404027640069, + 1.046307271085276 + ], + "current_z": 1.046307271085276, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1897208232813553, + "gripper_z": 1.0489187532313375, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2626748526158764, + 0.22447965601824, + 1.0489187532313375 + ], + "object_minus_gripper": [ + 0.005370061028798223, + 0.004954384258160693, + -0.002611482146061439 + ], + "object_to_gripper_xy": 0.007306399854273506, + "object_to_gripper_z": -0.002611482146061439, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26804491364467464, + 0.20470383275511794, + 1.046307271085276 + ], + "finger_b": [ + 0.25616552900258216, + 0.22943404027640069, + 1.046307271085276 + ], + "finger_midpoint": [ + 0.2621052213236284, + 0.21706893651575931, + 1.046307271085276 + ], + "object_minus_finger_midpoint": [ + 0.0059396923210462416, + 0.012365103760641372, + 0.0 + ], + "finger_gap": 0.02743543226414507, + "fingertip_max_gap": 0.09092938905575715, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013717716132072535, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046307271085276, + "object_top_z": 1.0919254249043222, + "finger_top_clearance": 0.0456181538190461, + "fingertip_min_top_clearance": 0.01368544614571383, + "object_projection_between_fingers": 0.8125159723505975, + "object_to_finger_line_xy": 0.01070803786124495, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047964694527878576, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18044784823873333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2673671617985327, + 0.22882104452578875, + 1.2397817335590327 + ], + "held_position": [ + 0.27299026300138146, + 0.2334226175344394, + 1.237066824575561 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007756576053901414, + "max_held_gripper_dist": 0.007760642896627281, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002714908983471709, + "max_held_gripper_z_dist": 0.0027794723124316967, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08719962716917803, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27299026300138146, + 0.20801784589679354, + 1.237066824575561 + ], + "held_grasp_finger_b": [ + 0.26261039416354337, + 0.2334226175344394, + 1.237066824575561 + ], + "held_grasp_midpoint": [ + 0.2678003285824624, + 0.22072023171561647, + 1.237066824575561 + ], + "held_grasp_object_position": [ + 0.27299026300138146, + 0.2334226175344394, + 1.237066824575561 + ], + "held_grasp_finger_gap": 0.02744347097310503, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024774180522610666, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05656310645295, + -0.9982887667870829, + 0.014837556912021706 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00446720879955272, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222601707846315, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2318420489256838, + 0.2342789160762345, + 0.756590416044707 + ], + "target_position": [ + 0.2433412798771513, + 0.22415656811859977, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015319733700381992, + "xy_threshold": 0.08, + "gripper_dist": 0.20805919156213112, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756590416044707, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523815932919956, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08730928826750521, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18153189102786896, + "release_required_pad_clearance": 0.05365464413375261, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3008919437003774, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 272, + "max_placed_release_frames": 272 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7d65c1b19df67cffe26070a19d8c5c128e63f2efc0c4a0ca815b63748fff48a3", + "visual_seed": 5201866717226466411, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0061690b89156e2e61c417f3e8e3b277adbd86ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2655619492690033, + 0.2296943763091452, + 1.0449960050022746 + ], + "current_z": 1.0449960050022746, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18840949759370906, + "gripper_z": 1.0478513259064228, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2602988787133431, + 0.2246795238187833, + 1.0478513259064228 + ], + "object_minus_gripper": [ + 0.005263070555660165, + 0.005014852490361876, + -0.0028553209041481953 + ], + "object_to_gripper_xy": 0.00726970819042592, + "object_to_gripper_z": -0.0028553209041481953, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2655619492690033, + 0.20520273590877597, + 1.0449960050022746 + ], + "finger_b": [ + 0.25338810840182924, + 0.2296943763091452, + 1.0449960050022746 + ], + "finger_midpoint": [ + 0.2594750288354163, + 0.21744855610896058, + 1.0449960050022746 + ], + "object_minus_finger_midpoint": [ + 0.006086920433586995, + 0.01224582020018461, + 0.0 + ], + "finger_gap": 0.02735037204427528, + "fingertip_max_gap": 0.09174831165839997, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675186022137626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449960050022746, + "object_top_z": 1.0911473970892724, + "finger_top_clearance": 0.04615139208699781, + "fingertip_min_top_clearance": 0.013845417626099343, + "object_projection_between_fingers": 0.8018797970343182, + "object_to_finger_line_xy": 0.010901399524930879, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837415582919999, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6090721168796772, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2651335728094474, + 0.2286601381436987, + 1.2396363045778198 + ], + "held_position": [ + 0.27074631333366456, + 0.23322066816925385, + 1.2366841933443864 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007811289972900987, + "max_held_gripper_dist": 0.00781881250415582, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029521112334334187, + "max_held_gripper_z_dist": 0.003015216575270152, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08637934953926668, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27074631333366456, + 0.2077823378358514, + 1.2366841933443864 + ], + "held_grasp_finger_b": [ + 0.26048335313259047, + 0.23322066816925385, + 1.2366841933443864 + ], + "held_grasp_midpoint": [ + 0.2656148332331275, + 0.2205015030025526, + 1.2366841933443864 + ], + "held_grasp_object_position": [ + 0.27074631333366456, + 0.23322066816925385, + 1.2366841933443864 + ], + "held_grasp_finger_gap": 0.02743058516036678, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458025947506263, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07582465450832122, + -0.9968596426804069, + 0.022835817563322758 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041627382485785215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032131909816800364, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22108896928775745, + 0.23434765495533286, + 0.7565887582622381 + ], + "target_position": [ + 0.24088510425024898, + 0.2266383771936271, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02124429154056003, + "xy_threshold": 0.08, + "gripper_dist": 0.20361996971298785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565887582622381, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526151156735507, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696876453723033, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17713098403394625, + "release_required_pad_clearance": 0.05348438226861517, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9695192612144026, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "08c7b3fbbf7dc5dc62ec785dcbd3eb94597ac7d8fb963b49dccd040d26f59193", + "visual_seed": 5052386022906441466, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dece3f3ff842eba4e5f840870f0a2d4dbddf7999 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_96_success.json @@ -0,0 +1,684 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2700938265331503, + 0.2317283200378521, + 1.0459902387807811 + ], + "current_z": 1.0459902387807811, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18940379097686022, + "gripper_z": 1.0487377269970828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26463729386677026, + 0.22662412687942257, + 1.0487377269970828 + ], + "object_minus_gripper": [ + 0.005456532666380021, + 0.005104193158429526, + -0.0027474882163016634 + ], + "object_to_gripper_xy": 0.007471715769341808, + "object_to_gripper_z": -0.0027474882163016634, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2700938265331503, + 0.207103604359473, + 1.0459902387807811 + ], + "finger_b": [ + 0.2577886438127618, + 0.2317283200378521, + 1.0459902387807811 + ], + "finger_midpoint": [ + 0.26394123517295603, + 0.21941596219866255, + 1.0459902387807811 + ], + "object_minus_finger_midpoint": [ + 0.006152591360194248, + 0.012312357839189547, + 0.0 + ], + "finger_gap": 0.02752806102912366, + "fingertip_max_gap": 0.09198749911400583, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01376403051456183, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459902387807811, + "object_top_z": 1.0920879210308287, + "finger_top_clearance": 0.04609768225004762, + "fingertip_min_top_clearance": 0.013829304675014304, + "object_projection_between_fingers": 0.8001864715155141, + "object_to_finger_line_xy": 0.011007372642028614, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849374955700292, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6473827585295344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2694333697564277, + 0.23051847324899566, + 1.2395826827143273 + ], + "held_position": [ + 0.27523881310068155, + 0.23516793439163702, + 1.2367303964896617 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007965939872211605, + "max_held_gripper_dist": 0.00796841161488135, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002852286224665601, + "max_held_gripper_z_dist": 0.0029214415838125785, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741178361612789, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27523881310068155, + 0.20964353174770797, + 1.2367303964896617 + ], + "held_grasp_finger_b": [ + 0.2647842698540185, + 0.23516793439163702, + 1.2367303964896617 + ], + "held_grasp_midpoint": [ + 0.27001154147735, + 0.22240573306967248, + 1.2367303964896617 + ], + "held_grasp_object_position": [ + 0.27523881310068155, + 0.23516793439163702, + 1.2367303964896617 + ], + "held_grasp_finger_gap": 0.02758246915752396, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024745033932303248, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06829529037661063, + -0.9974388178343652, + 0.021249893871701956 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004352163582082138, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211371193287346, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23305157877250382, + 0.232833749961676, + 0.7565863752702328 + ], + "target_position": [ + 0.24529299933169132, + 0.22688138526259177, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013611870658282151, + "xy_threshold": 0.08, + "gripper_dist": 0.20723554024991855, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863752702328, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555070921725697, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782161857521116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17905518625038222, + "release_required_pad_clearance": 0.05391080928760558, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.831090164390526, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "962bdd09571c1ffe57e49b4f8290d04873de97a5c6100a8f0431c6e30d49cbae", + "visual_seed": 2505001608522814233, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7c2a7b85e98d61f9d710fc3d576f8058d79219 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_97_success.json @@ -0,0 +1,684 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26542621113656695, + 0.2255181680609121, + 1.047366459958983 + ], + "current_z": 1.047366459958983, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19077995255041735, + "gripper_z": 1.0503336527899156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26004539785949976, + 0.2204191570241136, + 1.0503336527899156 + ], + "object_minus_gripper": [ + 0.005380813277067187, + 0.005099011036798495, + -0.002967192830932719 + ], + "object_to_gripper_xy": 0.007413033459796023, + "object_to_gripper_z": -0.002967192830932719, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26542621113656695, + 0.20097329663975874, + 1.047366459958983 + ], + "finger_b": [ + 0.25309369182226127, + 0.2255181680609121, + 1.047366459958983 + ], + "finger_midpoint": [ + 0.2592599514794141, + 0.21324573235033542, + 1.047366459958983 + ], + "object_minus_finger_midpoint": [ + 0.006166259657152839, + 0.012272435710576679, + 0.0 + ], + "finger_gap": 0.027468923271920825, + "fingertip_max_gap": 0.09188678573060313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013734461635960413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047366459958983, + "object_top_z": 1.0935887636813963, + "finger_top_clearance": 0.04622230372241343, + "fingertip_min_top_clearance": 0.013866691116724061, + "object_projection_between_fingers": 0.7984325804361407, + "object_to_finger_line_xy": 0.011019729381892017, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844339286530157, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6571976798130224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26487301407691866, + 0.2243633705846224, + 1.2378772429076097 + ], + "held_position": [ + 0.27059013129320797, + 0.22899418855216233, + 1.2347713498217716 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00798601754154967, + "max_held_gripper_dist": 0.007991988356629422, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003105893085838085, + "max_held_gripper_z_dist": 0.003168095467505516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08638029112174772, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.27059013129320797, + 0.20349123605777147, + 1.2347713498217716 + ], + "held_grasp_finger_b": [ + 0.26030299131281376, + 0.22899418855216233, + 1.2347713498217716 + ], + "held_grasp_midpoint": [ + 0.26544656130301086, + 0.2162427123049669, + 1.2347713498217716 + ], + "held_grasp_object_position": [ + 0.27059013129320797, + 0.22899418855216233, + 1.2347713498217716 + ], + "held_grasp_finger_gap": 0.02749956063116976, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02461319617548315, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07819588660395704, + -0.9966535526605972, + 0.023813846544219364 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004142206221686879, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208921484668326, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23161048565413644, + 0.2300650827196018, + 0.7565917961147336 + ], + "target_position": [ + 0.2406155823747639, + 0.22318474429460827, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01133273240618951, + "xy_threshold": 0.08, + "gripper_dist": 0.20781840431291065, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565917961147336, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537408697547701, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858105992486591, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1796826695752572, + "release_required_pad_clearance": 0.05290529962432955, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.826945747962014, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f0753d548f54ec43525441d2fd72f9f4a7c4f799d26ccb1e8a5be70aa825af0", + "visual_seed": 5502722292714730737, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0758b3760978503fa8c3f9feed97a216df8c01 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_98_success.json @@ -0,0 +1,684 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26307907677329323, + 0.22265677403647682, + 1.0460757914009728 + ], + "current_z": 1.0460757914009728, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18948928399240728, + "gripper_z": 1.049162916886488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25768194583008003, + 0.21766360985253064, + 1.049162916886488 + ], + "object_minus_gripper": [ + 0.005397130943213202, + 0.004993164183946186, + -0.003087125485515152 + ], + "object_to_gripper_xy": 0.0073525989273203534, + "object_to_gripper_z": -0.003087125485515152, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26307907677329323, + 0.19796112582068104, + 1.0460757914009728 + ], + "finger_b": [ + 0.2510761558035717, + 0.22265677403647682, + 1.0460757914009728 + ], + "finger_midpoint": [ + 0.25707761628843245, + 0.21030894992857893, + 1.0460757914009728 + ], + "object_minus_finger_midpoint": [ + 0.006001460484860777, + 0.012347824107897892, + 0.0 + ], + "finger_gap": 0.02745806170514807, + "fingertip_max_gap": 0.09308725788521272, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013729030852574035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460757914009728, + "object_top_z": 1.0926950099271668, + "finger_top_clearance": 0.046619218526193995, + "fingertip_min_top_clearance": 0.013985765557858198, + "object_projection_between_fingers": 0.8089116810316491, + "object_to_finger_line_xy": 0.010795369207531004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904362894260636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.953138215033462, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.26229182524230443, + 0.22208276173557903, + 1.2399900501393983 + ], + "held_position": [ + 0.2679533064294157, + 0.22670220360304572, + 1.236798619458866 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007973508775160532, + "max_held_gripper_dist": 0.007974769141637894, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031914306805322923, + "max_held_gripper_z_dist": 0.003250842819295885, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08721030821695336, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2679533064294157, + 0.2012995531632404, + 1.236798619458866 + ], + "held_grasp_finger_b": [ + 0.2575102799078399, + 0.22670220360304572, + 1.236798619458866 + ], + "held_grasp_midpoint": [ + 0.2627317931686278, + 0.21400087838314308, + 1.236798619458866 + ], + "held_grasp_object_position": [ + 0.2679533064294157, + 0.22670220360304572, + 1.236798619458866 + ], + "held_grasp_finger_gap": 0.027465459258808618, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02480185579791157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05319734668707961, + -0.9982185583480617, + 0.027013923724110482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004551677592979923, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03224375576452435, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.23755949792084916, + 0.22210075795253728, + 0.7565871240676276 + ], + "target_position": [ + 0.23829832353242425, + 0.2191603855447457, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0030317739330005026, + "xy_threshold": 0.08, + "gripper_dist": 0.21574194191443744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565871240676276, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538570619138493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08881489587407808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18598269273000057, + "release_required_pad_clearance": 0.05440744793703904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8408080436183796, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dabf204d031b5097479a1ff26c4e2106e7ad66c66d7778e8205d45122cc59207", + "visual_seed": 1394150342934197547, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ee869c20760cd49927ed58f713cb72169ad16967 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_99_success.json @@ -0,0 +1,684 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26317249133768456, + 0.22497906195879294, + 1.046932595391641 + ], + "current_z": 1.046932595391641, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.19034602837843095, + "gripper_z": 1.0499436715425858, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2579278110855602, + 0.22008855078681566, + 1.0499436715425858 + ], + "object_minus_gripper": [ + 0.0052446802521243785, + 0.00489051117197728, + -0.003011076150944758 + ], + "object_to_gripper_xy": 0.007171036917368228, + "object_to_gripper_z": -0.003011076150944758, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26317249133768456, + 0.2003396240213025, + 1.046932595391641 + ], + "finger_b": [ + 0.25138510812180725, + 0.22497906195879294, + 1.046932595391641 + ], + "finger_midpoint": [ + 0.2572787997297459, + 0.21265934299004774, + 1.046932595391641 + ], + "object_minus_finger_midpoint": [ + 0.005893691607938678, + 0.012319718968745202, + 0.0 + ], + "finger_gap": 0.027313811615250417, + "fingertip_max_gap": 0.09410478086373053, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013656905807625208, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046932595391641, + "object_top_z": 1.0940453663964655, + "finger_top_clearance": 0.04711277100482447, + "fingertip_min_top_clearance": 0.014133831301447373, + "object_projection_between_fingers": 0.8137611906485545, + "object_to_finger_line_xy": 0.010633246698928815, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04955239043186527, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.265522957856881, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2625462135701556, + 0.22450085530454206, + 1.2391508840353056 + ], + "held_position": [ + 0.2680303560588071, + 0.22904136412407042, + 1.2360235067753147 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077764084063502905, + "max_held_gripper_dist": 0.007778235258489574, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031273772599909044, + "max_held_gripper_z_dist": 0.003185419089008157, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08712244020581886, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2680303560588071, + 0.2037168937728077, + 1.2360235067753147 + ], + "held_grasp_finger_b": [ + 0.2577983970507648, + 0.22904136412407042, + 1.2360235067753147 + ], + "held_grasp_midpoint": [ + 0.26291437655478594, + 0.21637912894843905, + 1.2360235067753147 + ], + "held_grasp_object_position": [ + 0.2680303560588071, + 0.22904136412407042, + 1.2360235067753147 + ], + "held_grasp_finger_gap": 0.027313399343806385, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024774044555697834, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04946808401787941, + -0.9982518731063865, + 0.032343569734815336 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004502378826004251, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032307047280084523, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22892017232951417, + 0.2318232672337374, + 0.7565884118345274 + ], + "target_position": [ + 0.23856274594200585, + 0.2208193125375019, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01463100286477739, + "xy_threshold": 0.08, + "gripper_dist": 0.2105379651513694, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565884118345274, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578405441888039, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09101262942157363, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18254773047483117, + "release_required_pad_clearance": 0.05550631471078682, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.154414897463419, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 282, + "max_placed_release_frames": 282 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5f482995fb466636740094323ee05e86a2454897cababb09455a735a84181596", + "visual_seed": 8829144901516221816, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a16dc2d6744a73d5be2f83bc0402eb479b71d27 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.26390745343300115, + 0.22584885930402132, + 1.0476004498470723 + ], + "current_z": 1.0476004498470723, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19101400204315155, + "gripper_z": 1.0506053778081161, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25851705306638817, + 0.22086113951797876, + 1.0506053778081161 + ], + "object_minus_gripper": [ + 0.00539040036661298, + 0.004987719786042566, + -0.0030049279610437907 + ], + "object_to_gripper_xy": 0.007343961109405594, + "object_to_gripper_z": -0.0030049279610437907, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.26390745343300115, + 0.20112312273607286, + 1.0476004498470723 + ], + "finger_b": [ + 0.25195468989420977, + 0.22584885930402132, + 1.0476004498470723 + ], + "finger_midpoint": [ + 0.25793107166360546, + 0.2134859910200471, + 1.0476004498470723 + ], + "object_minus_finger_midpoint": [ + 0.005976381769395689, + 0.012362868283974232, + 0.0 + ], + "finger_gap": 0.02746325918462418, + "fingertip_max_gap": 0.0907186839122959, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01373162959231209, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476004498470723, + "object_top_z": 1.0931248357453214, + "finger_top_clearance": 0.04552438589824903, + "fingertip_min_top_clearance": 0.013657315769474742, + "object_projection_between_fingers": 0.8105770897399022, + "object_to_finger_line_xy": 0.010761318623268092, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785934195614795, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.11643580202400794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2633403986678629, + 0.22460464769363414, + 1.2382024149266198 + ], + "held_position": [ + 0.26900401716985733, + 0.22919290192129685, + 1.23505767760057 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007938389272620057, + "max_held_gripper_dist": 0.007944076274115721, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003144737326049807, + "max_held_gripper_z_dist": 0.0032049922138148723, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08650540650497368, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.26900401716985733, + 0.2036998557083497, + 1.23505767760057 + ], + "held_grasp_finger_b": [ + 0.25882385040329137, + 0.22919290192129685, + 1.23505767760057 + ], + "held_grasp_midpoint": [ + 0.26391393378657435, + 0.21644637881482326, + 1.23505767760057 + ], + "held_grasp_object_position": [ + 0.26900401716985733, + 0.22919290192129685, + 1.23505767760057 + ], + "held_grasp_finger_gap": 0.027450522774813475, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478204454771945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0643877408928571, + -0.9978220050772991, + 0.014334050587076264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004262819761858407, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032153724751939325, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22134517548838858, + 0.2294916006407535, + 0.7565870940897546 + ], + "target_position": [ + 0.2390967660062705, + 0.2231306811865715, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01885683595455892, + "xy_threshold": 0.08, + "gripper_dist": 0.20229687772940783, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870940897546, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554276043539059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09132685268394657, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17461310618164758, + "release_required_pad_clearance": 0.055663426341973285, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.497675521834349, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 277, + "max_placed_release_frames": 277 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 1406198025815128196, + "physical_seed": 7427756018596456066, + "layout_id": "layout_00018", + "step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "workflow_spec_digest": "56cd5b003477dbbd4c3f837f2ef88c4bcc76840f9313f3c508a00b62f10a46fe", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37cffda445ad7b1023592180ca15c7f9d7d6d22778d3fb560f52f2fabd4d361a", + "visual_seed": 6018150903182551346, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1189232163589316561, + 5905876406370859880, + 6158217288182197642 + ], + "runtime_workflow_digest": "60f738672a9d7993e0bd1efc6184b2a589ed8f3442eb8088c56099227c4be4ad" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a625eb8069b954a447cfdecf06bb504de5cc1e56 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00018/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_poo_00018", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..54f75e7be3b4ed7bea838623f72f591b450caa61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee53efe80817c9b6cde8fc338f8c2cd1857d42ecb6bc0e112f0647fd99df0545 +size 4459546 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eabf71726bcad228a06e6fa6e50adcec74ff785e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:140bd67b9d3e327da28d448f08644e458356125a487ff9669f68d341dcb5f067 +size 5150229 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0a92616a7b4b3b5e06503f9ce65595e9a4d45ad1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cbeba29d61dc6958173262f23ecb37a987df771814ab916c41db844b042b27e +size 5666580 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cb63d0869c8c9f40107b0cb3b8cb9b5e88550359 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:605b33f2bb3aa219a30a7effbd343589101fb32d5bc53a56d4efdf317bf17b79 +size 3632795 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..661c229c4dd3ffb48d2d26022ee3c36830293731 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaaf6af4773f86ab1fe0ae725f6e67e5925f4a57836e2dc1739e436713b2aced +size 4510459 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d3e7593285a8236ecbe62b57f5e22e2745986e58 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ce1383741cf1935907603ea167d29470f5cc7fd76001fdd431631bed8eb94cd +size 6229157 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b78972fe269320280d2a80a58312e7c6270f0346 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a513a34c1ab497aff0c09b92c77d461386a688a468b04fa648b6dcea1800d058 +size 5350840 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c7162b9c77999179878f285c441a70a749eac19a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a23a0925d6a01272e73605175910d68e32d28743d29d18f8db3d2ed0724c67a3 +size 3815625 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..61259c9ff2b0815818129752b1245a387586df03 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:300bf6dd939773894de6a7649e0cb1def0d50334c31fced30258231c82f9667c +size 5276940 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5fb115d81fe3421c9b352df87bc98bd3a8868e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67eeb842005b1897a34fc50852d87cddf148265a65eb61c8894397a5f999b7d +size 4449957 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf3305041ec8c5e3d7330196fd9d6ce847fb538c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3afe0a45119f6237d690a780c7c93e8872921b36793f4a75d72abcf60707ffbf +size 4136682 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec2515825a5601977bb00f31e7a7c728fa29235b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e6df8f163594debbf5b60069eeed883074e0ebe953ae14150bc9b265ce7b5ac +size 5277240 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9916373d58a80c5560375d289f4af31835a7e859 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f15a5422d550c49d2ff623cff1d809bb1f727d7ba5bb43420995c40da20f93ff +size 4463591 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6374af525b34ac63a6ea2a6354970b4181d32ea2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e53784e7e10857eeb0c5361f0ad36ebb3cf9308d75d79de5a8cf89ec2fa4eaca +size 3878031 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27244914644e378f0af8375f85a23e888c636f2d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd2bcc573ef881cf16bc3b37ba95387c7d0864d60fac022fca842032df4d1adc +size 4188966 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2074ab944ad89ce4af13d7b22c1db04776aa14d3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cd198e4fb2b4fd7a09564e5252c339095ce56364c71ae45aaab1bc1fa94cadd +size 4472567 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ee5cfd773a7e081b83b6ba64d1adf0f5c7d5097 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d18664c792a5a144763e68c8b2524baba93bedb01e5aaa52965d3e020403a939 +size 4262042 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77c94c6e7dcde1856940eade05a1e7a475b2892f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05709e5ea0ba107f5a06e6f127e727d0ad3ffa217116b74fa12122c64a7357b3 +size 4285710 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d77d33b21faf1baa94c678ccc3b6d72053e9b3f4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38447fb0ff19e05f3f02b0a2a23905a0b6823f9246c6b2a22a0cbc58e5eee9d3 +size 5363380 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..956ddefa60cac5c15aa9f8edce83ca9c3242b265 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eddb6633bc4bb5d7fbae42db6432cc21fabb22ad5997ff426c0f8665907c8ea +size 4047883 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..43032a75fa2df3e89484762ceba2d91d166f9b9f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3468e93f81cbc10bdde2bf33098d6ffcc56b666dbefddb59e0e8fa64c3c1c0bd +size 5719532 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a77afeb76db4502f77f64f34e1f70c4dfe0de578 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2efba8656b0e58e580b498b08c8caf8889e6e832ce082f60ca3190e893f10f86 +size 4446109 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..86fb4754f4517a26e2a5477a341fa74cd5be0d70 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e9c21fe3540bd8a53d33f88d23f354b0143aca8785acc401a851e89c4f9b86d +size 3679622 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2bb940a0acf68e9ed7f2581dfef494afa1a1961 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41f2f43f4300a361e65b7538dd534a66d26d36251d9b6245e12306aaa37b00d3 +size 4197040 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8cf12d065dcace14c2800f7ccf962a69e3bd85c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6be0aac4520bc962b27b0c833b600c285f297d5fce9094b7e2bb4b763e0a64b +size 4055268 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..617ef7429eb17c05f1623bd8235179137e2730ab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:676efcd4089badcdb5e2d19359ae888e3839fa87c8f0465a8c4b46e9ec698d8f +size 5027333 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..882d3126186fdef2e318f818a12f89fdc100498d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52551792fe411ebf201cb559ed453c000de62a7a5ccf91abbcf21be4159831a6 +size 4210999 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f71d4e2aa429b76dcf6af530c51374376394010 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:543061524dc5cd3480e6456d7326d060a333e2655b10f5b2f5720ed0671e6fae +size 5127759 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d92c1c5d63232e0cd44ac15b372c241906699e66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27da0ad087cd2c1d90be78c359046edcec194e12767e3b8b9781c6c9de0b28cd +size 4384261 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f979b4e914c78d42ea6bf6eb2d51e35cd1e001fb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:258ca975b729eee72a8aaa86987d0d0a6af7dc3b97f8ff815b7e8c785c045d34 +size 4698972 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cb5e2ed9b30dcf7c4d8086ecb59a68cb30fc2a5b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:991af0ef34c1b523bf91a164cfb613eb0e6e948e3385754e2cc348122747380f +size 5511780 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d963ac9f418d9df8da396e02a2ba35be0beb3660 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f45a9bcb9183b7b2a9ff8c308b85a6e99ec46ebbe60fea5acab22eddd9b3c00f +size 4837540 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..927cab406273032c81837bfbf05ea96c07e201c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8259a1e54805cbb0caa15efcce4fcd7464af291d7f5e29c08949c143699f1b22 +size 4845605 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dcad4efe50612d4af1e4ae61ef9b6be40eb07efe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c32a3eb26b70c87d87e222bc848ab2dd9b778572eee3e184f1d57bc064a68e33 +size 4082862 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb173bd0377283182fb3094a1e212221a49d8c3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cca91c86ad15f56ef2b43081a8b5d4d412f3b6379c40da2f1a9c93679009745a +size 4877293 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6cfa71aa8c54e8a4c4e0c0a028bfbf2760b4292d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b933495e05d2bc6e6a4637893fd9b2d8ff5293bafdc839e917ad7a9357777b30 +size 4524135 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6326ba4882b07add27e7c6a6828e13a4428a72d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2469b38bf78820bb818f5d58078b97e00a57c5602bca06a91348fca7f698a9af +size 6137496 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f49ff856ade93ae86c912d57c7fc3c44f166d82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcaf6338e3d4e4dfeb0e6a83d9e47f25731d23a35203496dbe8d2ecb7179f290 +size 5427610 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d2bde1d2796da3f23b27bdee4e9810a12f74ec56 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55b1092f6bc9a14ff56dec6cb10464def0d55d5f01f36e3d92167049e248a654 +size 3843846 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13da02363823c389759e20d05d9860bad8157616 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f3e75e96c771a477b34cf651801f69a7290f3c1b57eafd3ed3eb822664c89a +size 5528710 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..782efdebb1dc4c2cbe10911fec998e1734c2fc4c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60360e221a7dcc0d94b2fcb52bf79797771a46df98ea24f681d5a595c73c6c31 +size 5153422 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16cfe7ae38edfbaebfc3d5d1a145588dc46c492f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5c718f58008d7aa02b5206beac48f420d3021b4dfe19920648bd7478a2023e1 +size 4706607 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c2f5463da698723f2c966af376b1171bce8aff1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53a53e999a78bd67f890a6a85753669d4d2ef330943863088a190f1972cdea6b +size 4562734 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1bd4e8103b3b7be870b548b1847b75a9e2b158d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d1d7d81fc2ca4d086058c6241c9872a6df7aed2263df81ee01f091317bf5df5 +size 4255461 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..05a8c80c8b177d9f4f2a84d65889a51a3e1fa395 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de02f41853faed63ac211c636c515c1f4752d02728530c1e6c8eb5100e4e55fe +size 4710441 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..498e394e09d3d499808035842ed473d17a2a89f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba186d9c24d58ef0e5efbc7f88789587235c35f9478eecabb5d6f9b349c4ac32 +size 4447537 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6360573ea0edc77c360fd7a4941304f3be6eebda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c27e1f51542feb53997f07746f4323765aa5c478401f8c1bcab8c4b32c8783b +size 6295731 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1dde73b074a31627f0b9b2731a15025cc21078c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9480d15745b64416df66e4057559073d2729e403ff4658056fd0be5b2c45834 +size 4340293 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f673fe59048a6789b120b329dda9310fd6fce288 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b220c0fe4220a31f1a6fb44a236d5c270e4680affc457fcd3ba62fab2f9eb2e +size 4131280 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f5cb0259a53ae220eb66d969e3a4941fb14affa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9821531e776db20a89222160579437a7e0c25d5de3043f9012779999f700cbc8 +size 4862190 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16dde2b278a1f5f33f4d1401fc11b222afcbd537 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4e1996f3f44cb93da8c408b7c54b6ff6b549db534c32a2b4a88e382e2b9bb5a +size 4478919 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ecc76d26c24a788d4f18f89a8f4e40e03fdb4bf4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad76c47456cd98c98264f435d00ef75908157ac17aabe8ddc3371f3e75531435 +size 4816110 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d772f7426426f8ace53820c56781bff3461dc742 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fef07c620e2b5b3cdf3b68a3a9839ce19aef8b8942a772abe95ab968ed5262f5 +size 5199759 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5e2579761adde9c301667683b2ea5a3bb23f5c39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:478b6ac25b96f1f1165ba090887ca14d1d0f80ba4cea1ddd31160cad7efa97e6 +size 4732818 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad578f85d4a72e5fff7217f2d34536529aeda37f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b8700826dcc6c04a4e28eeb8b06811f8e98d92c3965fd9caeab1efe452e0950 +size 3726007 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2618b84e7e7e97cfd128844d8e082ff78410bea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f010b799e5b39a830d8c70dd209095d546704a2ee389f0abb9ceb594501fb879 +size 3901271 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f4321840a866f688efceb78c684ca5d004035ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5869ec45d833a2b584efedd958b15a37145fa5cdbb5f4ba30532140159e72639 +size 3581102 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fbd47f344bd365da2257aa864651d69352b3591 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:178fad538b699f40d4d760c3df3504702a835574261e4ad9ea9c23abfd2fdd9c +size 5337531 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ea905abf5a47aeb180a3af496f5d9984b29584f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85981b5908fad4af2f63b6fc919a080ad99d88b48788ec088fb89f6722966e93 +size 4488211 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb2b7f2e5fbe7cd36961ff7ffe2ad3024b212d67 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb7e707d40742b28c1f5fd0381208f7828a80db423ecead298460ae4c544d00 +size 4452121 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..481aa3e7ee5b144e75bf18ea96721cb92f85e0bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2706288681b5cb8c56340fb9fac21a4e08bebcef98f603f8c6520603e6c14380 +size 3912552 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f65bab3dc168dde87d913337a6780c86f1d74c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4aab1678aea5cefc46b819b199de43ebf411885a5cea55672478f09fb619302f +size 3735798 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad7a42b9c2258ae7cb4b211a0750613eb32f7b28 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a0ab63e7fa300fd8498fd9ee49d0d2c6a9b57b35b81111df97fdbdc81773f60 +size 5333821 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8341ef2d0f7e30a76748a7755b5730070e657033 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41bb7a2fbf591540c3b3a61d73f1c26dc8c28cac73302761637e91131d91a00f +size 5548846 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8f5a9e17d0423260efbb33d6f4f18283416045a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbc335c8809abf08454177682bb8564029b787c2479cf45fc17d914d3a887a3b +size 4104775 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..accf7828140d7d6192de868bdbbde9effc68d54b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70965f76f8f10ab04faad1694cc184ab1ffa21ddbce8ed2d303d9fa041b59882 +size 4831806 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07670e97fd662e37cf3212995415e1a1c01ec018 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52006038348d48439e7df9bfc6b5143d68b278cc48738959152d33a76ef426ad +size 4353254 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b53d3e7e16b5874978cde1cc473b506069684c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c36566ea81e7e59adce62ea84348a3fb76c7cea9dd93b117087567e5bfa91c58 +size 4075426 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f55e63db8e3250ac30d5ae8f2c45812187035446 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb6ef9d026151216376f431a7571463999c31be462d7c069797874bc648a6a57 +size 5113791 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..58bb255e52701fbcd69405629e1a498725f73627 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:202ae338936c2dec7c3ecfe96e93d1eccbb2916f47e3bc8f9d48e2f1c5043c4a +size 4888246 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92fd2fe794c3a60ae43747e09e83e14792d91a5d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfe5a70106e47ab7d2e56a3bbce3c3ca558c515baed1d5c4c16eea23429e5708 +size 4962261 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1a5830c7b1d72c681d7971360a0fa81d3f387e6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3a065322ce0717e02ed70646a0a69b790269c58760592d33e6d5b63fa0fd39e +size 4901570 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a9c6c85da25437c1f1b337662fcffeb8ce220fe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cce702df4b435b56ffeadf42020c70cf0b4c506867f326d75e89dc99d617247 +size 3924063 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d30493dba0b05b7e16892600baf8611a923e3e8e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9617f653ea0b41dee47835f0ed173b506c4a48e31dfe639857a31333fc41b49 +size 5472575 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c014db44bb9c44c47e68779dbe3e082a735f65f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5311ada5b3962299a54354465af93e1cd44422fb215e45a3409ad10875a3592e +size 4193757 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..343c8d3f78464b6d7bc0c289d4cdace6d0c786a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfc7bd30c1823081d257e548e0d0cb2e3e8e45d93b58a627bd421e2b34ebb862 +size 4390339 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae8f1e34e0be8ea8f9ed1485d2910a2712b0e42b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de52b208d3ed0a0c07b62332d85c020c74c101935b9523791bb4b7e9101832cb +size 4123063 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..acd83ba3a01e127907ad86ae5e544e9b7d7c3408 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8242e543315b6800d29ff0ad342e6e96044d7e6ef6cef2466dc34fbe8d834d7 +size 4923899 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e440f0cf27b636ad8300373602b6aeabc3582b90 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b95cd53c40e7cad5bb88d8b85413277e65f532445d8aa4a5d7d666febf83b9c +size 5098886 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b20b0f5b51e1084ad14f0df2fb0301175d1b2933 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4cdef771fc4cbded4ffebb8abb8d39150e9fd6c30a3dffa487dc636f8378911 +size 4104194 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f41768391715e209b548dff3d5850a7c9fb46f6d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e2389d42414a1c9d9202b7c777839bb15dbc3e418628ff2c05a441946b74d0 +size 5096921 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff1471d1127f94f8102991970c9ed159c6514016 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ce6b93fe8b7536163e2559b86b44ef40caaaef97af667702776a7ea14381e78 +size 4913239 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0af3e9f4e6a4c7da16def6afb67dcc4eff4b8b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec543e281450577b20b28e8211e4ff30e5cb38f4cb1a1c34beddeb2b0cf353f5 +size 5115923 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a07686cbe9f707cce77a51c798a2dc211fe147d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5179bb811f7d57c012bf0a36bf924c422ef9e4112afaad07c7c89beb1a9ebeb +size 4152085 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bece901318b221f96c79e1f73cd570c52255bc24 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb2f455762b2e0c079de1abda903b64c4512739ebbe1d337b329a4167e674418 +size 4271486 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..922dad55b64a2427d5fcc9783573308e3c304cb2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:646bb92cf20f5c46852a118a5dd71de1442eef8dbe81c9b11a2ac0c773298ecf +size 5698980 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93d18c3ad4788b4b952fcfaa570db1806b3f0b02 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f9be674b844f4599feada4457a7705a1fa0fc6d5435c723328004d4b3c8012 +size 5955740 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..273b22146d933b474e5a157cc48898c2f33037bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11526aa718f34b6eb530d3937e980b382f0b7eed2a88ab2f8254cec9b9c87600 +size 5406334 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d1c311b7441f4b733fbd6f1d0f9978c6866ce53 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23e3e43fb047779bc7b3d26e5adf7de7831e6239331de7d91e6ca5908d7aa2fe +size 4249646 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..63aac07a1a424a4ef05dcc19fb3c8fa1e03ef9b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0ec1e63dd76eee5d4a20a06be96eeb65cabb7db0e4a4e25922357aa15782c3b +size 3936413 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0611ee7ebd6f1015353f21911eec970b34f880aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0eb7d6016d316dea9a80f8353627d685a1d69310a63d8f564b329c5c5fec387 +size 4158705 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d10b046e636d0bee6cf0df40e2d7ca0c90c9d3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80ab12c1e6620f5235bd9be88730cdad2b34581db2abdaeb587bb94d19cffeae +size 4879420 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0113.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a9c07209a9f74890aa5a82bd8a1271a77653f602 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0113.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94c2c2b33187dd6e1824ba1b035036911a1727f4e38b4c46860f4fc8898c7795 +size 4587224 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..729408e1ccf5d16ebb3f839d712b78f5a689d739 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f07588069968e62a1289dad09e25079b7007695bacda1c8333fa53db620cbd61 +size 4975262 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0116.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0116.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e1cf7fe13ac2190f90f9c6e26cb99a7e99f1572d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0116.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4e6f4266c7b904bf3aaaa977a2aa598145198149fd5ce9bf85aa0a220ec2de5 +size 5417794 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0117.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c322f013863af328d31aa33d7bf03917d11d8ab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0117.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:601593f99d33b80e12007fad07e9bf4dfe7010a5ef440abcd4b546bc0f3194fa +size 5147715 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0119.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0119.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e49536acd9258f43b64cf934e74ae7ee968259be --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0119.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8e1071f2c1f5d8f520bb39f0a14d0969aa9a2663480726f05b7e3b4513d60a2 +size 5116124 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0120.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0120.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2abb1a1efdad6baf91157d121e6f7ce165f5d833 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0120.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfc17edce0894cf81e11b4002a7aaeb9364311fe8a043729d7636ec68290e235 +size 5203341 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0121.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0121.h5 new file mode 100644 index 0000000000000000000000000000000000000000..05cadb84cd708b65135b5d03fc0bd6590370ea2b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0121.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baca1307838af06c79f25ad1885d6515fb032d9322c743e38f3a31739f2b9499 +size 3885763 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0122.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0122.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc1f77854c696ba4d14f01f9236387b440f8ebec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0122.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6937a701acfc1243e4df18cec8e17e4f2fffaf8691789d115619c789ac467e1 +size 4026595 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34010424b9f2da648ac82be79022299a1cad9f73 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":811,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":911,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":813,"success":true,"robot_type":"ur5e"} +{"episode_index":113,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":114,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":116,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":117,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":119,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":120,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":121,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":122,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cbd4b15cee9714421febcc79d00c509e49f676d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T08:03:42","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.3402722281960593,-1.131301922845242,0.71338606911949],"aabb_xy":[[-0.3627686496299234,-1.153801922651989],[-0.3177758067621952,-1.1088019230384942]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.2943916826648373,0.6277046086035187,0.71338606911949],"aabb_xy":[[0.23039168228730367,0.5779593417527065],[0.3583916830423709,0.677449875454331]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.361507227503065,0.2072307939332525,0.71338606911949],"aabb_xy":[[-0.3746584734743544,0.18223079417656596],[-0.34835598153177566,0.23223079368993907]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.48953698661284195,0.3879771372400813,0.71338606911949],"aabb_xy":[[-0.5445301979499786,0.3329771369012878],[-0.43454377527570515,0.442977137578875]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[0.04370350340923257,-2.122866995031063,0.71338606911949],"aabb_xy":[[-0.03629649766388776,-2.1326450413684475],[0.1237035044823529,-2.1130889486936786]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.051343033195704435,-2.2103081585157316,0.71338606911949],"aabb_xy":[[-0.08133469592957476,-2.2403081578525317],[-0.0213513704618341,-2.1803081591789306]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.27221643970735554,-0.8573247141802476,0.71338606911949],"aabb_xy":[[0.26350247065742094,-0.8798247148394357],[0.2809304087572899,-0.8348247135210592]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.5157422116381881,0.5736360247258525,0.71338606911949],"aabb_xy":[[-0.5857422132404676,0.5602032315241949],[-0.44574221003590864,0.5870688179275101]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.016954162984128218,-1.5480783196558943,0.71338606911949],"aabb_xy":[[-0.02054583543927213,-1.5612425336237248],[0.05445416140752857,-1.5349141056880637]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.5622295071096208,-1.7418243439705376,0.71338606911949],"aabb_xy":[[-0.5702658418109056,-1.7498624632749544],[-0.5541931724083359,-1.7337862246661209]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.30653138705099087,-0.9143218533810937,0.71338606911949],"aabb_xy":[[-0.3536607660528265,-0.9783218544254956],[-0.25940200804915514,-0.8503218523366917]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.5818569788954906,-0.011664004222379898,0.71338606911949],"aabb_xy":[[0.5484168036994709,-0.04510763005330997],[0.6152971540915101,0.021779621608550175]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.061971258674275886,-0.38101962695160596,0.71338606911949],"aabb_xy":[[-0.08525310087240721,-0.466019628248834],[-0.03868941647614454,-0.29601962565437784]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.10418722480471576,0.10417085138929094,0.71338606911949],"aabb_xy":[[-0.14168722546929444,0.08848379338906873],[-0.06668722414013704,0.1198579093895131]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.05402359255721112,0.8607109350752071,0.71338606911949],"aabb_xy":[[-0.06052522906521575,0.8509431130488974],[-0.04752195604920652,0.8704787571015169]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.24054157842550872,1.800071641619334,0.71338606911949],"aabb_xy":[[0.21762586554045887,1.7771673444829106],[0.26345729131055867,1.8229759387557576]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.48926954031238257,-1.4744661174096723,0.71338606911949],"aabb_xy":[[0.40926954165549656,-1.4889709763339354],[0.5692695389692686,-1.4599612584854096]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.5297728020792996,-2.475054178067123,0.71338606911949],"aabb_xy":[[0.4819666344655309,-2.5400541807741823],[0.5775789696930682,-2.4100541753600644]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.47232292965734435,-0.34927057479555845,0.71338606911949],"aabb_xy":[[-0.4894250076157125,-0.36637738032682815],[-0.4552208516989762,-0.33216376926428864]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.5123656816446871,0.2176489285981713,0.71338606911949],"aabb_xy":[[0.4878194660219363,0.18740003204913425],[0.5369118972674377,0.24789782514720837]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.09459031414813801,-1.4703087131108987,0.71338606911949],"aabb_xy":[[-0.1170903141582863,-1.484404932750502],[-0.07209031413798972,-1.4562124934712954]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.3629533376538895,-1.8140122606308038,0.71338606911949],"aabb_xy":[[-0.4269533397036215,-1.854106743720112],[-0.2989533356041575,-1.773917777541496]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.06433620915297555,-1.6809662023996035,0.71338606911949],"aabb_xy":[[0.014336210507054359,-1.730885746059066],[0.11433620779889675,-1.6310466587401413]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[0.686575642510654,1.5725754968256456,0.71338606911949],"aabb_xy":[[0.6690756433762868,1.5626958697880575],[0.7040756416450211,1.5824551238632332]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_24","position":[0.1641105560084083,0.8659354461216995,0.71338606911949],"aabb_xy":[[0.1464777204148807,0.8483125001060764],[0.18174339160193584,0.8835583921373223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827606801411561,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1828.png","name":"1828"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1828.png","name":"1828"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5859.png","name":"5859"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8387.png","name":"8387"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8753.png","name":"8753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1089.png","name":"1089"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.7994979513402,"rotation_z_degrees":66.91686199172669,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009426085607002479,0.004300296161918536,0.013478288524916952]},{"name":"camera_2","offset_m":[-0.00702763453518028,0.019464111732926937,0.0010141533665480769]},{"name":"camera_3","offset_m":[0.005071304794849088,-0.008932345590871438,0.014528606643605845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010203837206347423,0.00086612736323386,-0.00020007645395707786],"end_effector_yaw_offset_degrees":-0.0018952106031557836},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006573363612196253,0.001569236925990993,0.0007298078477233285],"end_effector_yaw_offset_degrees":-0.7155644066655602},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001203554457612071,-0.0010543870271498724,-0.0015907849739835358],"end_effector_yaw_offset_degrees":0.12471069261705292}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001901110200037118,-0.003121609069736496],"position_m":[0.3125011102000371,-0.023521609069736497,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022566039512577993,-0.00018948506974764828],"position_m":[0.1516566039512578,0.27911051493025235,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001033395040762889,0.002153720870450646],"position_m":[0.3438333950407629,0.21525372087045067,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004229697063358572,-0.002456625868869683],"position_m":[0.2544703029366414,-0.3641566258688697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"58dfe39b544baa309cacb594ddfa081af66d31e72dbc32c710ab7b2582429f28","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1828/tex_ceiling_textures_1089/tex_floor_textures_8753/tex_table_textures_5859/tex_wall_textures_8387","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4667579449772789016,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4667579449772789016,"visual_seed":4667579449772789016,"scene_id":"lab_003","finished_at":"2026-09-03T08:06:07"} +{"episode_id":"ep_000001","started_at":"2026-09-03T08:06:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.07927596195944864,1.6789916659161173,0.71338606911949],"aabb_xy":[[-0.10286108542334348,1.6139916636706855],[-0.05569083849555377,1.743991668161549]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.2641844127808495,-2.3359506547514117,0.71338606911949],"aabb_xy":[[0.23074423758482984,-2.3693942805823416],[0.297624587976869,-2.302507028920481]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.3619606785688949,1.1387474998094582,0.71338606911949],"aabb_xy":[[0.31696067710266607,1.0937476429479778],[0.4069606800351238,1.183747356670939]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.2217390350750017,-0.6485678826593229,0.71338606911949],"aabb_xy":[[-0.2678241263297332,-0.712567879911878],[-0.17565394382027022,-0.5845678854067677]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.17304897632886307,0.6008830705622947,0.71338606911949],"aabb_xy":[[0.16375535809171246,0.5633830720741608],[0.18234259456601362,0.6383830690504286]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.629045258922313,-1.7471773648191151,0.71338606911949],"aabb_xy":[[0.5390452552453947,-1.808609771396219],[0.7190452625992311,-1.6857449582420103]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.04635112912516326,-1.3978617991155564,0.71338606911949],"aabb_xy":[[-0.11635112553512504,-1.418299734767238],[0.023648867284798532,-1.3774238634638745]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.033170408388303874,-2.327811862030441,0.71338606911949],"aabb_xy":[[-0.058170407660266155,-2.344157225626603],[-0.008170409116341598,-2.311466498434278]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.48166614247674877,0.33066587441335704,0.71338606911949],"aabb_xy":[[0.43649482462857986,0.26666587726881863],[0.5268374603249177,0.3946658715578955]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.5393806215238,0.15201507533396663,0.71338606911949],"aabb_xy":[[0.5227034855307043,0.13531515136003636],[0.5560577575168953,0.1687149993078969]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.6697945196155237,1.4628222138239813,0.71338606911949],"aabb_xy":[[0.6419494828349167,1.4320377150856696],[0.697639556396131,1.493606712562293]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.1600926165683476,1.3132842444771362,0.71338606911949],"aabb_xy":[[-0.24009261522523362,1.298779385552873],[-0.0800926179114616,1.3277891034013989]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.43691503883693694,1.7262636785609087,0.71338606911949],"aabb_xy":[[0.3869150401910157,1.6763441349014463],[0.4869150374828581,1.776183222220371]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.3121375647679522,1.0179430675434844,0.71338606911949],"aabb_xy":[[-0.3471375630786476,1.0102280526199388],[-0.27713756645725673,1.02565808246703]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.08587848918732155,-0.3049966743660648,0.71338606911949],"aabb_xy":[[-0.16587849026044188,-0.3147747207034492],[-0.005878488114201219,-0.2952186280286803]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.02824962354606564,-1.7466465079159819,0.71338606911949],"aabb_xy":[[-0.09224962271583557,-1.7934131950349446],[0.0357503756237043,-1.6998798207970196]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.6351096335747545,0.02563995808681474,0.71338606911949],"aabb_xy":[[-0.6526095670087377,0.008139958166580197],[-0.617609700140771,0.043139958007049284]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.5566770301037747,-2.3839456610153054,0.71338606911949],"aabb_xy":[[0.4966770295959217,-2.4407923947012264],[0.6166770306116275,-2.3270989273293843]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.6868533127325032,-1.4026312562342993,0.71338606911949],"aabb_xy":[[0.6523908347194153,-1.4092949334172222],[0.7213157907455908,-1.3959675790513764]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.6239954303482571,1.608054123995308,0.71338606911949],"aabb_xy":[[-0.6614954302920234,1.5997610339604713],[-0.5864954304044906,1.6163472140301445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6886250178594389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2591.png","name":"2591"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2591.png","name":"2591"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8861.png","name":"8861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8376.png","name":"8376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8855.png","name":"8855"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":837.9059115114344,"rotation_z_degrees":288.2251386859859,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008167596154580297,0.011650429869019121,-0.003738091031923855]},{"name":"camera_2","offset_m":[0.012322613635263522,-0.005996940943272473,0.009081287991200462]},{"name":"camera_3","offset_m":[-0.004047190566611198,0.0072975137180811556,-0.015931998445239584]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006603071690963352,0.0016887088834923437,0.0017515300747798818],"end_effector_yaw_offset_degrees":-0.26100619218522825},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00020986005863977476,-0.0006822258573959373,0.0002492365544479913],"end_effector_yaw_offset_degrees":0.1242382642579174},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00010945043339326602,-0.0019280567920273392,8.64170732843509e-05],"end_effector_yaw_offset_degrees":-0.7080883576911443}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00037622098154202824,0.003482623335727272],"position_m":[0.31097622098154204,-0.01691737666427273,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010098022326639287,-0.0011843887656491224],"position_m":[0.14839019776733609,0.27811561123435086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014939148297955004,-0.0028965502412119917],"position_m":[0.3442939148297955,0.21020344975878802,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00475481466475024,0.0008760652305944546],"position_m":[0.26345481466475024,-0.36082393476940555,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8ab3485d0614bd86b5effdc551623fc60adf2118841fdeeb0b058fa6f0100fe8","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2591/tex_ceiling_textures_8855/tex_floor_textures_9465/tex_table_textures_8861/tex_wall_textures_8376","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8344063011016773020,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8344063011016773020,"visual_seed":8344063011016773020,"scene_id":"lab_003","finished_at":"2026-09-03T08:09:01"} +{"episode_id":"ep_000002","started_at":"2026-09-03T08:10:25","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5757844738204361,-2.4992858440112053,0.71338606911949],"aabb_xy":[[-0.6457844772119979,-2.5346016177146358],[-0.505784470428874,-2.463970070307774]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.020283393779825576,-2.5754697215863196,0.71338606911949],"aabb_xy":[[-0.02659549331616401,-2.5812366608395383],[-0.013971294243487142,-2.569702782333101]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.5192132038834969,1.5912975797888547,0.71338606911949],"aabb_xy":[[-0.5367598987996158,1.5537975782246034],[-0.501666508967378,1.628797581353106]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.2580359703207798,-1.4999470423375412,0.71338606911949],"aabb_xy":[[-0.2650774212715274,-1.5069737940753356],[-0.2509945193700322,-1.4929202905997467]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.5494235437302866,1.5457393955409544,0.71338606911949],"aabb_xy":[[0.5400765361479913,1.5314357733233102],[0.5587705513125818,1.5600430177585982]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.07664295773056462,-2.086898814428579,0.71338606911949],"aabb_xy":[[-0.013357041992609548,-2.1099721669637583],[0.1666429574537388,-2.0638254618933987]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[0.5994749702857471,1.1963413493193755,0.71338606911949],"aabb_xy":[[0.54949073457757,1.14634135050588],[0.6494592059939245,1.2463413481328711]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.5468104440590862,-2.38379939017964,0.71338606911949],"aabb_xy":[[0.5222968199620803,-2.4080639834816764],[0.571324068156092,-2.3595347968776035]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.1102719160303155,-1.1354229080514513,0.71338606911949],"aabb_xy":[[-0.12220465039214357,-1.1478050608593107],[-0.09833918166848743,-1.123040755243592]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.3716868676670487,-1.9675189375710733,0.71338606911949],"aabb_xy":[[-0.44168687030363507,-1.987623802566939],[-0.3016868650304624,-1.947414072575208]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.4656425776560321,1.047388807917888,0.71338606911949],"aabb_xy":[[-0.47363606745131426,1.0393906759774125],[-0.4576490878607502,1.0553869398583637]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.33050722787963815,-1.358628760009018,0.71338606911949],"aabb_xy":[[-0.41050722503921344,-1.3701763609668351],[-0.25050723072006287,-1.347081159051201]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.6489301353563046,-1.1279741869805275,0.71338606911949],"aabb_xy":[[0.5989471851688252,-1.1779741866230875],[0.6989130855437838,-1.0779741873379667]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.3562344802706969,0.34241219990906613,0.71338606911949],"aabb_xy":[[-0.4412344789627715,0.3104263365141873],[-0.27123448157862223,0.374398063303945]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.19629004973442465,-1.2640452864702505,0.71338606911949],"aabb_xy":[[0.19133402954954348,-1.2865452866723723],[0.20124606991930588,-1.241545286268129]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.2134031455090506,1.1413224883790258,0.71338606911949],"aabb_xy":[[-0.29340314409636997,1.062006886440865],[-0.13340314692173114,1.2206380903171867]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.661733590335017,-1.8413339816633694,0.71338606911949],"aabb_xy":[[0.6195491761741863,-1.9053339819405806],[0.7039180044958477,-1.7773339813861582]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.2628544728126692,-0.5242728547546749,0.71338606911949],"aabb_xy":[[-0.32285447306407034,-0.5785541797911394],[-0.20285447256126798,-0.4699915297182101]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.4389658611983799,-0.4823996270234421,0.71338606911949],"aabb_xy":[[-0.4802146722282945,-0.5373996265356594],[-0.39771705016846504,-0.42739962751122457]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.3691216703995899,-2.029670065620633,0.71338606911949],"aabb_xy":[[0.279121670981219,-2.063045562464822],[0.45912166981796076,-1.9962945687764426]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[-0.07643509020724581,-1.3169954390481196,0.71338606911949],"aabb_xy":[[-0.14043509048122405,-1.3670615392454073],[-0.012435089933267585,-1.2669293388508314]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.6440278776512434,0.3391207131277465,0.71338606911949],"aabb_xy":[[0.5790278750134499,0.28764111442829954],[0.7090278802890368,0.39060031182719346]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.5531434999604454,0.5905413499401275,0.71338606911949],"aabb_xy":[[-0.5869190591511384,0.5765028547269625],[-0.5193679407697525,0.6045798451532925]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.6143332192027049,0.05178832648186571,0.71338606911949],"aabb_xy":[[-0.6943332196729209,0.04347761886751733],[-0.5343332187324891,0.060099034096214095]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.30503746523351055,-2.444150612737702,0.71338606911949],"aabb_xy":[[-0.3528436328472792,-2.5091506154447614],[-0.2572312976197419,-2.3791506100306434]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822655645051315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4454.png","name":"4454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4454.png","name":"4454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/129.png","name":"129"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8167.png","name":"8167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9688.png","name":"9688"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7821.png","name":"7821"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.8152811298888,"rotation_z_degrees":125.43821833414499,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009506905319665075,-0.014051356747875193,-0.0028247935939969965]},{"name":"camera_2","offset_m":[-0.012607729418617857,-0.010712236563105666,-0.0025211058946988246]},{"name":"camera_3","offset_m":[0.01266674489238499,-0.001958475210982299,-0.01817071972286478]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009287788536837284,-0.00023990055841699096,-0.0007541237081399052],"end_effector_yaw_offset_degrees":-0.2421923954976557},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007047103352893279,-0.0010019541835177984,0.0016565206483108415],"end_effector_yaw_offset_degrees":-0.6808338158890839},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005571278076514068,-0.001678138786892959,-2.3884864229417255e-06],"end_effector_yaw_offset_degrees":-0.17313705068291285}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00113239981336141,-0.0033042693105676604],"position_m":[0.3094676001866386,-0.023704269310567662,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033486902423838652,0.0003103686136106676],"position_m":[0.14605130975761613,0.27961036861361066,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002554106970938582,-0.0022366088211726778],"position_m":[0.3402458930290614,0.21086339117882733,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004593981812731608,-0.002106060034637629],"position_m":[0.25410601818726836,-0.36380606003463767,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5ab4dbf97a19e8cf35cb0573075fd83e91b671da279fc86ae744fb0b58683d5f","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4454/tex_ceiling_textures_7821/tex_floor_textures_9688/tex_table_textures_129/tex_wall_textures_8167","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":701006746580979651,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":701006746580979651,"visual_seed":701006746580979651,"scene_id":"lab_003","finished_at":"2026-09-03T08:13:00"} +{"episode_id":"ep_000003","started_at":"2026-09-03T08:14:28","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.3484831170173366,-1.7251419401063965,0.71338606911949],"aabb_xy":[[0.34048962722205456,-1.7331400720468724],[0.3564766068126186,-1.7171438081659212]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.37553348411581255,0.9799164209220481,0.71338606911949],"aabb_xy":[[-0.46553348353418345,0.9465409240778583],[-0.28553348469744166,1.0132919177662378]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.4368541660247365,-1.6274626545722768,0.71338606911949],"aabb_xy":[[-0.5018541671306798,-1.652428027640405],[-0.3718541649187932,-1.6024972815041485]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.4485246482504943,-0.2605598782335732,0.71338606911949],"aabb_xy":[[0.4142083710758763,-0.3105598782067509],[0.4828409254251122,-0.21055987826039546]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.34387307617499074,-2.044940432847689,0.71338606911949],"aabb_xy":[[-0.3613037912539972,-2.0622125475115394],[-0.3264423610959842,-2.0276683181838373]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.3258204651040594,0.8002805265205275,0.71338606911949],"aabb_xy":[[-0.34831688653792353,0.7777805267137802],[-0.30332404367019533,0.822780526327275]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.582458660385136,-2.4547588818344592,0.71338606911949],"aabb_xy":[[-0.5864191441548705,-2.46242674641998],[-0.5784981766154018,-2.4470910172489386]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.30523292989004736,0.9666294876900081,0.71338606911949],"aabb_xy":[[0.25523292860620733,0.9166506332993859],[0.35523293117388727,1.01660834208063]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.005759756714450948,-2.1753805840024367,0.71338606911949],"aabb_xy":[[-0.05824024650418691,-2.222103695901445],[0.0697597599330888,-2.1286574721034284]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.2624411610173707,-0.5796648760164871,0.71338606911949],"aabb_xy":[[0.20744116139562485,-0.6346485688039598],[0.31744116063911654,-0.5246811832290144]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.30921955418908964,-1.8577079577883442,0.71338606911949],"aabb_xy":[[0.21921955185507058,-1.9351903123734566],[0.3992195565231087,-1.7802256032032313]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.0471084801138576,0.9293526757946604,0.71338606911949],"aabb_xy":[[-0.10223368574344836,0.8693526743533733],[0.008016725515733179,0.9893526772359476]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.6416071469971443,-1.0744873689348626,0.71338606911949],"aabb_xy":[[0.6321896724272814,-1.0839035460725814],[0.6510246215670069,-1.0650711917971434]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[-0.6013058168756703,-2.1681229164750766,0.71338606911949],"aabb_xy":[[-0.6211968567560107,-2.1807787277597734],[-0.5814147769953302,-2.1554671051903798]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.6187532906052842,-1.4965370574387231,0.71338606911949],"aabb_xy":[[-0.6261657461466726,-1.5023882678603508],[-0.6113408350638957,-1.490685847017095]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.2500221773780389,1.217013429139148,0.71338606911949],"aabb_xy":[[0.2000221757165441,1.167014986883445],[0.3000221790395336,1.2670118713948504]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.3601953510653777,0.04315716970228811,0.71338606911949],"aabb_xy":[[-0.3776953501997449,0.03327754266470028],[-0.34269535193101053,0.05303679673987593]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.04655374519731892,1.118721182246115,0.71338606911949],"aabb_xy":[[0.0400521086893143,1.1089533602198054],[0.05305538170532354,1.128489004272425]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.6043213746484775,-0.4866670031749667,0.71338606911949],"aabb_xy":[[-0.6495999895296267,-0.5506670025231504],[-0.5590427597673282,-0.42266700382678296]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.5979737513332133,-1.1847506482759307,0.71338606911949],"aabb_xy":[[-0.6619737506273814,-1.2487367886447849],[-0.533973752039045,-1.1207645079070765]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.5395738412892856,0.08131664724272847,0.71338606911949],"aabb_xy":[[-0.5770738411063192,0.0766784359315866],[-0.5020738414722521,0.08595485855387033]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.06493731923103219,1.7589709514085885,0.71338606911949],"aabb_xy":[[0.05336833848409561,1.733970951291657],[0.07650629997796876,1.7839709515255204]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.4442536061599195,-0.06717536882279962,0.71338606911949],"aabb_xy":[[-0.49924681749705624,-0.12217536916159323],[-0.38926039482278274,-0.012175368484006011]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.2235371235160436,0.21047345768757708,0.71338606911949],"aabb_xy":[[-0.30725934901612606,0.1204734541528811],[-0.13981489801596111,0.30047346122227303]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.5698843999432084,0.40205715219061045,0.71338606911949],"aabb_xy":[[-0.6148769866616588,0.35705715291616164],[-0.524891813224758,0.44705715146505914]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[0.3493317927544175,-1.4481615555253053,0.71338606911949],"aabb_xy":[[0.3181848739108344,-1.5181615542121125],[0.3804787115980006,-1.3781615568384982]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[0.546776616330972,1.460499417547641,0.71338606911949],"aabb_xy":[[0.5229403986903669,1.3704994167391547],[0.570612833971577,1.5504994183561278]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[0.5777096832578918,-2.491684575921543,0.71338606911949],"aabb_xy":[[0.51370968683057,-2.53885419974364],[0.6417096796852138,-2.444514952099447]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_28","position":[-0.5612243864507903,1.303834744801196,0.71338606911949],"aabb_xy":[[-0.6112073366382695,1.2538347451586354],[-0.5112414362633109,1.3538347444437562]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_29","position":[0.4737093880996064,0.9365447296933529,0.71338606911949],"aabb_xy":[[0.4237101129311702,0.886544728417406],[0.5237086632680426,0.9865447309693003]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[-0.41893024402286183,-2.317156242410144,0.71338606911949],"aabb_xy":[[-0.4320814899941512,-2.3421562421668307],[-0.40577899805157247,-2.2921562426534576]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_31","position":[-0.4252928311292746,-1.9149232875993625,0.71338606911949],"aabb_xy":[[-0.5052928291100596,-1.9225248285612142],[-0.3452928331484895,-1.9073217466375103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878363866070354,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8829.png","name":"8829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8829.png","name":"8829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6612.png","name":"6612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5578.png","name":"5578"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5955.png","name":"5955"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8446.png","name":"8446"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":545.6642880508875,"rotation_z_degrees":13.040845819223357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013542639878957114,0.000602646884039236,0.015312525184572639]},{"name":"camera_2","offset_m":[0.015934456906884605,0.003906587873833259,0.017766465467229476]},{"name":"camera_3","offset_m":[0.018952207723569526,-0.010056232578017932,-0.01579943899299026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00045375167517158017,0.0009321185267489717,-0.0017926370039358696],"end_effector_yaw_offset_degrees":0.6873395498742143},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018062733965362515,-0.0019126893979616213,0.0015224654752389673],"end_effector_yaw_offset_degrees":0.22525989802252044},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00076520494160172,-0.0014359207912036354,0.00035239216310866414],"end_effector_yaw_offset_degrees":0.9882756698682438}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013322265119271636,-0.0007646438843320344],"position_m":[0.30926777348807283,-0.021164643884332035,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003688780873471914,-0.004951718762321332],"position_m":[0.1457112191265281,0.2743482812376787,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008994279374904095,0.0028984722439269967],"position_m":[0.34190057206250957,0.21599847224392701,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003291962791710525,6.45631267506136e-06],"position_m":[0.2619919627917105,-0.361693543687325,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69ea55e2556a439795ca5e8a96aceed73e885d3458e279e64c69bb431838e792","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8829/tex_ceiling_textures_8446/tex_floor_textures_5955/tex_table_textures_6612/tex_wall_textures_5578","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6844835861371569448,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6844835861371569448,"visual_seed":6844835861371569448,"scene_id":"lab_003","finished_at":"2026-09-03T08:17:11"} +{"episode_id":"ep_000004","started_at":"2026-09-03T08:18:38","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[-0.5412931077558957,0.8348411078250213,0.71338606911949],"aabb_xy":[[-0.5604054151138745,0.8157063289477792],[-0.5221808003979168,0.8539758867022632]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.00017812000835526476,-1.502071608246627,0.71338606911949],"aabb_xy":[[-0.040839823378015616,-1.5520716088775846],[0.041196063394726146,-1.45207160761567]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.6487658614585765,-0.34969135490951286,0.71338606911949],"aabb_xy":[[0.6265933344819256,-0.37186702206563604],[0.6709383884352272,-0.3275156877533897]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.4400239763949885,-2.3560727042795646,0.71338606911949],"aabb_xy":[[-0.44977996590416236,-2.365835238338799],[-0.4302679868858146,-2.34631017022033]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.2556803596124796,-0.5060253670364614,0.71338606911949],"aabb_xy":[[-0.2665208378389945,-0.5232116483271102],[-0.24483988138596469,-0.4888390857458126]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.4100456987610956,-1.2981400355233657,0.71338606911949],"aabb_xy":[[-0.4179689789998439,-1.320640035761369],[-0.40212241852234726,-1.2756400352853623]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.0857674987534136,1.6678425108649217,0.71338606911949],"aabb_xy":[[0.03578869024309772,1.617842510859203],[0.1357463072637295,1.7178425108706405]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.6131365121371224,-1.686508376717764,0.71338606911949],"aabb_xy":[[-0.677132209532219,-1.7505083750184725],[-0.5491408147420258,-1.622508378417055]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[-0.19503696141772353,-1.4310158124324168,0.71338606911949],"aabb_xy":[[-0.22336667136626376,-1.435476554626134],[-0.1667072514691833,-1.4265550702387]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[-0.27419251016530755,0.2354174381369658,0.71338606911949],"aabb_xy":[[-0.3381925072774133,0.1863850683425552],[-0.2101925130532019,0.2844498079313764]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.4396453652882912,-1.4583778617409617,0.71338606911949],"aabb_xy":[[-0.461535112877232,-1.5483778590302109],[-0.4177556176993504,-1.3683778644517126]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.5868610873768761,0.9688813976830128,0.71338606911949],"aabb_xy":[[-0.6368453230850534,0.9188813988695173],[-0.5368768516686989,1.0188813964965084]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.49347773830622926,0.0422359690110472,0.71338606911949],"aabb_xy":[[-0.4989356839432493,-0.0377640342966119],[-0.48801979266920914,0.12223597231870631]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.3230043025378255,0.5188144363080838,0.71338606911949],"aabb_xy":[[0.24300430146470525,0.5090363899706993],[0.4030043036109459,0.5285924826454682]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.39124520492573955,-2.0905280612442123,0.71338606911949],"aabb_xy":[[0.3832512163480361,-2.098528141339303],[0.3992391935034429,-2.0825279811491217]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[-0.14125574322906342,-2.2598458015393343,0.71338606911949],"aabb_xy":[[-0.17584682608310861,-2.324845801824365],[-0.10666466037501819,-2.194845801254303]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.20080109604234475,-0.5175704380857455,0.71338606911949],"aabb_xy":[[0.1973604198022876,-0.52143187106011],[0.20424177228240195,-0.5137090051113811]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.13367241773007088,1.1943668242015373,0.71338606911949],"aabb_xy":[[-0.14137560840414792,1.1866574535027992],[-0.12596922705599384,1.2020761949002754]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.17162424247018948,-0.8701987947163881,0.71338606911949],"aabb_xy":[[0.10162423983360308,-0.8903036597122534],[0.24162424510677577,-0.8500939297205224]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.22226300146110323,-1.7686185248984465,0.71338606911949],"aabb_xy":[[0.17226300051057042,-1.800167671901968],[0.27226300241163603,-1.737069377894925]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.045497740550664245,1.322207579083174,0.71338606911949],"aabb_xy":[[-0.1094977422286616,1.2736901876038595],[0.01850226112733311,1.370724970562488]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.6183553452701143,-1.7028310227535437,0.71338606911949],"aabb_xy":[[0.6064226109082862,-1.7152131755614028],[0.6302880796319423,-1.690448869945684]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.24552233966796422,-0.7005656004149687,0.71338606911949],"aabb_xy":[[0.165528516089406,-0.7805656030078103],[0.32551616324652244,-0.6205655978221272]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.2117983804773763,1.530363592726363,0.71338606911949],"aabb_xy":[[-0.2658139767592763,1.4663635898341059],[-0.15778278419547628,1.5943635956186202]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.6252411660720854,-2.0384492390555113,0.71338606911949],"aabb_xy":[[0.5552411642633398,-2.0598030078196987],[0.6952411678808307,-2.017095470291324]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.5772002091909294,-0.4929192659876187,0.71338606911949],"aabb_xy":[[-0.6271776260561829,-0.5429192674768673],[-0.5272227923256757,-0.44291926449837016]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[0.21621073332112417,-1.314949622060258,0.71338606911949],"aabb_xy":[[0.13121073462904953,-1.3469354854551367],[0.3012107320131988,-1.282963758665379]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.08400377070299303,0.689618265668654,0.71338606911949],"aabb_xy":[[-0.11748293796403399,0.6561391522975472],[-0.05052460344195211,0.7230973790397611]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[-0.28033087396917006,-0.18641418781523456,0.71338606911949],"aabb_xy":[[-0.2935618195038513,-0.19964160683723398],[-0.2670999284344887,-0.17318676879323514]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_29","position":[0.5754024359789343,0.3840461117506595,0.71338606911949],"aabb_xy":[[0.511402435704956,0.3339800115533715],[0.6394024362529125,0.4341122119479474]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_30","position":[-0.20534775602918964,0.43681654739253384,0.71338606911949],"aabb_xy":[[-0.2653477566252058,0.38200407484731036],[-0.14534775543317346,0.4916290199377573]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[0.2864683294636635,1.8003918465100353,0.71338606911949],"aabb_xy":[[0.2705838361983383,1.7860389062112114],[0.3023528227289886,1.8147447868088595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829301355328937,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5977.png","name":"5977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7835.png","name":"7835"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9247.png","name":"9247"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5986.png","name":"5986"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":769.2802009168647,"rotation_z_degrees":351.8793412955815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010544506488358394,-0.006339615093581101,-0.019870636744639247]},{"name":"camera_2","offset_m":[-0.014076116823692107,0.01994496460954429,0.00011635153657334196]},{"name":"camera_3","offset_m":[-0.012523191598135157,0.015380548306418305,-0.007865793293475205]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.714596661689469e-05,-0.001579658721551375,0.0010043603803978102],"end_effector_yaw_offset_degrees":0.6821709313623145},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014494279466329206,0.00020341354301652449,-0.0009751927798189409],"end_effector_yaw_offset_degrees":0.017387809092544115},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011081828736177984,-0.001697447213472135,-0.0002694884375814097],"end_effector_yaw_offset_degrees":0.5640196999322391}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021055043931572526,0.0029459059218430146],"position_m":[0.3084944956068427,-0.017454094078156988,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007017471987696856,0.00483996216760896],"position_m":[0.1501017471987697,0.28413996216760895,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016439208630035442,0.0005003373396313517],"position_m":[0.34115607913699647,0.21360033733963135,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010960314042533048,0.002239120859111956],"position_m":[0.2576039685957467,-0.3594608791408881,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8701154b5d37b60046ff320376c2c43ec971eb9622a7a3a2118a52d4231ae651","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9541/tex_ceiling_textures_5986/tex_floor_textures_9247/tex_table_textures_5977/tex_wall_textures_7835","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3128219760496168543,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3128219760496168543,"visual_seed":3128219760496168543,"scene_id":"lab_003","finished_at":"2026-09-03T08:21:29"} +{"episode_id":"ep_000005","started_at":"2026-09-03T08:21:31","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.6048777928290262,1.6403513331050292,0.71338606911949],"aabb_xy":[[-0.6688734902241228,1.5763513348043203],[-0.5408820954339296,1.7043513314057377]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.1919742425363593,-0.7033281785550918,0.71338606911949],"aabb_xy":[[0.1119742438794733,-0.7178330374793547],[0.2719742411932453,-0.6888233196308291]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.3548052576180649,0.6389587713156839,0.71338606911949],"aabb_xy":[[0.28480525422650294,0.6036429976122529],[0.4248052610096269,0.6742745450191147]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.4196089949848228,-0.5817471018059024,0.71338606911949],"aabb_xy":[[-0.44957655189464846,-0.6117471021037881],[-0.3896414380749971,-0.5517471015080166]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.27385533630232656,-1.774993335548964,0.71338606911949],"aabb_xy":[[-0.3638553360255007,-1.7980666880841436],[-0.18385533657915235,-1.751919983013784]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.5696589268900103,-0.9419647186205187,0.71338606911949],"aabb_xy":[[-0.6194757063548451,-0.991964717104822],[-0.5198421474251755,-0.8919647201362153]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.10722302571738451,-0.7984537496049984,0.71338606911949],"aabb_xy":[[-0.1113588820500847,-0.8359537490493555],[-0.10308716938468432,-0.7609537501606415]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.1803868754201201,-2.3692829226066303,0.71338606911949],"aabb_xy":[[-0.2303861505885563,-2.4192829238825775],[-0.13038760025168397,-2.319282921330683]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.19841783193138873,1.6121529743143275,0.71338606911949],"aabb_xy":[[0.16341783273857044,1.6011859283166645],[0.23341783112420697,1.6231200203119895]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.41365100693676626,-2.01314328725861,0.71338606911949],"aabb_xy":[[-0.4191089525737863,-2.093143290566269],[-0.40819306129974614,-1.9331432839509506]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.4268849789492346,0.8719398738321495,0.71338606911949],"aabb_xy":[[-0.43779075503679726,0.7919398774333205],[-0.41597920286167184,0.9519398702309788]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.059460436468728006,-1.548667029980381,0.71338606911949],"aabb_xy":[[-0.02053956069084728,-1.5602146309381981],[0.1394604336283033,-1.537119429022564]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.6019083228055451,0.8250526938267182,0.71338606911949],"aabb_xy":[[-0.6659083260241829,0.7783295819277098],[-0.5379083195869072,0.8717758057257265]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.5749050545789671,1.2521309341376066,0.71338606911949],"aabb_xy":[[-0.6389050518646158,1.2106242151847626],[-0.5109050572933185,1.2936376530904505]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.20035266920807115,1.2083512010232131,0.71338606911949],"aabb_xy":[[0.19232639857744516,1.1995997060458603],[0.20837893983869715,1.2171026960005655]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.31793985870259345,0.6870461492511923,0.71338606911949],"aabb_xy":[[-0.38193985908012706,0.6373008824003801],[-0.25393985832505983,0.7367914161020046]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[-0.6170291067287419,0.552287824331879,0.71338606911949],"aabb_xy":[[-0.6820291077292424,0.501501459177204],[-0.5520291057282414,0.6030741894865539]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.6825480920571416,-1.8210090157472862,0.71338606911949],"aabb_xy":[[0.6475480921611227,-1.8293832512592265],[0.7175480919531605,-1.8126347802353464]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.2885662273881644,-0.6473996223650549,0.71338606911949],"aabb_xy":[[-0.29736828269713705,-0.655210948519984],[-0.27976417207919163,-0.6395882962101258]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.5927160706131972,-1.405541086238903,0.71338606911949],"aabb_xy":[[-0.6426893646164576,-1.4555410867934502],[-0.5427427766099368,-1.3555410856843555]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.18930972446340066,0.7683937440273527,0.71338606911949],"aabb_xy":[[0.12530972587682818,0.721386780627844],[0.2533097230499731,0.8154007074268614]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.5258491510497092,-1.3728537934827965,0.71338606911949],"aabb_xy":[[0.47584915068914296,-1.4228337806923994],[0.575849151410275,-1.3228738062731935]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[-0.2616683686808003,0.7862961885001947,0.71338606911949],"aabb_xy":[[-0.3416683666615853,0.7786946475383428],[-0.1816683707000152,0.7938977294620467]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.29668180034414715,-1.2614886477122258,0.71338606911949],"aabb_xy":[[0.23509104112015433,-1.3254886458212727],[0.35827255956813997,-1.197488649603179]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[0.6861198289370312,-1.4300511901179727,0.71338606911949],"aabb_xy":[[0.6812205366304676,-1.4577281094205412],[0.6910191212435945,-1.4023742708154037]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[0.46843512856022884,1.7116583280194528,0.71338606911949],"aabb_xy":[[0.4649944523201717,1.7077968950450886],[0.47187580480028607,1.7155197609938175]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.023140005316687362,-1.1973267813475517,0.71338606911949],"aabb_xy":[[-0.04085999179541833,-1.2463591511419623],[0.08714000242879305,-1.148294411553141]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.1041400689054216,1.0523799254041082,0.71338606911949],"aabb_xy":[[0.06728952096843399,1.0148799245810747],[0.1409906168424092,1.0898799262271421]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[-0.5689320870105813,-1.1964554793908393,0.71338606911949],"aabb_xy":[[-0.5761758530568266,-1.2764554775944417],[-0.561688320964336,-1.116455481187237]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[-0.4119458620193088,0.5458559680326607,0.71338606911949],"aabb_xy":[[-0.4227188359406766,0.5108559698136217],[-0.40117288809794105,0.5808559662516997]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.6118243283018379,-0.17519960798149814,0.71338606911949],"aabb_xy":[[0.5478243309994913,-0.21956603494935487],[0.6758243256041842,-0.13083318101364136]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_31","position":[0.21589175811142391,-1.7346585476660294,0.71338606911949],"aabb_xy":[[0.20412357131676645,-1.819658547571251],[0.2276599449060815,-1.649658547760808]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841299263719204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1100.png","name":"1100"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/266.png","name":"266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1909.png","name":"1909"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":646.9928074834066,"rotation_z_degrees":14.4753704892276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005413521938851421,0.0024225680815301194,0.00558095762792607]},{"name":"camera_2","offset_m":[0.012210292166866341,-0.004167830528042048,0.008907213078673804]},{"name":"camera_3","offset_m":[-0.012774384277449338,0.008597492682594406,-0.013054851115159019]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011882431706998538,-0.00019247275208482276,0.0015124332812009177],"end_effector_yaw_offset_degrees":-0.14744315138495256},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013878601833915622,0.0007782111120898903,0.001079861965824005],"end_effector_yaw_offset_degrees":-0.07256297597947903},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005513390628650887,0.0005472048016674034,-0.001703950101651372],"end_effector_yaw_offset_degrees":-0.7291568577877299}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001736272193202753,0.0027665086571281635],"position_m":[0.31233627219320276,-0.017633491342871836,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004549267483154761,-0.0036513372755487728],"position_m":[0.14485073251684524,0.2756486627244512,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003942615770739311,-0.0013219551824791387],"position_m":[0.34319426157707394,0.21177804481752088,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028368143209847718,-0.002814520752915104],"position_m":[0.2558631856790152,-0.3645145207529151,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e1acd258f3de667c78836a0761fbf319a442d3c5ab5ed12ff26915450bbc96ea","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6895/tex_ceiling_textures_1909/tex_floor_textures_266/tex_table_textures_3864/tex_wall_textures_1100","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":937095045117059746,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":937095045117059746,"visual_seed":937095045117059746,"scene_id":"lab_003","finished_at":"2026-09-03T08:23:58"} +{"episode_id":"ep_000006","started_at":"2026-09-03T08:24:01","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.3930556426970285,1.2304067494465318,0.71338606911949],"aabb_xy":[[-0.45705564410501914,1.1786177979226071],[-0.3290556412890378,1.2821957009704565]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.07039996970479545,1.2399073774588985,0.71338606911949],"aabb_xy":[[-0.10894566252999649,1.2013616064027095],[-0.03185427687959442,1.278453148515087]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.5060138515132258,0.520101480999962,0.71338606911949],"aabb_xy":[[-0.5235138517725624,0.5060099388111895],[-0.48851385125388913,0.5341930231887347]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.3484906188431096,0.875516758461782,0.71338606911949],"aabb_xy":[[0.32599061833106896,0.8530249000963835],[0.37099061935515015,0.8980086168271803]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[0.09468251510506709,-1.6281009738587415,0.71338606911949],"aabb_xy":[[0.08281043209356598,-1.713100973552392],[0.1065545981165682,-1.5431009741650914]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.4287305705754903,-1.806120408747994,0.71338606911949],"aabb_xy":[[-0.5187305699938611,-1.8394959055921838],[-0.3387305711571194,-1.7727449119038043]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.10078216104842241,-1.896829675686681,0.71338606911949],"aabb_xy":[[0.04315169216115155,-1.956829674613391],[0.15841262993569324,-1.8368296767599699]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.19327099466397735,-1.173857002280913,0.71338606911949],"aabb_xy":[[-0.2829580709720928,-1.2638570025353635],[-0.10358391835586192,-1.0838570020264624]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.39033996418756106,1.3718823856659017,0.71338606911949],"aabb_xy":[[-0.4543399664079681,1.3275093015406132],[-0.32633996196715404,1.4162554697911898]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.18504244620429966,-0.7913007168392825,0.71338606911949],"aabb_xy":[[-0.192965726443048,-0.8138007170772859],[-0.17711916596555133,-0.7688007166012791]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.0702147431749861,-0.9761663494354627,0.71338606911949],"aabb_xy":[[-0.1352147458127796,-1.0276459481349096],[-0.005214740537192633,-0.9246867507360157]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.3086087946219985,-2.3862176200271423,0.71338606911949],"aabb_xy":[[-0.3636042724426578,-2.441217621461049],[-0.25361331680133903,-2.331217618593235]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[-0.6474607052700851,-1.853789913399346,0.71338606911949],"aabb_xy":[[-0.6649607055151345,-1.8712897012389127],[-0.6299607050250358,-1.836290125559779]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.09100141948168439,-0.24331595802875006,0.71338606911949],"aabb_xy":[[-0.11483763712228946,-0.3333159588372366],[-0.06716520184107933,-0.15331595722026362]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.3271605942261062,-1.9297755413920559,0.71338606911949],"aabb_xy":[[-0.3646605941698726,-1.9380686314268925],[-0.2896605942823398,-1.9214824513572193]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.44838302416280174,0.1789401193882303,0.71338606911949],"aabb_xy":[[0.4434837318562382,0.15126320008566152],[0.4532823164693652,0.20661703869079906]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.2774863539022864,0.9838018480276753,0.71338606911949],"aabb_xy":[[-0.29659866126026524,0.9646670691504331],[-0.2583740465443075,1.0029366269049171]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[0.13954291388346007,1.124430839016219,0.71338606911949],"aabb_xy":[[0.10454291557276463,1.1167158240926733],[0.17454291219415552,1.1321458539397646]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.5786468439314754,-0.9412908100430191,0.71338606911949],"aabb_xy":[[-0.6426468432256436,-1.0052769504118733],[-0.5146468446373071,-0.8773046696741649]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.5604526061073446,-1.363720702695179,0.71338606911949],"aabb_xy":[[-0.6504526028429547,-1.4169041660124733],[-0.4704526093717343,-1.3105372393778842]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.02457400366680962,1.0579500675950477,0.71338606911949],"aabb_xy":[[-0.08857400695651772,1.0146151485911301],[0.03942599962289849,1.1012849865989653]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.5955642743529158,1.3377196472307085,0.71338606911949],"aabb_xy":[[-0.604911281935211,1.3234160250130647],[-0.5862172667706206,1.3520232694483527]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.4027674087471386,-0.7023292082825032,0.71338606911949],"aabb_xy":[[-0.4577606200842754,-0.757329208621297],[-0.3477741974100019,-0.6473292079437097]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.36354795192726175,-2.254065244327689,0.71338606911949],"aabb_xy":[[0.35161521756543374,-2.2664473971355483],[0.37548068628908987,-2.2416830915198296]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.7043882274027409,0.17039987849309668,0.71338606911949],"aabb_xy":[[0.7004277436330065,0.16273201390757608],[0.7083487111724752,0.17806774307861728]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.12617166390726575,1.6961727383649827,0.71338606911949],"aabb_xy":[[0.11440347711260823,1.6111727384597616],[0.13793985070192327,1.7811727382702047]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[0.6445832047726099,1.1172430791648789,0.71338606911949],"aabb_xy":[[0.637542894839073,1.0372430797652077],[0.651623514706147,1.1972430785645505]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.3764621159189906,-1.645402234052911,0.71338606911949],"aabb_xy":[[-0.38969306145367183,-1.6586296530749105],[-0.36323117038430924,-1.6321748150309117]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_28","position":[0.4675429986896651,1.6113958571282692,0.71338606911949],"aabb_xy":[[0.41754299911333037,1.5614152781761637],[0.5175429982659998,1.6613764360803756]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.6645719561761458,-1.3030772088086175,0.71338606911949],"aabb_xy":[[0.6532102215228596,-1.3144456752149054],[0.6759336908294319,-1.2917087424023292]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[-0.13121047546557263,-1.5919353602220259,0.71338606911949],"aabb_xy":[[-0.1611780323753983,-1.6219353605199118],[-0.10124291855574696,-1.5619353599241403]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_31","position":[0.0607327904323951,-0.681552583320955,0.71338606911949],"aabb_xy":[[0.010755373567141504,-0.7315525848102036],[0.11071020729764866,-0.6315525818317065]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_32","position":[0.09143170776683895,-1.4871526962457153,0.71338606911949],"aabb_xy":[[0.0858500361327102,-1.4996526960634908],[0.09701337940096771,-1.4746526964279398]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_33","position":[-0.4077514118766786,-2.206852216488094,0.71338606911949],"aabb_xy":[[-0.4171688864465414,-2.216268393625813],[-0.3983339373068159,-2.197436039350375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856661439620272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2778.png","name":"2778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2778.png","name":"2778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9266.png","name":"9266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8068.png","name":"8068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8803.png","name":"8803"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9295.png","name":"9295"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":654.3125496652426,"rotation_z_degrees":34.194591377321544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014039815026967144,0.019739632179241854,0.007659705361543156]},{"name":"camera_2","offset_m":[0.006620864736166503,0.003823038063134946,-0.001181199019358252]},{"name":"camera_3","offset_m":[-0.0006178648925865941,0.013128504762344836,-0.013454966426802772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012812246447307118,-0.0003972284907090113,0.0010981726014728716],"end_effector_yaw_offset_degrees":0.8805231621618699},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005807341306475521,-0.0007019074165295746,-0.001959792971853431],"end_effector_yaw_offset_degrees":0.2719357811092922},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010398857754014795,-0.001871860364933005,-0.0016123112508540038],"end_effector_yaw_offset_degrees":-0.8757259306494287}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001279283206044761,0.004216885769761802],"position_m":[0.30932071679395523,-0.0161831142302382,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017372582270053939,0.0009732121686572273],"position_m":[0.1476627417729946,0.2802732121686572,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003089676638515708,-0.003482612263026892],"position_m":[0.33971032336148427,0.2096173877369731,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002770762434268166,0.003299345939268659],"position_m":[0.26147076243426814,-0.35840065406073135,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"04a33a3e10103ea355ca3eba5dacb54744825a6113e20cc629d0adce00d8891c","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2778/tex_ceiling_textures_9295/tex_floor_textures_8803/tex_table_textures_9266/tex_wall_textures_8068","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8725344712737403444,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8725344712737403444,"visual_seed":8725344712737403444,"scene_id":"lab_003","finished_at":"2026-09-03T08:26:47"} +{"episode_id":"ep_000007","started_at":"2026-09-03T08:28:11","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.6402893387540087,-0.42167509012716886,0.71338606911949],"aabb_xy":[[0.6358587093991687,-0.4271234618618515],[0.644719968108849,-0.4162267183924863]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.26505168491904463,-1.0781761043456315,0.71338606911949],"aabb_xy":[[0.20105168465857384,-1.1231849036985593],[0.32905168517951544,-1.0331673049927033]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.37765889328950086,1.405699034351246,0.71338606911949],"aabb_xy":[[0.3136588910690938,1.3613259502259578],[0.44165889550990783,1.4500721184765344]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.23295141014565401,-2.145888305313531,0.71338606911949],"aabb_xy":[[-0.2704514113304468,-2.1503065280095908],[-0.19545140896086122,-2.1414700826174697]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.6830360953167436,-1.8614806107762871,0.71338606911949],"aabb_xy":[[0.6455360954997099,-1.866118822087429],[0.720536095133777,-1.8568423994651453]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.013539912978433932,-2.3692434251889862,0.71338606911949],"aabb_xy":[[-0.051460088022066586,-2.420029790343661],[0.07853991397893445,-2.3184570600343113]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.2699955739614769,1.6175116731957178,0.71338606911949],"aabb_xy":[[-0.28262236124867324,1.6079655994941449],[-0.25736878667428054,1.6270577468972907]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.31878497313584864,0.6327672243749731,0.71338606911949],"aabb_xy":[[-0.33699079679709637,0.6217418237929815],[-0.300579149474601,0.6437926249569648]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.3247347696821772,-1.5638690154762496,0.71338606911949],"aabb_xy":[[0.31458175412802775,-1.5999385570489895],[0.3348877852363265,-1.5277994739035088]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.48817871488392195,-1.6712104328946962,0.71338606911949],"aabb_xy":[[-0.512014932524527,-1.761210433703183],[-0.4643424972433169,-1.5812104320862101]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.5960675191450004,-2.5607480751574734,0.71338606911949],"aabb_xy":[[0.588806271574593,-2.573535085420983],[0.6033287667154079,-2.547961064893964]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.6590579319353924,-0.5194348602742775,0.71338606911949],"aabb_xy":[[0.5940579340537447,-0.5705585239808185],[0.7240579298170403,-0.4683111965677368]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.017345123447128463,-1.826541620055498,0.71338606911949],"aabb_xy":[[-0.08134512512512582,-1.8750590115348122],[0.04665487823086889,-1.7780242285761838]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.18264056809158036,1.6125103853240845,0.71338606911949],"aabb_xy":[[-0.18905438173476527,1.6061005650764162],[-0.1762267544483954,1.6189202055717529]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[0.5394273953748141,-0.24873423677224116,0.71338606911949],"aabb_xy":[[0.5044273954787952,-0.2571084722841811],[0.574427395270833,-0.24036000126030121]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.4375798592331104,-1.9937247401602982,0.71338606911949],"aabb_xy":[[0.3575860356545522,-2.0737247427531402],[0.5175736828116686,-1.913724737567457]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.14105919712122594,-2.520766920367674,0.71338606911949],"aabb_xy":[[0.10605919799127028,-2.526512141443338],[0.1760591962511816,-2.5150216992920096]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.384152415069107,-2.3272742412346346,0.71338606911949],"aabb_xy":[[-0.4641524130498921,-2.334875782196486],[-0.30415241708832197,-2.319672700272782]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.03102181275936966,0.9089722976165624,0.71338606911949],"aabb_xy":[[-0.05556802838212038,0.8787234010675253],[-0.006475597136618941,0.9392211941655995]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.23857774294334155,1.338773530300791,0.71338606911949],"aabb_xy":[[0.22780476902197377,1.3037735320817523],[0.24935071686470933,1.3737735285198303]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[0.6973631864522498,-0.906129101072366,0.71338606911949],"aabb_xy":[[0.6872814793736762,-0.9861290989644805],[0.7074448935308232,-0.8261291031802512]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.3740329256334129,0.9929034630458982,0.71338606911949],"aabb_xy":[[-0.42413038961448646,0.9289034625360865],[-0.3239354616523392,1.05690346355571]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.22806014071714376,1.3248799430739546,0.71338606911949],"aabb_xy":[[-0.2559051774977509,1.2940954443356432],[-0.20021510393653666,1.3556644418122665]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.3393879401597374,0.09546014525308388,0.71338606911949],"aabb_xy":[[-0.4093879427963237,0.07535528025721837],[-0.269387937523151,0.11556501024894937]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[-0.050279588020647026,-1.9947453472153238,0.71338606911949],"aabb_xy":[[-0.05659168755698546,-2.0005122864685427],[-0.04396748848430859,-1.9889784079621051]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[-0.6269075763782175,0.5836695199084021,0.71338606911949],"aabb_xy":[[-0.6819075745799622,0.5431475532819645],[-0.5719075781764725,0.6241914865348397]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[-0.5781770327340969,-1.387532835234995,0.71338606911949],"aabb_xy":[[-0.5970614165026071,-1.4064187600153477],[-0.5592926489655867,-1.3686469104546422]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[0.19375904420426127,1.704622081401515,0.71338606911949],"aabb_xy":[[0.18188696119276013,1.6196220817078644],[0.20563112721576235,1.789622081095165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829684419861306,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5783.png","name":"5783"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4708.png","name":"4708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":786.6255027602439,"rotation_z_degrees":218.49720776882762,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007212670987532066,0.010322078461234147,-0.01313915331969974]},{"name":"camera_2","offset_m":[0.006672390539705374,-0.002458690858979304,-0.019432974269886886]},{"name":"camera_3","offset_m":[0.015803400417168992,0.01282278070977742,0.005772791825506912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007473954458465356,0.00044634309971497334,-0.0012024710141978181],"end_effector_yaw_offset_degrees":-0.012442184715723892},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004048784680957848,0.001984985658924257,-0.0012018591203039675],"end_effector_yaw_offset_degrees":0.3316875716812966},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009849025985467774,-0.0004287212566443826,0.001748954696768076],"end_effector_yaw_offset_degrees":-0.5057729372458972}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003852976176171298,0.0015342872718191085],"position_m":[0.3144529761761713,-0.018865712728180894,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004472047776216812,-0.002887360750237379],"position_m":[0.15387204777621682,0.2764126392497626,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004166243275654736,-0.00253279593830827],"position_m":[0.33863375672434526,0.21056720406169174,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004423793568635778,-0.0031533143119677363],"position_m":[0.2542762064313642,-0.36485331431196777,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f71abf9ae44e30328f8c0418dda8063f5105f204796e2daf268f4abc4c90a3ca","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_743/tex_ceiling_textures_2603/tex_floor_textures_5947/tex_table_textures_5783/tex_wall_textures_4708","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6856173216086914541,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6856173216086914541,"visual_seed":6856173216086914541,"scene_id":"lab_003","finished_at":"2026-09-03T08:30:42"} +{"episode_id":"ep_000008","started_at":"2026-09-03T08:30:45","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.030393086555207227,1.2706337192131039,0.71338606911949],"aabb_xy":[[0.005879462458201371,1.2463691259110674],[0.05490671065221309,1.2948983125151403]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.510831847964441,1.1790624129859175,0.71338606911949],"aabb_xy":[[-0.5171439475007795,1.1732954737326986],[-0.5045197484281025,1.1848293522391364]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.551690237798902,0.35794686719853885,0.71338606911949],"aabb_xy":[[-0.5593145058890803,0.35031364366199513],[-0.5440659697087238,0.3655800907350826]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.551654187387608,1.4729860817918925,0.71338606911949],"aabb_xy":[[-0.566297592941641,1.458327362135108],[-0.537010781833575,1.4876448014486765]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.46059578789469824,-0.18600087273443755,0.71338606911949],"aabb_xy":[[0.43011153776766814,-0.23600087251593346],[0.49108003802172845,-0.13600087295294158]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.31618429988525354,-1.4384606952660062,0.71338606911949],"aabb_xy":[[0.3001223724267359,-1.523460697078598],[0.3322462273437712,-1.3534606934534144]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.06639603594577304,1.739998800016393,0.71338606911949],"aabb_xy":[[-0.08886080591717815,1.7174987991375323],[-0.04393126597436792,1.7624988008952533]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.3490303655426502,1.686996395616854,0.71338606911949],"aabb_xy":[[-0.4040258433633096,1.631996394182947],[-0.2940348877219908,1.7419963970507608]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.5789688541115059,-2.0872431890370016,0.71338606911949],"aabb_xy":[[0.5289957885789905,-2.137243188849535],[0.6289419196440215,-2.037243189224469]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.4784071789570524,-1.6861962719151276,0.71338606911949],"aabb_xy":[[-0.4884888860356258,-1.766196269807242],[-0.46832547187847884,-1.6061962740230127]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.2646171974828414,0.9610421115617092,0.71338606911949],"aabb_xy":[[0.2606567137131071,0.9533742469761886],[0.2685776812525758,0.9687099761472298]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.35089551546543785,0.8011328179100694,0.71338606911949],"aabb_xy":[[0.2808955133340083,0.7783708522843736],[0.4208955175968674,0.823894783535765]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.1653745385572517,-0.6430516466875953,0.71338606911949],"aabb_xy":[[-0.2230050074445225,-0.7030516456143057],[-0.10774406966998082,-0.5830516477608845]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.593147255017864,1.7415508031974754,0.71338606911949],"aabb_xy":[[0.5871807160771283,1.735589658538111],[0.5991137939585998,1.7475119478568393]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.6184551100609064,-1.6499104518515266,0.71338606911949],"aabb_xy":[[0.6017779740678109,-1.666610375825457],[0.6351322460540019,-1.6332105278775964]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.08656711776619541,0.10785949978438358,0.71338606911949],"aabb_xy":[[-0.1505671210559035,0.06452458078046595],[-0.02256711447648729,0.15119441878830117]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.2892940453208247,1.0051626418951414,0.71338606911949],"aabb_xy":[[-0.3117940458328653,0.9826707835297428],[-0.2667940448087841,1.0276545002605395]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.5678129375860936,-1.8106609421358,0.71338606911949],"aabb_xy":[[-0.5804156367231701,-1.8232563383606655],[-0.5552102384490172,-1.7980655459109345]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.5822705196027012,-0.1544376149952642,0.71338606911949],"aabb_xy":[[0.565168441644333,-0.17154442052653396],[0.5993725975610693,-0.13733080946399445]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.1943444560676877,1.4980466274825708,0.71338606911949],"aabb_xy":[[0.13034445967211458,1.4340833390638372],[0.25834445246326077,1.5620099159013043]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.4187749313720446,-0.819982305588465,0.71338606911949],"aabb_xy":[[0.3812749308746862,-0.8239509891365833],[0.4562749318694027,-0.8160136220403464]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867259884060699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8622.png","name":"8622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4893.png","name":"4893"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4131.png","name":"4131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9580.png","name":"9580"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":819.0859326554743,"rotation_z_degrees":323.9579037912417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013351533605995006,0.01208446520870814,-0.0016175121514152395]},{"name":"camera_2","offset_m":[-0.018808060240195778,0.010905883796936956,0.010212860077970506]},{"name":"camera_3","offset_m":[0.0029403090282841965,-0.019843593841278866,-0.01818420245617765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018663105366806482,-0.001700068725232904,-0.0015608594758066935],"end_effector_yaw_offset_degrees":-0.39102792486015314},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013426032756151327,-0.00038145873630963793,-0.001032115703762981],"end_effector_yaw_offset_degrees":-0.815711637513737},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00015395812896086894,0.0018142512431700672,-0.0019849555094269685],"end_effector_yaw_offset_degrees":-0.48120460316155533}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004741952397921646,0.0034586783023182526],"position_m":[0.31012580476020785,-0.016941321697681748,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020263611342168377,-0.004916268646492765],"position_m":[0.14737363886578317,0.27438373135350724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009364301982926993,-0.0017295412029728285],"position_m":[0.3418635698017073,0.21137045879702718,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001318556087959808,-0.001068666465113258],"position_m":[0.2600185560879598,-0.3627686664651133,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d90e03dd5be46d16dfba1166fe6995550580bbde6a0e5d1cadd70dab5e1aa4b3","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6445/tex_ceiling_textures_9580/tex_floor_textures_4131/tex_table_textures_8622/tex_wall_textures_4893","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4648255789988210762,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4648255789988210762,"visual_seed":4648255789988210762,"scene_id":"lab_003","finished_at":"2026-09-03T08:33:30"} +{"episode_id":"ep_000009","started_at":"2026-09-03T08:33:32","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.602497351298678,-0.8728149611802987,0.71338606911949],"aabb_xy":[[0.542497350790825,-0.9296616948662199],[0.6624973518065308,-0.8159682274943773]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.5483300989935607,-0.6294198077067923,0.71338606911949],"aabb_xy":[[-0.60332557681422,-0.6844198091406992],[-0.4933346211729013,-0.5744198062728854]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.5761406867265779,-1.3490747468048696,0.71338606911949],"aabb_xy":[[-0.6377314459505709,-1.4130747449139165],[-0.5145499275025852,-1.2850747486958227]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.07279147774047234,1.5318607088249796,0.71338606911949],"aabb_xy":[[-0.10318958883961592,1.5014538068233099],[-0.04239336664132875,1.562267610826649]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.23751812353336432,-2.344824933399946,0.71338606911949],"aabb_xy":[[0.20251812440340863,-2.3505701544756095],[0.27251812266332,-2.3390797123242812]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.5713998069590149,-0.41770029228876027,0.71338606911949],"aabb_xy":[[0.5543897096689643,-0.43383478078703425],[0.5884099042490656,-0.4015658037904864]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.09199329288247249,-1.5910437325188682,0.71338606911949],"aabb_xy":[[-0.10957159507141935,-1.608618222092973],[-0.07441499069352565,-1.573469242944763]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.3703290364757386,1.0092853793500232,0.71338606911949],"aabb_xy":[[-0.4047915144888264,1.0026217021671002],[-0.33586655846265084,1.0159490565329456]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.4632229044986911,-0.8155527438482353,0.71338606911949],"aabb_xy":[[0.4518611698454049,-0.8269212102545234],[0.47458463915197724,-0.8041842774419472]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.689232494834551,0.5014299411047949,0.71338606911949],"aabb_xy":[[0.65575332757351,0.4679508277336879],[0.7227116620955919,0.5349090544759019]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[-0.02702947165542724,-2.3475758704044014,0.71338606911949],"aabb_xy":[[-0.032611143289556,-2.360075870222177],[-0.02144780002129848,-2.3350758705866257]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.35657362329583875,-2.0201217210830196,0.71338606911949],"aabb_xy":[[0.3414014540142054,-2.0352905780112227],[0.3717457925774721,-2.0049528641548164]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.4809837013040925,0.7002748594800305,0.71338606911949],"aabb_xy":[[0.4634837678701091,0.6827748595597959],[0.49848363473807583,0.717774859400265]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[0.6073617565323901,-0.6580419025701199,0.71338606911949],"aabb_xy":[[0.5985805293851539,-0.6668216498586501],[0.6161429836796265,-0.6492621552815898]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.47294457289900094,-1.2340766321961205,0.71338606911949],"aabb_xy":[[0.4504445728888527,-1.2481728518357238],[0.4954445729091493,-1.2199804125565172]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.06392627478034352,-1.4440000669291824,0.71338606911949],"aabb_xy":[[0.0414615048089384,-1.4665000678080429],[0.08639104475174864,-1.4215000660503219]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.08571115708915866,1.4551318210402413,0.71338606911949],"aabb_xy":[[-0.1232111569061922,1.4504936097290992],[-0.04821115727212509,1.459770032351383]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.38914204006489866,-0.8267215734814388,0.71338606911949],"aabb_xy":[[-0.42360438746304035,-0.8612154558792614],[-0.35467969266675675,-0.792227691083616]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.439851889316732,1.3114343598306255,0.71338606911949],"aabb_xy":[[0.3498518869827129,1.233952005245513],[0.5298518916507511,1.3889167144157384]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.05429922308971635,-2.0841312750480907,0.71338606911949],"aabb_xy":[[0.0042992218058763845,-2.1341101294387124],[0.1042992243735563,-2.034152420657468]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.31700282183013284,1.502875109603527,0.71338606911949],"aabb_xy":[[-0.3520028231816145,1.4825153736467065],[-0.28200282047865105,1.5232348455603482]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.19814359240881863,1.2489881436018062,0.71338606911949],"aabb_xy":[[0.16110948298075892,1.2146109362680966],[0.23517770183687833,1.2833653509355154]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.11098551109028598,1.0999874892675017,0.71338606911949],"aabb_xy":[[0.06821880421086579,1.0359874858456994],[0.15375221796970617,1.1639874926893043]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[-0.23673704786202182,0.8078742882218979,0.71338606911949],"aabb_xy":[[-0.259233469295886,0.7853742884151506],[-0.21424062642815775,0.8303742880286454]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.013257407095491058,-1.0232062429430362,0.71338606911949],"aabb_xy":[[-0.06674258991875692,-1.0433407946164475],[0.09325740410973904,-1.003071691269625]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.4285231839382846,-2.3469258337742436,0.71338606911949],"aabb_xy":[[-0.46282009495602516,-2.3812227199841844],[-0.3942262729205439,-2.312628947564302]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[0.07981978288332159,-1.5837818764677247,0.71338606911949],"aabb_xy":[[0.06393528961799644,-1.5981348167665488],[0.09570427614864674,-1.5694289361689007]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.5874819379912868,0.2694597825606615,0.71338606911949],"aabb_xy":[[-0.5951851286653638,0.2617504118619235],[-0.5797787473172098,0.2771691532593995]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_28","position":[0.2751156324993774,-2.4966613140298435,0.71338606911949],"aabb_xy":[[0.23381108943564138,-2.56066131359796],[0.31642017556311336,-2.432661314461726]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[-0.07206388587883528,0.6128932168696588,0.71338606911949],"aabb_xy":[[-0.08897461831517704,0.5994210112770442],[-0.05515315344249349,0.6263654224622732]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833356357919015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2402.png","name":"2402"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2402.png","name":"2402"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4630.png","name":"4630"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8657.png","name":"8657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8515.png","name":"8515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":775.2936601129757,"rotation_z_degrees":340.71915993839497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0041633703233123175,-0.019816035023213156,0.00251333193722204]},{"name":"camera_2","offset_m":[-0.008113877977424418,0.010572507045160672,0.01715385767846114]},{"name":"camera_3","offset_m":[0.010085342297604338,0.013734679017937842,-0.003541763904864107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013174623056131686,0.0013773878938533879,0.00031160158806374776],"end_effector_yaw_offset_degrees":-0.4485950840338291},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010426773431376612,0.00024917061578476644,0.00018762240630592524],"end_effector_yaw_offset_degrees":-0.5701816670045561},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00038814782442845794,0.001502176641552578,-0.0018701388095014328],"end_effector_yaw_offset_degrees":0.7969369414792882}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016978097168703675,-0.0023204220697491218],"position_m":[0.3122978097168704,-0.022720422069749124,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002559913880226663,0.0006958112985164192],"position_m":[0.14684008611977334,0.2799958112985164,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003940105363029007,-0.004503313845869412],"position_m":[0.33885989463697097,0.2085966861541306,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00022931932298240944,0.0028701535016930164],"position_m":[0.25847068067701756,-0.358829846498307,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69f18b3007909d7f0cfff0f62440c831344282cbe0671d3a0676b60e8c4629ae","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2402/tex_ceiling_textures_5811/tex_floor_textures_8515/tex_table_textures_4630/tex_wall_textures_8657","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4656156175332308630,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4656156175332308630,"visual_seed":4656156175332308630,"scene_id":"lab_003","finished_at":"2026-09-03T08:36:01"} +{"episode_id":"ep_000010","started_at":"2026-09-03T08:36:04","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.47557473854835197,-1.0942077592406423,0.71338606911949],"aabb_xy":[[0.4405747386523331,-1.1025819947525823],[0.5105747384443708,-1.0858335237287022]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.4671516085004864,1.6267304438897523,0.71338606911949],"aabb_xy":[[-0.4916978241232372,1.5964815473407155],[-0.44260539287773576,1.6569793404387896]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.5347651447602171,0.11144275029870654,0.71338606911949],"aabb_xy":[[0.5222977866504814,0.09897742566538303],[0.5472325028699527,0.12390807493203004]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.3510061111305929,-0.7212082537182893,0.71338606911949],"aabb_xy":[[0.2910061112840261,-0.778026875911328],[0.41100611097715967,-0.6643896315252507]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[0.6506190847014379,-0.013165699528669528,0.71338606911949],"aabb_xy":[[0.6006361345139585,-0.06316569917122992],[0.7006020348889171,0.036834300113890876]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.4610362946021218,1.3932161863561041,0.71338606911949],"aabb_xy":[[0.4235362944302499,1.3605154509731965],[0.4985362947739938,1.4259169217390109]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.11628877270750893,-0.7605190706604568,0.71338606911949],"aabb_xy":[[-0.18028877296797974,-0.8055278700133848],[-0.05228877244703812,-0.7155102713075288]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.32529395203693867,0.8087204292848371,0.71338606911949],"aabb_xy":[[0.2877939522199051,0.8040822179736953],[0.36279395185397223,0.813358640595979]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.028913188059483508,-1.6552332649685622,0.71338606911949],"aabb_xy":[[-0.041515887196559964,-1.6678286611934279],[-0.01631048892240705,-1.6426378687436969]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.5869769262090452,-0.12182096331238945,0.71338606911949],"aabb_xy":[[-0.601620331763078,-0.13647968296917373],[-0.5723335206550121,-0.10716224365560516]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.2706092997152303,-1.8652004363376593,0.71338606911949],"aabb_xy":[[-0.27802175525661876,-1.8710516467592873],[-0.2631968441738418,-1.8593492259160314]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.5987677390700679,0.9303118629050702,0.71338606911949],"aabb_xy":[[0.5612677378852748,0.9258936402090097],[0.6362677402548604,0.9347300856011307]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.43562359609919954,-2.141962510210792,0.71338606911949],"aabb_xy":[[-0.4996235924947727,-2.205925798629526],[-0.3716235997036265,-2.077999221792059]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.10688825489425369,1.5563879151039273,0.71338606911949],"aabb_xy":[[0.04188825393712648,1.5044397031702217],[0.1718882558513809,1.6083361270376328]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.29462898277123556,0.44003939221575505,0.71338606911949],"aabb_xy":[[-0.35862898511403707,0.3950985409716225],[-0.23062898042843397,0.4849802434598875]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.45390143429938523,-0.9215738709276342,0.71338606911949],"aabb_xy":[[0.4473997977913806,-0.9313416929539442],[0.46040307080738985,-0.9118060489013247]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.4309688689438206,0.5456010344781039,0.71338606911949],"aabb_xy":[[-0.4344095451838778,0.5417396015037396],[-0.42752819270376347,0.5494624674524685]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.5473469505290463,1.1051382602993494,0.71338606911949],"aabb_xy":[[0.524833258705589,1.0351382596983416],[0.5698606423525033,1.1751382609003567]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.6878573122796527,-0.5299613688254552,0.71338606911949],"aabb_xy":[[-0.692492427431886,-0.5338287039026038],[-0.6832221971274193,-0.5260940337483065]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.11640961037270603,0.6197735084098235,0.71338606911949],"aabb_xy":[[-0.15100069322675122,0.5547735081247923],[-0.0818185275186608,0.6847735086948544]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[-0.23641292588712687,1.7689485097241646,0.71338606911949],"aabb_xy":[[-0.2534230231771775,1.752814021225891],[-0.21940282859707622,1.7850829982224388]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.048975574187239634,-2.5197446774808165,0.71338606911949],"aabb_xy":[[0.020645864238699414,-2.5242054196745336],[0.07730528413577986,-2.5152839352870995]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.5714996107961128,0.18983375003224223,0.71338606911949],"aabb_xy":[[0.5489996107859646,0.17573753039263895],[0.5939996108062612,0.2039299696718455]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.12377247949216152,0.8519506406117054,0.71338606911949],"aabb_xy":[[-0.17375671520033875,0.8019506417982096],[-0.07378824378398428,0.9019506394252008]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820948885688927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9069.png","name":"9069"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9069.png","name":"9069"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4580.png","name":"4580"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6557.png","name":"6557"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4185.png","name":"4185"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":642.4439051436955,"rotation_z_degrees":349.0612261780276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018713617151025718,0.004050197709941097,-0.00992261764532616]},{"name":"camera_2","offset_m":[0.011408867878090988,-0.012037803373788538,-0.016961542913082623]},{"name":"camera_3","offset_m":[-0.017637469563536505,0.01911797974284556,-0.015667115228895655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009546655293330214,-4.642435170341269e-05,-0.00016230572183248524],"end_effector_yaw_offset_degrees":-0.041292709809540806},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006860596345384851,-0.0007122254122841442,0.001733206432179479],"end_effector_yaw_offset_degrees":-0.49289357558130353},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012022815615889036,-0.0005943829054449231,0.0017512055492978316],"end_effector_yaw_offset_degrees":0.45084517708501015}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004358945145181777,0.0007257295082551251],"position_m":[0.31495894514518175,-0.019674270491744875,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017228839706816025,0.0025211543092034947],"position_m":[0.1476771160293184,0.2818211543092035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029676198366194043,0.001992872135241697],"position_m":[0.3457676198366194,0.2150928721352417,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004962503390417407,-0.0023703852750263975],"position_m":[0.25373749660958256,-0.36407038527502644,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f1df4671962dbe0d35041e71945efd525ff51482b78be568f2348ebe88933916","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9069/tex_ceiling_textures_4185/tex_floor_textures_6311/tex_table_textures_4580/tex_wall_textures_6557","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":781255883608729635,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":781255883608729635,"visual_seed":781255883608729635,"scene_id":"lab_003","finished_at":"2026-09-03T08:38:43"} +{"episode_id":"ep_000011","started_at":"2026-09-03T08:38:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.0906567636179697,1.5853809687994151,0.71338606911949],"aabb_xy":[[-0.10815676289605657,1.5680428687330692],[-0.07315676433988282,1.602719068865761]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[0.1730487946795668,-1.9322191062543295,0.71338606911949],"aabb_xy":[[0.138048794703071,-1.9416837223019459],[0.20804879465606266,-1.9227544902067126]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.19839901394710413,-1.234472993237797,0.71338606911949],"aabb_xy":[[0.19208691441076567,-1.2402399324910158],[0.20471111348344254,-1.228706053984578]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.6411449239389908,-0.060344392518702605,0.71338606911949],"aabb_xy":[[0.5910474599579173,-0.12434439302851441],[0.6912423879200645,0.0036556079911092]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.30434290037704975,-0.1839612368256054,0.71338606911949],"aabb_xy":[[-0.3413770098051095,-0.21833844415931478],[-0.26730879094899,-0.1495840294918959]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.3737884295064141,-1.28775776395048,0.71338606911949],"aabb_xy":[[-0.4094175854063738,-1.3233904307073332],[-0.3381592736064543,-1.2521250971936273]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[0.28323433161949796,-1.6637653738022746,0.71338606911949],"aabb_xy":[[0.2192343284008601,-1.710488485701283],[0.3472343348381358,-1.6170422619032663]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.5324639248304486,-0.869014335324473,0.71338606911949],"aabb_xy":[[-0.5699639250023204,-0.9017150707073801],[-0.4949639246585765,-0.8363135999415657]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.6077359345892733,1.6408634072866302,0.71338606911949],"aabb_xy":[[-0.6123710497415065,1.6369960722094814],[-0.6031008194370397,1.644730742363779]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.5014505306200816,0.1243782197896457,0.71338606911949],"aabb_xy":[[0.4364505279822881,0.0728986210901987],[0.5664505332578751,0.17585781848909263]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.12760338170791574,0.7832104550003502,0.71338606911949],"aabb_xy":[[-0.1335699206486515,0.7772493103409862],[-0.12163684276717993,0.7891715996597143]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.5830288391334628,0.4673892858214357,0.71338606911949],"aabb_xy":[[-0.6730288356343346,0.4214776434029774],[-0.4930288426325911,0.5133009282398938]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.28133973205768736,-0.5677403985117104,0.71338606911949],"aabb_xy":[[-0.30762855637812797,-0.5940118321663616],[-0.25505090773724665,-0.5414689648570591]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.2237081726258912,1.2509335573794784,0.71338606911949],"aabb_xy":[[-0.2737081739097311,1.200954702988856],[-0.17370817134205124,1.3009124117701003]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.027748893378663597,-0.8949715422282127,0.71338606911949],"aabb_xy":[[-0.06524889348425654,-0.9017937040811937],[0.009751106726929354,-0.8881493803752315]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.5088088972298321,-2.2257636537621783,0.71338606911949],"aabb_xy":[[0.5047307393227825,-2.229844634010441],[0.5128870551368818,-2.221682673513915]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.2931661436462706,1.2917760247911776,0.71338606911949],"aabb_xy":[[0.24317113268681861,1.241776025755586],[0.34316115460572266,1.3417760238267695]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.2476537435887307,-0.9611590973121236,0.71338606911949],"aabb_xy":[[0.24421306734867357,-0.9650205302864882],[0.2510944198287879,-0.9572976643377592]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[0.3413687158723626,0.8841566867374109,0.71338606911949],"aabb_xy":[[0.2914860189946664,0.8341566874911364],[0.39125141275005887,0.9341566859836858]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.6276198296608078,-0.2826312603343295,0.71338606911949],"aabb_xy":[[0.5976281669269373,-0.31263125967113004],[0.657611492394678,-0.252631260997529]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.5443144933934736,-2.320914517580511,0.71338606911949],"aabb_xy":[[0.5218144938697661,-2.3434104650311314],[0.5668144929171809,-2.29841857012989]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.3960055412232505,-0.7248246006257317,0.71338606911949],"aabb_xy":[[-0.46000553852559684,-0.7691910275935885],[-0.33200554392090403,-0.680458173657875]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.036394711464594054,-1.599681123156648,0.71338606911949],"aabb_xy":[[-0.07916141834401424,-1.6636811265784504],[0.006371995414826137,-1.5356811197348454]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.344258965277068,1.481444047822008,0.71338606911949],"aabb_xy":[[0.3330139097064502,1.4702022500979124],[0.35550402084768584,1.492685845546103]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[0.539743849249886,-0.9937163496261712,0.71338606911949],"aabb_xy":[[0.4757438506633136,-1.0407233130256799],[0.6037438478364585,-0.9467093862266625]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.40554679820760386,-2.1510685266351,0.71338606911949],"aabb_xy":[[-0.42743654579654466,-2.2410685239243486],[-0.38365705061866306,-2.0610685293458504]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[0.45781896565919267,-1.8036488191983029,0.71338606911949],"aabb_xy":[[0.4474074069787089,-1.808994552534201],[0.4682305243396763,-1.7983030858624043]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[0.06239341420204636,-1.8077923340092072,0.71338606911949],"aabb_xy":[[0.007400202864909599,-1.8627923343480013],[0.11738662553918312,-1.752792333670414]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[-0.5489906454107406,0.8484522251436295,0.71338606911949],"aabb_xy":[[-0.5832875564284811,0.8141553389336882],[-0.5146937343929999,0.8827491113535708]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.44647514298655877,0.7019959042129584,0.71338606911949],"aabb_xy":[[-0.46253707044507636,0.6169959024003666],[-0.43041321552804107,0.7869959060255503]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6832421388164949,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4348.png","name":"4348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1666.png","name":"1666"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8586.png","name":"8586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6017.png","name":"6017"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":816.8622715104766,"rotation_z_degrees":303.172790250179,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016474766014308938,0.012411451943803702,-0.003880208745418185]},{"name":"camera_2","offset_m":[-0.002802800292962905,-0.013500246013996518,-0.012996781535062066]},{"name":"camera_3","offset_m":[-0.005219529551204038,-0.008875005844355521,-0.0002546610089317128]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011077193616015873,-0.001067461280171409,-0.0002789187633181597],"end_effector_yaw_offset_degrees":0.4079760439939717},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016119748667572083,0.0006719358553468496,-0.001012005476448186],"end_effector_yaw_offset_degrees":-0.5566495952651775},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019128642100587553,-0.000544351937105477,-0.0009708896225693944],"end_effector_yaw_offset_degrees":-0.5976197689551335}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003619392747967183,0.004726114356110179],"position_m":[0.3142193927479672,-0.015673885643889822,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020832804228673885,-0.003361544427960258],"position_m":[0.1473167195771326,0.2759384555720397,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00035911422058028906,-0.00018359409315932707],"position_m":[0.3424408857794197,0.2129164059068407,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004477614690610729,-0.003750410434531095],"position_m":[0.25422238530938923,-0.36545041043453114,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f78477be50607d9d6209e72cb236d755b294962d5c2bb8af5d52376ae2e48153","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4095/tex_ceiling_textures_6017/tex_floor_textures_8586/tex_table_textures_4348/tex_wall_textures_1666","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4554980516285567164,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4554980516285567164,"visual_seed":4554980516285567164,"scene_id":"lab_003","finished_at":"2026-09-03T08:41:19"} +{"episode_id":"ep_000012","started_at":"2026-09-03T08:41:22","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.5226396890880094,-1.7415216052226596,0.71338606911949],"aabb_xy":[[-0.5308542342036933,-1.7501981955203005],[-0.5144251439723253,-1.7328450149250179]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.6368694636106149,1.6891776767116151,0.71338606911949],"aabb_xy":[[0.6267164480564653,1.6531081351388743],[0.6470224791647641,1.725247218284355]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.3928521454503064,1.5132967856965887,0.71338606911949],"aabb_xy":[[-0.4303521438737067,1.500132571728758],[-0.355352147026906,1.5264609996644194]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.33593696770884296,-0.9046630645339797,0.71338606911949],"aabb_xy":[[-0.39993266510393954,-0.9686630628346883],[-0.2719412703137464,-0.8406630662332709]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.23577047641432747,-0.7595691980096759,0.71338606911949],"aabb_xy":[[0.2313398470594873,-0.7650175697443586],[0.24020110576916764,-0.7541208262749934]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.14471187462908341,-2.0027356337465525,0.71338606911949],"aabb_xy":[[0.10721187428085563,-2.014527029327636],[0.18221187497731114,-1.990944238165469]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.2384683988637772,-2.5322121158116393,0.71338606911949],"aabb_xy":[[-0.30346839982090434,-2.584160327745345],[-0.17346839790664997,-2.4802639038779337]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.6004811487151549,-1.9290235541012979,0.71338606911949],"aabb_xy":[[0.5779811487050065,-1.9431197737409012],[0.6229811487253031,-1.9149273344616946]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.26907612030145656,-0.42840560841738196,0.71338606911949],"aabb_xy":[[-0.352798345801539,-0.5184056119520779],[-0.1853538948013741,-0.338405604882686]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.40784250811685513,-2.1445493833607556,0.71338606911949],"aabb_xy":[[-0.45497188711869074,-2.208549384405157],[-0.3607131291150194,-2.0805493823163532]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.37534729711761033,0.16297107400617605,0.71338606911949],"aabb_xy":[[-0.3847647716874731,0.15355489686845702],[-0.3659298225477476,0.17238725114389508]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.07156619186939239,-2.3220132224972527,0.71338606911949],"aabb_xy":[[-0.08034741901662863,-2.330792969785783],[-0.06278496472215618,-2.3132334752087225]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[-0.2176588959178598,-1.532951839473039,0.71338606911949],"aabb_xy":[[-0.25515889602345276,-1.5397740013260197],[-0.18015889581226685,-1.5261296776200575]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[-0.33512973304108756,0.6689222547621743,0.71338606911949],"aabb_xy":[[-0.40512972945104925,0.6484843191104923],[-0.26512973663112566,0.6893601904138558]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.38931465115962616,-2.0621434668582577,0.71338606911949],"aabb_xy":[[0.36431465199399304,-2.0690957125636142],[0.41431465032525927,-2.055191221152901]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.3687692425653525,-1.5841201375846659,0.71338606911949],"aabb_xy":[[-0.4043983984653123,-1.619752804341519],[-0.3331400866653928,-1.5484874708278131]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.10777511718605215,0.14265689884185306,0.71338606911949],"aabb_xy":[[-0.1499595313468829,0.07865689856464186],[-0.06559070302522141,0.20665689911906426]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.06585132902185797,-0.35494177713937347,0.71338606911949],"aabb_xy":[[-0.08335132926690735,-0.37244156497894026],[-0.04835132877680858,-0.33744198929980657]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.18750862095565546,1.1763469686459396,0.71338606911949],"aabb_xy":[[-0.1968556285379507,1.1620433464282958],[-0.17816161337336023,1.1906505908635838]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.21301808758354795,-1.3395183309949321,0.71338606911949],"aabb_xy":[[-0.2299288200198897,-1.3529905365875465],[-0.19610735514720615,-1.3260461254023177]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.5220560937194181,-1.7241499081244078,0.71338606911949],"aabb_xy":[[0.45805609301594874,-1.770168290597329],[0.5860560944228874,-1.678131525651487]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[0.6313651080754947,-1.0835604898444344,0.71338606911949],"aabb_xy":[[0.5663651069695516,-1.1085258629125627],[0.6963651091814381,-1.0585951167763061]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.5741297225107962,0.33009752531649994,0.71338606911949],"aabb_xy":[[0.5566297890768127,0.31259752539626534],[0.5916296559447795,0.34759752523673443]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[-0.5771606952366748,-2.441550069790604,0.71338606911949],"aabb_xy":[[-0.6249668628504433,-2.506550072497663],[-0.529354527622906,-2.376550067083545]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.5793210386525514,0.009364452158267866,0.71338606911949],"aabb_xy":[[0.5253054423706514,-0.05463555073398929],[0.6333366349344514,0.07336445505052502]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[0.36254238499101854,-0.8996954959493242,0.71338606911949],"aabb_xy":[[0.2985423846134849,-0.9494407628001365],[0.42654238536855216,-0.8499502290985119]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.21992547615992186,-0.6512271066141389,0.71338606911949],"aabb_xy":[[0.15492547612561913,-0.6979277832944661],[0.2849254761942246,-0.6045264299338116]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.22480219801829637,-2.400519516671195,0.71338606911949],"aabb_xy":[[-0.2748021990374317,-2.436985732409023],[-0.17480219699916114,-2.3640533009333673]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[0.36500088285335286,0.8045078454594101,0.71338606911949],"aabb_xy":[[0.3609227249463031,0.8004268652111468],[0.3690790407604026,0.8085888257076734]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[0.24967119895468226,1.6068913447942008,0.71338606911949],"aabb_xy":[[0.21467119897818646,1.5974267287465842],[0.2846711989311781,1.6163559608418174]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[-0.0940508765823036,-1.002270567904253,0.71338606911949],"aabb_xy":[[-0.1740508752391896,-1.0167754268285156],[-0.014050877925417593,-0.9877657089799902]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_31","position":[0.15678392578564693,0.9552326616631941,0.71338606911949],"aabb_xy":[[0.14415713849845058,0.9456865879616212],[0.16941071307284328,0.964778735364767]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825739066847468,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8955.png","name":"8955"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8955.png","name":"8955"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6029.png","name":"6029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1074.png","name":"1074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6988.png","name":"6988"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8572.png","name":"8572"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":697.3058648539538,"rotation_z_degrees":186.02023933498094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019083287636249863,0.009065914046994732,0.003978376304310437]},{"name":"camera_2","offset_m":[-0.0037691982095155972,-0.003966780094335966,0.003445313850494465]},{"name":"camera_3","offset_m":[-0.01597320479237744,-0.017888379417564583,-0.01603861920576661]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001784669053455933,0.0008883338336662739,0.0019140099789383986],"end_effector_yaw_offset_degrees":-0.7718058407135424},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002570421020727158,-0.0016262150576778068,-0.000572798917974361],"end_effector_yaw_offset_degrees":0.058299100481697064},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015063826976241595,-0.0010691035242458172,0.0016585379935839463],"end_effector_yaw_offset_degrees":0.36272809396054084}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029769409265571023,-0.000759863401716525],"position_m":[0.3076230590734429,-0.021159863401716526,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001441472303699791,-0.00205728937008696],"position_m":[0.1508414723036998,0.277242710629913,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016897783561094248,-0.0016179819108111948],"position_m":[0.34111022164389054,0.21148201808918882,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037963274205728374,-0.0014174689607443568],"position_m":[0.25490367257942714,-0.36311746896074437,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"82092b6bb7d85052d16c6ecc7bc3ea26b332fc8ba2486b9d666c2ae0701ca322","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8955/tex_ceiling_textures_8572/tex_floor_textures_6988/tex_table_textures_6029/tex_wall_textures_1074","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1955677832234325898,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1955677832234325898,"visual_seed":1955677832234325898,"scene_id":"lab_003","finished_at":"2026-09-03T08:43:52"} +{"episode_id":"ep_000013","started_at":"2026-09-03T08:43:54","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.48974739017114155,1.5080812983742429,0.71338606911949],"aabb_xy":[[0.478895783922266,1.4972220076465919],[0.5005989964200173,1.518940589101894]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.6057224058691074,-2.3670956215578016,0.71338606911949],"aabb_xy":[[-0.6607178836897667,-2.4220956229917086],[-0.5507269280484479,-2.3120956201238947]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.04317035152828852,-1.8815499712131871,0.71338606911949],"aabb_xy":[[-0.06067035066265569,-1.891429598250775],[-0.02567035239392135,-1.8716703441755993]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.5182718045430099,-2.26372965474057,0.71338606911949],"aabb_xy":[[0.483955527368392,-2.313729654713747],[0.5525880817176279,-2.2137296547673917]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.22764244097939168,-0.8973279476567513,0.71338606911949],"aabb_xy":[[0.22206076934526292,-0.9098279474745267],[0.23322411261352044,-0.8848279478389757]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.5860957522771857,-1.2812070302723104,0.71338606911949],"aabb_xy":[[0.5492452043401981,-1.3187070310953444],[0.6229463002141733,-1.243707029449277]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.31700376786803813,-1.2728060300251092,0.71338606911949],"aabb_xy":[[-0.407003767286409,-1.3061815268692987],[-0.22700376844966724,-1.2394305331809192]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.1514974614852005,0.6233507569778673,0.71338606911949],"aabb_xy":[[0.14025240591458266,0.612108959253772],[0.16274251705581833,0.6345925547019625]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.10915915982143054,1.243299064186472,0.71338606911949],"aabb_xy":[[0.08664546799797335,1.1732990635854645],[0.13167285164488773,1.3132990647874796]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.003477056905399234,-1.6965326300051258,0.71338606911949],"aabb_xy":[[-0.061522943128903496,-1.743233306685453],[0.06847705693970196,-1.6498319533247985]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.6535159821232693,0.4717328375880765,0.71338606911949],"aabb_xy":[[-0.6611402502134477,0.4640996140515329],[-0.6458917140330912,0.4793660611246203]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.507194425790873,-0.5731760592451773,0.71338606911949],"aabb_xy":[[-0.5321944253426115,-0.5833185431103121],[-0.48219442623913455,-0.5630335753800426]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[-0.36776288675632257,1.3725521884302876,0.71338606911949],"aabb_xy":[[-0.38467361919266424,1.3590799828376727],[-0.3508521543199807,1.386024394022902]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.5777310981978799,-0.14014070150784663,0.71338606911949],"aabb_xy":[[-0.6427311008356734,-0.1916203002072936],[-0.5127310955600864,-0.08866110280839967]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.011816218596334749,-1.5317138766863911,0.71338606911949],"aabb_xy":[[-0.034316219108375345,-1.5542057350517893],[0.01068378191570585,-1.5092220183209926]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.09752446418584793,0.6292467068077041,0.71338606911949],"aabb_xy":[[-0.11969699116249874,0.6070710396515809],[-0.07535193720919707,0.6514223739638273]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.16339741816249165,-2.479490486802253,0.71338606911949],"aabb_xy":[[-0.24339741923561198,-2.4892685331396374],[-0.08339741708937132,-2.4697124404648685]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.4648809982999368,0.6066246307413077,0.71338606911949],"aabb_xy":[[-0.5058989416863077,0.5566246301103503],[-0.4238630549135659,0.656624631372265]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.6592569476822022,-0.7930803590674287,0.71338606911949],"aabb_xy":[[-0.6897411978092324,-0.8430803588489246],[-0.6287726975551721,-0.7430803592859327]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.2099972995085555,-2.3547062228455937,0.71338606911949],"aabb_xy":[[-0.2424590003904829,-2.384839054960496],[-0.177535598626628,-2.3245733907306905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884748148114394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5617.png","name":"5617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4453.png","name":"4453"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6944.png","name":"6944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4345.png","name":"4345"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":530.7714188990241,"rotation_z_degrees":2.9204157419017696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004869231756447077,-0.012148470665108246,0.013296628019281827]},{"name":"camera_2","offset_m":[-0.016106337356507777,-0.004600100565604297,0.01523173139442625]},{"name":"camera_3","offset_m":[0.013592907110891058,-0.00474384272312057,0.003695024008661764]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001267651581126168,-0.001910706389800481,-9.307009284692438e-06],"end_effector_yaw_offset_degrees":0.12777288433772038},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003367504318684321,0.001471441737591941,4.861197376740704e-05],"end_effector_yaw_offset_degrees":0.03519482980404254},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001143566019639366,0.001825306336047649,-0.0007100516739197964],"end_effector_yaw_offset_degrees":0.946091963832391}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001558401716857426,-0.004189447338765757],"position_m":[0.30904159828314254,-0.02458944733876576,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[7.581337045989636e-05,-0.0035541703071363317],"position_m":[0.1494758133704599,0.27574582969286365,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003961896617914829,-0.004037151896423764],"position_m":[0.34676189661791484,0.20906284810357625,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018972607551335273,-0.0034449781643648494],"position_m":[0.2605972607551335,-0.36514497816436486,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f773a84526e737dc72aa12ab0a321b06c38d1c443995231069be8bac5e94b50b","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2080/tex_ceiling_textures_4345/tex_floor_textures_6944/tex_table_textures_5617/tex_wall_textures_4453","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8641544360443196609,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8641544360443196609,"visual_seed":8641544360443196609,"scene_id":"lab_003","finished_at":"2026-09-03T08:46:21"} +{"episode_id":"ep_000014","started_at":"2026-09-03T08:49:24","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.6726776425552958,-1.1349141994415655,0.71338606911949],"aabb_xy":[[0.6226828096273542,-1.184914198336809],[0.7226724754832374,-1.084914200546322]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.4530630260130808,0.01865439896765686,0.71338606911949],"aabb_xy":[[-0.4594768396562657,0.012244578719988517],[-0.4466492123698958,0.025064219215325197]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.3234107610819514,-2.0314489263132365,0.71338606911949],"aabb_xy":[[-0.373410760522147,-2.081416850797553],[-0.27341076164175576,-1.9814810018289202]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.009050607531942423,0.7869715589333675,0.71338606911949],"aabb_xy":[[0.0020091565811948264,0.7799448071955728],[0.01609205848269002,0.7939983106711619]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.05467444388255582,1.0326140807014563,0.71338606911949],"aabb_xy":[[-0.07595245202602807,0.967614078375383],[-0.03339643573908357,1.0976140830275292]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.03580960710558578,1.4551499892747333,0.71338606911949],"aabb_xy":[[0.03189573391016326,1.4464009738681765],[0.03972348030100831,1.46389900468129]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.07426658060508196,-2.311186113724153,0.71338606911949],"aabb_xy":[[0.058204653146564304,-2.3961861155367443],[0.09032850806359959,-2.2261861119115607]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.6253888078411459,-0.8041895507703187,0.71338606911949],"aabb_xy":[[-0.6340867701318613,-0.8163145250777936],[-0.6166908455504307,-0.7920645764628441]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.4657945959081655,1.4579172748181848,0.71338606911949],"aabb_xy":[[-0.48095746888510266,1.442751817523066],[-0.4506317229312285,1.4730827321133035]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.13875344045733407,1.0141840913980555,0.71338606911949],"aabb_xy":[[0.12107780986873572,0.9965038751186527],[0.15642907104593237,1.031864307677458]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.43237178064754256,-1.389496976409234,0.71338606911949],"aabb_xy":[[-0.45483655061894773,-1.4119969772880945],[-0.4099070106761375,-1.3669969755303735]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.41196441955685514,-0.7205200838483214,0.71338606911949],"aabb_xy":[[-0.49195824313541336,-0.800520086441163],[-0.3319705959782969,-0.6405200812554799]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[0.5914052969634067,0.13732784614739968,0.71338606911949],"aabb_xy":[[0.5805648187368918,0.12014156485675087],[0.6022457751899216,0.1545141274380485]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.6455229748536415,0.3006372588007218,0.71338606911949],"aabb_xy":[[0.6105229735021597,0.2802775228439009],[0.6805229762051231,0.32099699475754256]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.07024971950237868,-0.03569819766465221,0.71338606911949],"aabb_xy":[[-0.08081719916047769,-0.04624322777766076],[-0.05968223984427967,-0.025153167551643645]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[0.09221253079450709,-0.6879097175181621,0.71338606911949],"aabb_xy":[[0.07787810566834363,-0.6999699330727011],[0.10654695592067054,-0.6758495019636234]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.2059989102467697,-1.5450276983196305,0.71338606911949],"aabb_xy":[[-0.24454460307197073,-1.5835734693758192],[-0.16745321742156866,-1.5064819272634418]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.5659422975444725,1.071330160823936,0.71338606911949],"aabb_xy":[[-0.6157590770093072,1.0213301623396325],[-0.5161255180796377,1.1213301593082392]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[-0.05611279634189348,1.157571454618322,0.71338606911949],"aabb_xy":[[-0.09361279476529383,1.144407240650491],[-0.018612797918493122,1.1707356685861525]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.18325126562315996,1.8099577096470916,0.71338606911949],"aabb_xy":[[-0.2008841012166875,1.7923347636314684],[-0.16561843002963236,1.8275806556627143]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.35766559448973806,1.584183434154673,0.71338606911949],"aabb_xy":[[-0.3629981091443511,1.5788591059094377],[-0.35233307983512513,1.5895077623999088]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.6272911709531923,0.4816281350798013,0.71338606911949],"aabb_xy":[[0.5968930598540486,0.4512212330781317],[0.6576892820523358,0.5120350370814707]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.5249612192655456,-2.2636283008743856,0.71338606911949],"aabb_xy":[[-0.5865519784895386,-2.327628298983433],[-0.4633704600415529,-2.199628302765339]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.5997494573345862,0.26645992832299736,0.71338606911949],"aabb_xy":[[-0.6247494565002193,0.2595076826176408],[-0.5747494581689531,0.27341217402835394]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.0451612817849818,-0.5075610583101384,0.71338606911949],"aabb_xy":[[-0.06505232166532204,-0.5202168695948353],[-0.025270241904641555,-0.4949052470254416]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.4578899097684229,-1.8638383261805953,0.71338606911949],"aabb_xy":[[-0.47456704576151837,-1.8805382501545254],[-0.44121277377532736,-1.8471384022066648]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[-0.2976932000007681,0.2960783011361112,0.71338606911949],"aabb_xy":[[-0.38738027630888355,0.20607830088166068],[-0.20800612369265264,0.38607830139056176]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[0.329570331863859,-1.0532835687002753,0.71338606911949],"aabb_xy":[[0.3194886247852855,-1.1332835665923897],[0.33965203894243245,-0.9732835708081604]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[0.6941647367266741,1.4991185924055137,0.71338606911949],"aabb_xy":[[0.6759589130654264,1.4880931918235223],[0.7123705603879218,1.5101439929875056]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[0.45374442361517353,1.4827360157228697,0.71338606911949],"aabb_xy":[[0.370022198115091,1.3927360121881738],[0.537466649115256,1.5727360192575657]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_30","position":[-0.15888382193750505,-2.523984370045865,0.71338606911949],"aabb_xy":[[-0.19388382106746072,-2.5297295911215287],[-0.12388382280754939,-2.5182391489702005]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_31","position":[-0.6378930041774619,0.6659986127906374,0.71338606911949],"aabb_xy":[[-0.6713331793734814,0.6325549869597071],[-0.6044528289814421,0.6994422386215673]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_32","position":[0.1833426796745814,1.1720062644904856,0.71338606911949],"aabb_xy":[[0.13621330067274567,1.1080062634460834],[0.230472058676417,1.2360062655348873]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_33","position":[0.11276119995248557,-2.528373449522374,0.71338606911949],"aabb_xy":[[0.10346758171533496,-2.5658734480105077],[0.12205481818963612,-2.49087345103424]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885616398703609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4084.png","name":"4084"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/924.png","name":"924"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1860.png","name":"1860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2097.png","name":"2097"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":754.4572395742989,"rotation_z_degrees":262.9915700638256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01187431988519025,0.013581022007869713,0.014550919822398981]},{"name":"camera_2","offset_m":[-0.01729589187070289,-0.002241084983427396,-0.015419620411093167]},{"name":"camera_3","offset_m":[0.01731518492547279,0.00414929641255516,-0.016400579774193104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016404135337097512,-0.0002801270989988005,-0.0014217482943681037],"end_effector_yaw_offset_degrees":-0.04270993693316827},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[9.540270037836128e-05,0.0010248052919533874,0.0011058159034986414],"end_effector_yaw_offset_degrees":-0.2736600179794264},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006192319373980243,0.00015095202342480267,0.000545673230982203],"end_effector_yaw_offset_degrees":0.2469114668158885}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003885896615609635,0.0004254728475461796],"position_m":[0.3144858966156096,-0.019974527152453823,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012809835224744841,-0.004685550984867094],"position_m":[0.1506809835224745,0.2746144490151329,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00398491490506356,0.003940096681858842],"position_m":[0.3388150850949364,0.21704009668185886,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023416228144414308,-0.0028977416182329355],"position_m":[0.26104162281444143,-0.36459774161823294,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bf9f3c1593727a314ef15b3d965db5900df3faa1dc6dc4022de39ad43207fe9e","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6369/tex_ceiling_textures_2097/tex_floor_textures_1860/tex_table_textures_4084/tex_wall_textures_924","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1596445690575559522,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1596445690575559522,"visual_seed":1596445690575559522,"scene_id":"lab_003","finished_at":"2026-09-03T08:51:49"} +{"episode_id":"ep_000015","started_at":"2026-09-03T08:51:51","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.5730120874689142,-1.525315416718158,0.71338606911949],"aabb_xy":[[0.5252059198551455,-1.5903154194252167],[0.6208182550826828,-1.460315414011099]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.04419109375818109,-2.0282895144353654,0.71338606911949],"aabb_xy":[[0.03955597860594769,-2.0321568495125137],[0.04882620891041447,-2.0244221793582162]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.3084327203230558,1.7428714310072952,0.71338606911949],"aabb_xy":[[-0.39843271682392756,1.6969597885888368],[-0.21843272382218407,1.7887830734257533]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.27957107551593996,-1.3085726092911527,0.71338606911949],"aabb_xy":[[0.27561059174620567,-1.3162404738766733],[0.28353155928567436,-1.300904744705632]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.6460327862380328,-1.660235817123626,0.71338606911949],"aabb_xy":[[-0.6693146284361641,-1.7452358184208538],[-0.6227509440399014,-1.5752358158263977]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.20678334180765795,-2.321722550518752,0.71338606911949],"aabb_xy":[[-0.2607989380895579,-2.3857225534110094],[-0.15276774552575792,-2.257722547626495]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.09633694340479393,-0.9156714546716413,0.71338606911949],"aabb_xy":[[0.07275181994089908,-0.980671456917073],[0.11992206686868878,-0.8506714524262095]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.23304927558183308,-1.2004718087668225,0.71338606911949],"aabb_xy":[[-0.2705492762464118,-1.2161588667670442],[-0.19554927491725438,-1.1847847507665998]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.4593423860981791,-0.9306808712873542,0.71338606911949],"aabb_xy":[[0.3943423850976786,-0.981467236442029],[0.5243423870986796,-0.8798945061326792]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.43501046439821356,-0.15874516841275632,0.71338606911949],"aabb_xy":[[0.4183333284051181,-0.1754450923866866],[0.4516876003913091,-0.14204524443882605]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.3934408335980284,0.7364229480487414,0.71338606911949],"aabb_xy":[[0.36000065840200873,0.7029793222178112],[0.42688100879404794,0.7698665738796714]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.06429781475808494,1.5783707959067104,0.71338606911949],"aabb_xy":[[0.041382101873035045,1.555466498770287],[0.08721352764313485,1.601275093043134]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.44780820331190085,0.44847474235845075,0.71338606911949],"aabb_xy":[[0.4103082028145426,0.4445060588103324],[0.4853082038092591,0.4524434259065692]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.4774885247119154,-1.947709602349629,0.71338606911949],"aabb_xy":[[0.41348852443793715,-1.9977757025469167],[0.5414885249858936,-1.8976435021523408]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.2162318739396366,-1.5840305832928216,0.71338606911949],"aabb_xy":[[0.20539139571312168,-1.6012168645834703],[0.2270723521661515,-1.5668443020021725]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.18871902364071746,0.535646760601471,0.71338606911949],"aabb_xy":[[0.1795591446968409,0.5291155425579339],[0.1978789025845941,0.542177978645008]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.6140259672527218,1.5087083755299502,0.71338606911949],"aabb_xy":[[-0.6227239295434371,1.4965834012224755],[-0.6053280049620066,1.5208333498374251]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.2666546745259841,1.1959914169685026,0.71338606911949],"aabb_xy":[[0.23287911533529115,1.1819529217553377],[0.3004302337166771,1.2100299121816676]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.3753071191508138,-2.5173763915672236,0.71338606911949],"aabb_xy":[[-0.4403071170324616,-2.568500055273765],[-0.310307121269166,-2.466252727860683]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.4083437211876882,1.5831756012858862,0.71338606911949],"aabb_xy":[[-0.4458437212932811,1.576353439432905],[-0.3708437210820952,1.5899977631388673]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.6041921889485444,0.9282841309030729,0.71338606911949],"aabb_xy":[[0.575542856588128,0.8996385716259971],[0.6328415213089604,0.9569296901801487]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[0.17212857752753064,1.3651918187504961,0.71338606911949],"aabb_xy":[[0.10712857937161158,1.338895574200584],[0.2371285756834497,1.3914880633004083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828233541132098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1272.png","name":"1272"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7236.png","name":"7236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4731.png","name":"4731"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3758.png","name":"3758"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":619.653889706087,"rotation_z_degrees":129.63984672558598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017854869070347033,-0.012141191518707677,-0.019648290352657454]},{"name":"camera_2","offset_m":[0.007052449055760284,-0.00773511552707737,0.005339386600125423]},{"name":"camera_3","offset_m":[0.01044988054290497,0.01950141624355412,0.01495537238747809]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018635306542444862,0.0010650177506667038,0.001253055199846732],"end_effector_yaw_offset_degrees":0.07503525938986977},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007058982988896382,0.0007528015943436719,-0.0005318421205638187],"end_effector_yaw_offset_degrees":0.4929458923968162},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018829339103656705,0.0015622081211346221,0.00010648524683168521],"end_effector_yaw_offset_degrees":-0.1263631496173636}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0040062352846145,-0.004194951543548511],"position_m":[0.3146062352846145,-0.024594951543548512,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002888999508584588,0.0013589078032597325],"position_m":[0.1465110004914154,0.28065890780325975,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016173731876584297,0.004104774259144589],"position_m":[0.34118262681234157,0.2172047742591446,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003612891960515633,-0.0015943916224917744],"position_m":[0.25508710803948437,-0.3632943916224918,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b50640eea7c95ace38f6dfc4f4b90711abf77ef0ae797896a33a9f961947b781","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6935/tex_ceiling_textures_3758/tex_floor_textures_4731/tex_table_textures_1272/tex_wall_textures_7236","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8053679769225692210,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8053679769225692210,"visual_seed":8053679769225692210,"scene_id":"lab_003","finished_at":"2026-09-03T08:54:27"} +{"episode_id":"ep_000016","started_at":"2026-09-03T08:54:29","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.5431156253267702,-2.37560251030683,0.71338606911949],"aabb_xy":[[0.5127175142276265,-2.406009412308499],[0.5735137364259136,-2.34519560830516]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.04741463122819434,0.9302507330793444,0.71338606911949],"aabb_xy":[[0.02112580690775367,0.9039792994246931],[0.07370345554863499,0.9565221667339956]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.4625394621638079,1.5513181345921674,0.71338606911949],"aabb_xy":[[-0.5075320488822583,1.5063181353177186],[-0.4175468754453575,1.5963181338666161]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.2169586744653731,1.4760393242086196,0.71338606911949],"aabb_xy":[[0.18104517004038337,1.4401258159918648],[0.25287217889036273,1.511952832425374]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[-0.5355499270676273,-1.6336187475952895,0.71338606911949],"aabb_xy":[[-0.5580499265913345,-1.65611469504591],[-0.5130499275439196,-1.6111228001446685]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.42381493973079154,-0.45562518795522244,0.71338606911949],"aabb_xy":[[0.35981493768105954,-0.4957196710445304],[0.48781494178052354,-0.4155307048659145]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.24607147088220677,1.683919971804817,0.71338606911949],"aabb_xy":[[-0.2635021859612132,1.6666478571409657],[-0.22864075580320023,1.7011920864686674]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.12176105711288066,0.2081103610997297,0.71338606911949],"aabb_xy":[[-0.12546431844201952,0.20440834279101183],[-0.1180577957837418,0.21181237940844755]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.5142471461380205,-2.536881474062462,0.71338606911949],"aabb_xy":[[-0.5517471464301954,-2.5409229494630656],[-0.47674714584584577,-2.532839998661858]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.23346529460371213,0.21012591524401358,0.71338606911949],"aabb_xy":[[-0.2974609919988087,0.1461259169433049],[-0.1694695972086155,0.27412591354472227]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.47480626256594605,-1.3147612799552222,0.71338606911949],"aabb_xy":[[-0.5388062649087475,-1.3597021311993545],[-0.4108062602231445,-1.2698204287110895]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.5821365376591765,1.1641472330440603,0.71338606911949],"aabb_xy":[[-0.6321207733673537,1.1141472342305645],[-0.5321523019509993,1.2141472318575557]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.08256450481775957,-0.9151677929014839,0.71338606911949],"aabb_xy":[[0.04401881199255853,-0.9537135639576725],[0.1211101976429606,-0.8766220218452953]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.08802596910119531,1.2462644623273538,0.71338606911949],"aabb_xy":[[-0.12180152829188827,1.2322259671141889],[-0.054250409910502326,1.2603029575405187]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.6731913757077754,-0.878847482159044,0.71338606911949],"aabb_xy":[[0.6678538000417709,-0.9038474830881837],[0.67852895137378,-0.8538474812299042]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.22042213076125206,-2.4741746465846033,0.71338606911949],"aabb_xy":[[-0.2904221325699975,-2.495528415348791],[-0.1504221289525066,-2.4528208778204164]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.527369971550604,0.5182261496801077,0.71338606911949],"aabb_xy":[[-0.591369970720374,0.4714594625611453],[-0.46336997238083416,0.5649928367990702]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.050802911535454354,-2.1346071378494713,0.71338606911949],"aabb_xy":[[-0.11480291179592515,-2.1796159372023993],[0.013197088725016458,-2.0895983384965433]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[0.38487299035199296,1.3929631344709676,0.71338606911949],"aabb_xy":[[0.3248729894911801,1.3415367044644813],[0.4448729912128057,1.444389564477454]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.38831225587272844,-1.5693622860032992,0.71338606911949],"aabb_xy":[[-0.40024499023455656,-1.5817444388111583],[-0.3763795215109004,-1.5569801331954396]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[0.12373331092731621,-1.8936907635947584,0.71338606911949],"aabb_xy":[[0.06971771464541618,-1.9576907664870153],[0.17774890720921618,-1.829690760702501]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[0.5587892712958182,-1.8193542824401867,0.71338606911949],"aabb_xy":[[0.4947892680771804,-1.866077394339195],[0.6227892745144561,-1.7726311705411784]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.16632091676481497,-0.36800774131178926,0.71338606911949],"aabb_xy":[[-0.1704567730975152,-0.40550774075614626],[-0.1621850604321148,-0.33050774186743226]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.6532235662835388,-1.1754313517072605,0.71338606911949],"aabb_xy":[[0.644421510974566,-1.1832426778621894],[0.6620256215925114,-1.1676200255523312]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884662512022456,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9368.png","name":"9368"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9368.png","name":"9368"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7396.png","name":"7396"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7313.png","name":"7313"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2033.png","name":"2033"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":650.5591292074987,"rotation_z_degrees":141.51737263242367,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01994096501785763,0.008183748718488058,0.008715271057941884]},{"name":"camera_2","offset_m":[-0.015344750239080303,0.015864946237453856,0.0031477881257471196]},{"name":"camera_3","offset_m":[-0.000285743474569472,0.01036696828535779,-0.004084783590394818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007880768744862906,-0.0002774414445636407,-0.00023099701160156317],"end_effector_yaw_offset_degrees":0.7957435862658484},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013969146035057922,-0.0019002978824496383,0.0016324332678757016],"end_effector_yaw_offset_degrees":0.8288800869993975},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003131918732162194,-0.000382307668957361,-0.0008580252837225414],"end_effector_yaw_offset_degrees":0.3033339473009071}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[9.336296460466485e-05,-0.001995259480737277],"position_m":[0.31069336296460465,-0.022395259480737277,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-6.571086916306104e-07,-0.003924657831633836],"position_m":[0.14939934289130838,0.2753753421683662,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037288035631180575,-0.0027863035429939722],"position_m":[0.34652880356311805,0.21031369645700604,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016365631151323392,-0.00384521983377354],"position_m":[0.2603365631151323,-0.3655452198337736,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7e88a9b43ff197c9b246bdc755deef77793df08a692fc4ccd024e0cedc7c6884","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9368/tex_ceiling_textures_2033/tex_floor_textures_7313/tex_table_textures_7396/tex_wall_textures_4870","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7568973363158738413,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7568973363158738413,"visual_seed":7568973363158738413,"scene_id":"lab_003","finished_at":"2026-09-03T08:57:01"} +{"episode_id":"ep_000017","started_at":"2026-09-03T08:57:03","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.2492286042018932,0.6444271700150046,0.71338606911949],"aabb_xy":[[0.22731992206254212,0.6225265031949138],[0.27113728634124423,0.6663278368350952]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.3062565223900324,-1.5779540458874628,0.71338606911949],"aabb_xy":[[0.2462565221386312,-1.6322353709239275],[0.36625652264143355,-1.5236727208509981]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.31219897156371357,0.9858433801835629,0.71338606911949],"aabb_xy":[[-0.3671944493843729,0.9308433787496558],[-0.2572034937430541,1.0408433816174698]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.4243741055055916,-0.44068379453265605,0.71338606911949],"aabb_xy":[[-0.4336677237427421,-0.4781837930207899],[-0.41508048726844093,-0.4031837960445221]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.011235718412160867,1.566546574962255,0.71338606911949],"aabb_xy":[[-0.016573294078165435,1.5415465740331153],[-0.0058981427461562985,1.591546575891395]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.637012579515541,-0.3261721556745889,0.71338606911949],"aabb_xy":[[0.599512578330748,-0.33059037837064936],[0.6745125807003336,-0.32175393297852833]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.35536491502560197,1.224898309026266,0.71338606911949],"aabb_xy":[[0.32104863785098403,1.1748983090530882],[0.3896811922002199,1.2748983089994437]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.13686183275924235,-0.8617004604374605,0.71338606911949],"aabb_xy":[[0.1025649217415017,-0.8959973466474018],[0.17115874377698295,-0.8274035742275192]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.6637362438711503,1.6320289567478565,0.71338606911949],"aabb_xy":[[0.6557422552934467,1.624028876652766],[0.6717302324488534,1.6400290368429467]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.08601517869815367,0.9026213979419992,0.71338606911949],"aabb_xy":[[0.07593347161958018,0.8226214000498845],[0.09609688577672713,0.9826213958341138]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.4896158465158413,0.10965736423481465,0.71338606911949],"aabb_xy":[[-0.553615846893375,0.05991209738400237],[-0.4256158461383076,0.1594026310856269]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.23118496781037262,-2.2326893163942625,0.71338606911949],"aabb_xy":[[-0.29618496784467535,-2.2793899930745902],[-0.1661849677760699,-2.1859886397139356]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.35555319366344507,1.7395649633871133,0.71338606911949],"aabb_xy":[[-0.3855448563973154,1.7095649640503126],[-0.32556153092957474,1.7695649627239136]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.47592407249327917,1.5261533196785142,0.71338606911949],"aabb_xy":[[0.4710804777320492,1.52130166719953],[0.48076766725450915,1.5310049721574983]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.5574390230468553,-1.5455570761741,0.71338606911949],"aabb_xy":[[-0.5628969686838754,-1.6255570794817589],[-0.5519810774098353,-1.4655570728664407]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.4513540767986215,0.8676033018318638,0.71338606911949],"aabb_xy":[[0.43546958353329634,0.8532503615330398],[0.46723857006394665,0.8819562421306879]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.5347858860006902,-0.02440484081956429,0.71338606911949],"aabb_xy":[[-0.5456374922495658,-0.035264131547215305],[-0.5239342797518146,-0.013545550091913272]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.3163321162243653,-1.3687319088386833,0.71338606911949],"aabb_xy":[[0.28133211709440964,-1.3744771299143475],[0.35133211535432096,-1.3629866877630192]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.6805596755186569,1.5611834948432706,0.71338606911949],"aabb_xy":[[0.6653968025417198,1.546018037548152],[0.695722548495594,1.5763489521383895]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.33963362203264086,1.3823174264767761,0.71338606911949],"aabb_xy":[[-0.35150570504414197,1.2973174267831258],[-0.32776153902113975,1.4673174261704265]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.6035204095082629,0.23553127019039044,0.71338606911949],"aabb_xy":[[-0.611546680138889,0.2267797752130378],[-0.595494138877637,0.24428276516774303]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.443149616124324,0.7300007014590548,0.71338606911949],"aabb_xy":[[0.4056496156269658,0.7260320179109365],[0.48064961662168226,0.7339693850071733]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.2043884158409729,-1.2714556165655548,0.71338606911949],"aabb_xy":[[0.1818747240175157,-1.3414556171665621],[0.22690210766443009,-1.201455615964547]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[-0.40845713503635805,0.8616614034869978,0.71338606911949],"aabb_xy":[[-0.42632624279081355,0.8478284955097869],[-0.39058802728190256,0.8754943114642088]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.39752048781884275,1.8177505520957262,0.71338606911949],"aabb_xy":[[0.3911066741756577,1.8113407318480579],[0.4039343014620276,1.8241603723433946]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.6540751884546855,-0.11768303897355636,0.71338606911949],"aabb_xy":[[-0.671085285744736,-0.1338175274718303],[-0.6370650911646347,-0.10154855047528243]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[0.08900378811963905,-0.945406271087462,0.71338606911949],"aabb_xy":[[0.06650378830573667,-0.9498808874579427],[0.11150378793354143,-0.9409316547169813]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[-0.3051451484274094,-0.9756364733670606,0.71338606911949],"aabb_xy":[[-0.3111116873681452,-0.9815976180264248],[-0.29917860948667363,-0.9696753287076967]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[-0.4959396168367126,-0.2890917879069974,0.71338606911949],"aabb_xy":[[-0.5126167528298081,-0.30579171188092763],[-0.4792624808436171,-0.2723918639330671]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_29","position":[0.3539428439810195,-0.7785081884306535,0.71338606911949],"aabb_xy":[[0.33960841885485604,-0.7905684039851922],[0.36827726910718295,-0.7664479728761145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6811593463265204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2198.png","name":"2198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/847.png","name":"847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6157.png","name":"6157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7748.png","name":"7748"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":526.763382797518,"rotation_z_degrees":305.06548079782544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00487172723902075,-0.0131574222853425,0.01681071779020372]},{"name":"camera_2","offset_m":[0.0003788828784275257,-0.014455198255909369,0.01087180833710662]},{"name":"camera_3","offset_m":[-0.0047399498953025095,0.013691809242543661,-0.00401382203149386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018022126820524114,-0.0013976408571365684,0.0019290999872452084],"end_effector_yaw_offset_degrees":-0.4921912411920899},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019094062956708285,0.0011117101478400598,-0.0008900553592332482],"end_effector_yaw_offset_degrees":0.45272585507025886},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004308280171184727,-0.0016781584785202374,-0.0017557369993129823],"end_effector_yaw_offset_degrees":-0.13496430377688906}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0041213917066492715,0.0036835827429386207],"position_m":[0.3064786082933507,-0.01671641725706138,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020487334931663633,0.0016729416003181093],"position_m":[0.15144873349316637,0.2809729416003181,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038413151150653814,0.0021106438311242724],"position_m":[0.34664131511506535,0.2152106438311243,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024360550262973834,0.0034388513658077198],"position_m":[0.2562639449737026,-0.3582611486341923,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cdbdc6805f6393567d621a8037032d19d679bb83bad3b38edeca1578252c181c","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9934/tex_ceiling_textures_7748/tex_floor_textures_6157/tex_table_textures_2198/tex_wall_textures_847","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1327428052235284121,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1327428052235284121,"visual_seed":1327428052235284121,"scene_id":"lab_003","finished_at":"2026-09-03T08:59:31"} +{"episode_id":"ep_000018","started_at":"2026-09-03T08:59:34","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.5598914789140205,-2.358396857571367,0.71338606911949],"aabb_xy":[[-0.5669329298647681,-2.3654236093091616],[-0.5528500279632729,-2.3513701058335728]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.4776051408454278,1.43493991398199,0.71338606911949],"aabb_xy":[[0.4126051382076343,1.383460315282543],[0.5426051434832213,1.486419512681437]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.4817639277859771,-0.0048157780836843855,0.71338606911949],"aabb_xy":[[-0.5192639281342049,-0.016607173664767938],[-0.44426392743774934,0.006975617497399168]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.20089765767690437,-0.9184843929945918,0.71338606911949],"aabb_xy":[[0.19439602116889976,-0.9282522150209016],[0.207399294184909,-0.9087165709682821]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.3918026657580826,0.7659745526229451,0.71338606911949],"aabb_xy":[[-0.4196477025386897,0.7351900538846333],[-0.36395762897747547,0.7967590513612567]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.17321352255505995,1.259783871178656,0.71338606911949],"aabb_xy":[[0.10921352544295426,1.2107515013842454],[0.23721351966716564,1.3088162409730666]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.3123391796875642,-0.6087180409148649,0.71338606911949],"aabb_xy":[[-0.3923391768471394,-0.6202656418726818],[-0.23233918252798885,-0.5971704399570478]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.25181601497439354,1.3769747304667863,0.71338606911949],"aabb_xy":[[0.21431601345876178,1.365747957450641],[0.2893160164900252,1.3882015034829311]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[-0.33132377157420173,-2.2585009359389474,0.71338606911949],"aabb_xy":[[-0.3650993307648947,-2.2725394311521123],[-0.29754821238350876,-2.2444624407257825]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.16653721501768204,-1.2867137062621434,0.71338606911949],"aabb_xy":[[-0.220552811299582,-1.3507137091544004],[-0.11252161873578201,-1.222713703369886]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.4675218965252492,-2.191095730165639,0.71338606911949],"aabb_xy":[[0.37752189419123017,-2.2685780847507515],[0.5575218988592683,-2.113613375580526]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.01444506165785131,-1.6426197790957362,0.71338606911949],"aabb_xy":[[-0.03552823234540914,-1.6926197796502833],[0.06441835566111176,-1.5926197785411886]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.2588949295706521,0.917726357940067,0.71338606911949],"aabb_xy":[[-0.293894927840772,0.9106522302450787],[-0.22389493130053217,0.924800485635055]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.13814345036760323,-0.5263195579148445,0.71338606911949],"aabb_xy":[[-0.18813828329554483,-0.5763195568100881],[-0.08814861743966163,-0.476319559019601]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[0.39628327229821414,-1.0863935312490363,0.71338606911949],"aabb_xy":[[0.346283271937648,-1.136373518458639],[0.44628327265878015,-1.036413544039433]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.5538680806210723,-0.31555536860499167,0.71338606911949],"aabb_xy":[[-0.6088680802428181,-0.3705390613924644],[-0.49886808099932645,-0.26057167581751894]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.19758922038081572,-0.5611892854992511,0.71338606911949],"aabb_xy":[[0.18414269374677242,-0.5746591371523423],[0.21103574701485908,-0.5477194338461598]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.5013527947991554,1.2595361926017303,0.71338606911949],"aabb_xy":[[-0.5313444575330256,1.2295361932649298],[-0.47136113206528496,1.2895361919385309]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[-0.6059095360921599,1.7111491500071012,0.71338606911949],"aabb_xy":[[-0.6699095333778086,1.669642431054257],[-0.5419095388065113,1.752655868959945]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[0.568631925064975,-0.596746528779631,0.71338606911949],"aabb_xy":[[0.5647180518695525,-0.6054955441861878],[0.5725457982603974,-0.5879975133730742]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.12903881238556292,-1.970445976506475,0.71338606911949],"aabb_xy":[[-0.21403881080298615,-2.0553202719687604],[-0.04403881396813969,-1.8855716810441903]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686750027728187,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5565.png","name":"5565"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5565.png","name":"5565"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6250.png","name":"6250"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2159.png","name":"2159"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7023.png","name":"7023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5924.png","name":"5924"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":702.5601397857746,"rotation_z_degrees":354.60726260747913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013309006912704282,0.018041761196557638,0.01770942060839738]},{"name":"camera_2","offset_m":[-0.005032497897201772,0.010888082111354745,-0.01555286140729847]},{"name":"camera_3","offset_m":[-0.005770748758545002,0.001444812237984424,-0.0006571416569458623]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011356706539922359,0.001820117255818462,-0.0002478550377982497],"end_effector_yaw_offset_degrees":0.9207963402030785},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00012484976669318313,0.0012264862208709094,0.0019304039626965178],"end_effector_yaw_offset_degrees":-0.13371593824805506},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008081871086215947,-0.0018349656851981524,-0.0019738269292876908],"end_effector_yaw_offset_degrees":0.6832388486288019}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010609639446978727,-0.001384402784416404],"position_m":[0.30953903605530214,-0.021784402784416405,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003594633859254066,-0.0021678820979744375],"position_m":[0.15299463385925408,0.2771321179020256,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043426784208219875,-0.002935258415836115],"position_m":[0.338457321579178,0.2101647415841639,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000966195688943957,-0.004760427529599444],"position_m":[0.257733804311056,-0.36646042752959945,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"685c250db723f0d6d8c63b36a13ac1511d40124c18888f244d46c5c4cf534208","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5565/tex_ceiling_textures_5924/tex_floor_textures_7023/tex_table_textures_6250/tex_wall_textures_2159","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6717996065378872042,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6717996065378872042,"visual_seed":6717996065378872042,"scene_id":"lab_003","finished_at":"2026-09-03T09:01:58"} +{"episode_id":"ep_000019","started_at":"2026-09-03T09:02:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.6239474188187069,-0.837588616356945,0.71338606911949],"aabb_xy":[[0.6159539290234249,-0.8455867482974208],[0.631940908613989,-0.8295904844164695]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.6846977195395794,-0.8950394328807738,0.71338606911949],"aabb_xy":[[-0.6884009808687181,-0.8987414511894914],[-0.6809944582104404,-0.8913374145720557]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[-0.11361183772577266,0.5107020878780384,0.71338606911949],"aabb_xy":[[-0.1836118341357344,0.4902641522263565],[-0.04361184131581084,0.5311400235297199]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[-0.5704642526530765,0.7604244306272236,0.71338606911949],"aabb_xy":[[-0.6354642508089956,0.7341281860773115],[-0.5054642544971575,0.7867206751771358]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[0.17887343662581068,1.5034797365567605,0.71338606911949],"aabb_xy":[[0.1288734349643159,1.4534812943010575],[0.22887343828730544,1.553478178812463]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.3825307686586473,1.3973236537508478,0.71338606911949],"aabb_xy":[[-0.3980865380689127,1.3817732205064408],[-0.3669749992483821,1.4128740869952552]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.5037769297492001,-0.8877479565990347,0.71338606911949],"aabb_xy":[[-0.5145499036705677,-0.9227479548180737],[-0.4930039558278322,-0.8527479583799957]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.180895734273136,-1.5628921444040953,0.71338606911949],"aabb_xy":[[-0.20339573428328428,-1.5769883640436986],[-0.1583957342629877,-1.548795924764492]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.048219526281181646,-1.8629140376239324,0.71338606911949],"aabb_xy":[[-0.06565024136018814,-1.8801861522877827],[-0.030788811202175134,-1.8456419229600811]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.10274520927516217,1.6937464066905181,0.71338606911949],"aabb_xy":[[-0.14376315266153306,1.6437464060595608],[-0.06172726588879128,1.7437464073214755]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.45346865779563905,-2.140658869910389,0.71338606911949],"aabb_xy":[[0.36378158148752354,-2.2306588701648393],[0.5431557341037545,-2.0506588696559382]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.30826491621045493,0.7770566961827203,0.71338606911949],"aabb_xy":[[0.30430443244072064,0.7693888315971998],[0.31222539998018933,0.784724560768241]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.5494822516840479,-1.0614883597690283,0.71338606911949],"aabb_xy":[[0.5318494160905202,-1.079111305784651],[0.5671150872775753,-1.0438654137534051]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.3703678477060634,0.3085688217544833,0.71338606911949],"aabb_xy":[[-0.3942040653466685,0.21856882094599683],[-0.34653163006545834,0.3985688225629698]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.3595330504942049,-0.3676508187580647,0.71338606911949],"aabb_xy":[[-0.449533050217379,-0.3907241712932445],[-0.2695330507710306,-0.3445774662228848]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.2521797186832067,0.8647764916966976,0.71338606911949],"aabb_xy":[[-0.28967971934778536,0.8490894336964754],[-0.21467971801862798,0.8804635496969198]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.07819462287184453,0.16781168245409717,0.71338606911949],"aabb_xy":[[-0.09577292506079137,0.15023719287999227],[-0.06061632068289767,0.18538617202820207]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.5309674375998412,0.39948476505620567,0.71338606911949],"aabb_xy":[[-0.5949674348854898,0.35797804610336165],[-0.46696744031419246,0.4409914840090496]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.589495495677905,-1.4877070169812994,0.71338606911949],"aabb_xy":[[0.5824540447271574,-1.4947337687190938],[0.5965369466286526,-1.480680265243505]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.4080692384507707,-1.2990174203750935,0.71338606911949],"aabb_xy":[[0.37056923693513893,-1.3102441933912385],[0.44556923996640235,-1.2877906473589484]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.5737002559813739,1.7724538098160072,0.71338606911949],"aabb_xy":[[-0.6112002557984074,1.767815598504865],[-0.5362002561643403,1.7770920211271486]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.13777235759422235,-0.3023076901342372,0.71338606911949],"aabb_xy":[[-0.20177235900221302,-0.3540966416581618],[-0.0737723561862317,-0.2505187386103124]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.38415624930520015,-0.8509227096677883,0.71338606911949],"aabb_xy":[[-0.3911965592387372,-0.9309227090674599],[-0.3771159393716632,-0.7709227102681171]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[0.04153389314981171,1.654425077048154,0.71338606911949],"aabb_xy":[[0.005904737249851966,1.6187924102913007],[0.07716304904977145,1.6900577438050066]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.39373813645430744,1.5257758234194436,0.71338606911949],"aabb_xy":[[-0.4063649237415038,1.5162297497178705],[-0.3811113491671111,1.5353218971210163]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[0.013339894430899002,-1.2358878302960448,0.71338606911949],"aabb_xy":[[-0.024160105512867402,-1.2441809203308813],[0.050839894374665406,-1.2275947402612082]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[0.23736123937529308,-2.5107943756591338,0.71338606911949],"aabb_xy":[[0.18236123975354723,-2.565778068446607],[0.2923612389970389,-2.4558106828716615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839192579299535,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/298.png","name":"298"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/298.png","name":"298"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/745.png","name":"745"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2724.png","name":"2724"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6224.png","name":"6224"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8953.png","name":"8953"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.5221574253268,"rotation_z_degrees":223.43354946027034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013305665349975411,0.002027989232879609,0.00039115592991804254]},{"name":"camera_2","offset_m":[0.01674626899395335,0.017349575933626137,-0.01885522981680603]},{"name":"camera_3","offset_m":[-0.0051210400889777526,-0.010690501851598389,0.00335413631890601]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006006493213855802,0.0010725766927079535,-0.0009061005034590038],"end_effector_yaw_offset_degrees":-0.18843300452228307},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001670016740753919,-0.0010655181073809944,0.001976672823591017],"end_effector_yaw_offset_degrees":-0.492856993237647},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007966625219571863,9.606432992306704e-05,-0.001618370916921034],"end_effector_yaw_offset_degrees":-0.7917651618807351}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026912418335832975,-0.0012155738976736973],"position_m":[0.3132912418335833,-0.0216155738976737,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033520993722163358,0.00029185402409593296],"position_m":[0.15275209937221634,0.2795918540240959,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00036399067912101443,0.002935168913744458],"position_m":[0.343163990679121,0.21603516891374447,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019140113663903948,-0.0009476752572887713],"position_m":[0.2567859886336096,-0.3626476752572888,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99784f83c553b44695d0b4f7146475ad7523a2a15a7eeca1baf467086b511a04","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_298/tex_ceiling_textures_8953/tex_floor_textures_6224/tex_table_textures_745/tex_wall_textures_2724","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8509941382206735491,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8509941382206735491,"visual_seed":8509941382206735491,"scene_id":"lab_003","finished_at":"2026-09-03T09:04:20"} +{"episode_id":"ep_000020","started_at":"2026-09-03T09:04:25","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.5120684777623714,-0.19141173502069186,0.71338606911949],"aabb_xy":[[0.4480684770589022,-0.2374301174936129],[0.5760684784658409,-0.14539335254777086]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.32458238225418246,1.4258000007374387,0.71338606911949],"aabb_xy":[[0.299582382702444,1.415657516872304],[0.34958238180592094,1.4359424846025735]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.6432708307081892,1.6902917041132546,0.71338606911949],"aabb_xy":[[-0.6631618705885295,1.6776358928285577],[-0.623379790827849,1.7029475153979514]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.6578966731266813,-1.548912913446395,0.71338606911949],"aabb_xy":[[0.6460245901151801,-1.6339129131400456],[0.6697687561381823,-1.463912913752745]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.4695505258987027,-2.1160251464068343,0.71338606911949],"aabb_xy":[[0.4055505287865971,-2.1650575162012453],[0.5335505230108084,-2.066992776612424]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.2028935059192465,-2.326222784839728,0.71338606911949],"aabb_xy":[[0.11289350941837471,-2.3721344272581857],[0.2928935024201182,-2.280311142421269]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.3082445707353143,1.5433972011855954,0.71338606911949],"aabb_xy":[[0.30193247119897587,1.5376302619323763],[0.31455667027165274,1.5491641404388141]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.37532748383679393,-0.9473558679311178,0.71338606911949],"aabb_xy":[[0.32532748439659825,-0.997323792415434],[0.4253274832769895,-0.8973879434468014]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.26097519838549077,-0.14663334147518592,0.71338606911949],"aabb_xy":[[-0.31499079466739077,-0.21063334436744305],[-0.20695960210359077,-0.08263333858292873]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.624282262996936,-1.3496702304591468,0.71338606911949],"aabb_xy":[[-0.6592822621268917,-1.355415451534811],[-0.5892822638669803,-1.3439250093834827]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.18552725991416108,0.7228845852708652,0.71338606911949],"aabb_xy":[[-0.2355272585600823,0.6729650416114027],[-0.1355272612682399,0.7728041289303275]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.354651249987029,1.3829834005452257,0.71338606911949],"aabb_xy":[[-0.37252035774148445,1.3691504925680147],[-0.33678214223257347,1.3968163085224368]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.15169463327330368,-0.7074590725718841,0.71338606911949],"aabb_xy":[[0.13411633108435683,-0.725033562145989],[0.16927293546225053,-0.6898845829977792]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.09084501847048632,1.3310667001904717,0.71338606911949],"aabb_xy":[[-0.12584501678118176,1.323351685266926],[-0.05584502015979087,1.3387817151140173]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.4531018008355684,-1.7366598702736824,0.71338606911949],"aabb_xy":[[-0.46034556688181366,-1.8166598684772848],[-0.445858034789323,-1.65665987207008]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.5835457313458361,1.708780384420503,0.71338606911949],"aabb_xy":[[0.5235457297029142,1.6567802351285588],[0.643545732988758,1.7607805337124471]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.40360510869386834,-1.4069309171127267,0.71338606911949],"aabb_xy":[[0.3956116188985865,-1.4149290490532025],[0.41159859848915054,-1.3989327851722513]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.5878475900105432,-0.09694605719895044,0.71338606911949],"aabb_xy":[[-0.6024909955645762,-0.11160477685573472],[-0.5732041844565102,-0.08228733754216616]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.5168031686522176,-1.3028685819176549,0.71338606911949],"aabb_xy":[[0.4856562498086344,-1.372868580604462],[0.5479500874958007,-1.2328685832308477]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.3048895198773036,-1.9698357819325274,0.71338606911949],"aabb_xy":[[0.24088951961683278,-2.014844581285455],[0.3688895201377744,-1.9248269825795992]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.11680130860270654,-1.8153678646912268,0.71338606911949],"aabb_xy":[[0.03680130534486359,-1.8953643724832105],[0.1968013118605495,-1.7353713568992426]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.4191371050118595,-1.9128326143549828,0.71338606911949],"aabb_xy":[[-0.483137103598432,-1.9598395777544915],[-0.35513710642528706,-1.865825650955474]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.3370010860845776,1.3621942360196582,0.71338606911949],"aabb_xy":[[0.3187952624233299,1.3511688354376665],[0.35520690974582525,1.3732196366016498]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.3837010404650969,1.2406391957833267,0.71338606911949],"aabb_xy":[[0.35321679033806674,1.1906391960018308],[0.41418529059212705,1.2906391955648226]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.00824613589049561,-2.500901376029664,0.71338606911949],"aabb_xy":[[-0.027358443248474473,-2.520036154906906],[0.010866171467483254,-2.481766597152422]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864848391318381,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6018.png","name":"6018"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6018.png","name":"6018"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4913.png","name":"4913"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9720.png","name":"9720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7940.png","name":"7940"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5133.png","name":"5133"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":604.4798257082449,"rotation_z_degrees":288.774748734105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032602073514306357,0.016146974944458856,0.005245306286944772]},{"name":"camera_2","offset_m":[-0.007836675055988817,0.012873721744243411,-0.0016759575377142087]},{"name":"camera_3","offset_m":[-0.006765593922646928,-0.004974657203679378,-0.01827542971433855]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019186109815606638,-0.0009301638492572653,-0.0008175539379708576],"end_effector_yaw_offset_degrees":0.7518288238702959},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.406996379564915e-05,-0.0013997514190020625,0.00014796190501533638],"end_effector_yaw_offset_degrees":0.8492354304318324},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005159789987448206,0.0005744895824216223,-0.0011792923006205577],"end_effector_yaw_offset_degrees":0.9274131906873788}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00424054561462368,-0.003563091146785007],"position_m":[0.3063594543853763,-0.023963091146785007,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038312032667666947,0.004434032537633943],"position_m":[0.1532312032667667,0.28373403253763396,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002160169565577288,0.002378940058954471],"position_m":[0.3406398304344227,0.2154789400589545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012396676056819654,-0.004696873562009675],"position_m":[0.25746033239431804,-0.3663968735620097,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"edabcd7b202a8c54d1d0c0494688086f1d473565744ef84d046fa3fad31b9bb6","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6018/tex_ceiling_textures_5133/tex_floor_textures_7940/tex_table_textures_4913/tex_wall_textures_9720","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4193866913254248128,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4193866913254248128,"visual_seed":4193866913254248128,"scene_id":"lab_003","finished_at":"2026-09-03T09:07:10"} +{"episode_id":"ep_000021","started_at":"2026-09-03T09:07:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.49252666059909544,-2.298106848208872,0.71338606911949],"aabb_xy":[[0.4285266603386246,-2.3431156475617994],[0.5565266608595661,-2.2530980488559433]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.15355852847267237,1.3332095866998355,0.71338606911949],"aabb_xy":[[-0.203655992453746,1.2692095861900237],[-0.10346106449159875,1.3972095872096473]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[0.3551125046812216,-0.8652047669481553,0.71338606911949],"aabb_xy":[[0.2911125014625837,-0.9119278788471636],[0.41911250789985943,-0.8184816550491469]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.24869111758281276,-1.6115931395302479,0.71338606911949],"aabb_xy":[[-0.25573256853356036,-1.6186198912680425],[-0.24164966663206516,-1.6045663877924536]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.4556956925957773,-0.9326472647702875,0.71338606911949],"aabb_xy":[[-0.46380934726915435,-0.9407530812243166],[-0.44758203792240014,-0.9245414483162584]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.4231309724815028,0.18636904984163616,0.71338606911949],"aabb_xy":[[-0.4931309746129322,0.16360708421594045],[-0.3531309703500731,0.20913101546733176]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.24933354079286513,-1.46047817774788,0.71338606911949],"aabb_xy":[[-0.31333353807851383,-1.5019848967007239],[-0.1853335435072165,-1.418971458795036]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.3725885232686569,1.5250811006698908,0.71338606911949],"aabb_xy":[[-0.43658852548906385,1.4807080165446025],[-0.3085885210482498,1.569454184795179]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[0.20415315297438208,0.7646135742603346,0.71338606911949],"aabb_xy":[[0.18031693533377705,0.6746135734518481],[0.2279893706149872,0.8546135750688212]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[-0.2781937910294429,-0.33632460189835767,0.71338606911949],"aabb_xy":[[-0.34319379106374565,-0.3830252785786849],[-0.2131937909951402,-0.2896239252180303]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.3119199357004996,-1.7905410558233,0.71338606911949],"aabb_xy":[[0.24791993335769805,-1.8354819070674324],[0.37591993804330115,-1.7456002045791674]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.3005981921645935,-0.05955169590148479,0.71338606911949],"aabb_xy":[[-0.31184324773521127,-0.07079349362558006],[-0.2893531365939756,-0.048309898177389496]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.6365128960781137,-1.663117733696482,0.71338606911949],"aabb_xy":[[0.6283852078848005,-1.67203134210719],[0.6446405842714269,-1.6542041252857744]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.6412493966448343,0.9033832563709638,0.71338606911949],"aabb_xy":[[-0.6546959232788776,0.8899134047178726],[-0.6278028700107909,0.9168531080240551]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[0.6355025179660223,0.9018789746597058,0.71338606911949],"aabb_xy":[[0.6250909592855385,0.8965332413238071],[0.6459140766465059,0.9072247079956041]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[-0.5546050008313137,1.0892661914228743,0.71338606911949],"aabb_xy":[[-0.5808938251517543,1.0629947577682228],[-0.5283161765108729,1.1155376250775253]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.3200460213701786,0.9812006164604914,0.71338606911949],"aabb_xy":[[-0.33319726734146804,0.956200616703805],[-0.3068947753988893,1.006200616217178]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.12618892236786672,0.5837374129580604,0.71338606911949],"aabb_xy":[[-0.19118892092493955,0.5539848795441777],[-0.06118892381079388,0.613489946371943]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.6483617558731858,-1.953478461208264,0.71338606911949],"aabb_xy":[[-0.6532053506344158,-1.9583301136872482],[-0.6435181611119558,-1.94862680872928]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.13795094429610788,-0.9096624857498108,0.71338606911949],"aabb_xy":[[0.048263867987992426,-0.9996624860042613],[0.22763802060422333,-0.8196624854953602]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[0.6350019662675197,-1.8115851594118366,0.71338606911949],"aabb_xy":[[0.5710019698719467,-1.8755484478305702],[0.6990019626630929,-1.747621870993103]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.4533162620412506,1.3686709383737385,0.71338606911949],"aabb_xy":[[-0.5033004977494276,1.3186709395602432],[-0.40333202633307325,1.4186709371872344]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[-0.2788093155678522,-1.2556063812775244,0.71338606911949],"aabb_xy":[[-0.29630931581290154,-1.2731061691170913],[-0.26130931532280277,-1.2381065934379576]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[-0.18185433149346875,1.0681821671548906,0.71338606911949],"aabb_xy":[[-0.2193543318416965,1.0563907715738068],[-0.144354331145241,1.079973562735974]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.6202347601988214,-2.2125899290049533,0.71338606911949],"aabb_xy":[[0.6094617862774536,-2.2475899272239923],[0.6310077341201892,-2.1775899307859143]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[0.40401052976707397,-0.655198635753629,0.71338606911949],"aabb_xy":[[0.37949690567006816,-0.6794632290556655],[0.4285241538640799,-0.6309340424515926]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.5755759984419204,-1.3705314011774588,0.71338606911949],"aabb_xy":[[0.5505759991699581,-1.3868767647736209],[0.6005759977138827,-1.3541860375812962]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[-0.16442378754428322,-1.1962631947709768,0.71338606911949],"aabb_xy":[[-0.2019237882088619,-1.2119502527711987],[-0.1269237868797045,-1.1805761367707543]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[-0.6098767674210475,-1.6286598386034439,0.71338606911949],"aabb_xy":[[-0.6898767688511747,-1.7081769936160531],[-0.5298767659909203,-1.5491426835908342]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.7069655663341572,-2.4002838821944916,0.71338606911949],"aabb_xy":[[0.6943387790469607,-2.4098299558960643],[0.7195923536213534,-2.390737808492918]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[-0.4345929075032449,-1.4402455830482879,0.71338606911949],"aabb_xy":[[-0.4806779987579764,-1.504245580300843],[-0.38850781624851344,-1.3762455857957328]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889663582899463,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4260.png","name":"4260"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2399.png","name":"2399"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4086.png","name":"4086"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.5728861221248,"rotation_z_degrees":31.124282396911997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019643054418774543,0.011587968731293526,-0.0032766230095932596]},{"name":"camera_2","offset_m":[0.0013185819956538225,0.005011556515481911,-0.0075242582130164454]},{"name":"camera_3","offset_m":[-0.015918387053374165,-0.013058885996059786,0.0173344332315581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00034842457484163085,0.0007932133253530193,-0.0011083696063831248],"end_effector_yaw_offset_degrees":-0.1994385553797644},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019336082199510798,-0.0018941233732817269,0.0012056182682621572],"end_effector_yaw_offset_degrees":-0.9717049357195848},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009794387398126651,-0.0013272270567153326,0.0010555690950374416],"end_effector_yaw_offset_degrees":0.23756225662077868}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036023742163185137,0.003925871307359345],"position_m":[0.30699762578368145,-0.016474128692640658,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037175714945059087,0.004631856536470624],"position_m":[0.15311757149450592,0.28393185653647063,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002672659284003467,0.0008935240962588773],"position_m":[0.34012734071599654,0.21399352409625888,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003963854174086395,-0.0010551665896784681],"position_m":[0.2626638541740864,-0.3627551665896785,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"743a5575c6efd6cc97e5d25bdc61422a6c64eb9e4584d8e5867829c25c5b035e","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6806/tex_ceiling_textures_4086/tex_floor_textures_2399/tex_table_textures_8280/tex_wall_textures_4260","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5039942808025753639,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5039942808025753639,"visual_seed":5039942808025753639,"scene_id":"lab_003","finished_at":"2026-09-03T09:09:38"} +{"episode_id":"ep_000022","started_at":"2026-09-03T09:09:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.19966104721355898,-0.7339323650748024,0.71338606911949],"aabb_xy":[[-0.26366104360913206,-0.797895653493536],[-0.1356610508179859,-0.6699690766560689]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.3757128769136492,1.3340646384521264,0.71338606911949],"aabb_xy":[[-0.43083808254323996,1.2740646370108393],[-0.3205876712840584,1.3940646398934136]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.4776461009516477,0.47177965652360365,0.71338606911949],"aabb_xy":[[0.44079555301466006,0.43427965570057],[0.5144966488886353,0.5092796573466374]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.6331549774330876,-1.7226615576219468,0.71338606911949],"aabb_xy":[[0.6156549781550007,-1.7399996576882926],[0.6506549767111744,-1.7053234575556007]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.1607033771306201,1.3964907480592235,0.71338606911949],"aabb_xy":[[0.1505503615764707,1.3604212064864827],[0.17085639268476946,1.4325602896319634]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.34211181186186645,-0.5181412421385461,0.71338606911949],"aabb_xy":[[0.27811180994952417,-0.5740523913965565],[0.40611181377420885,-0.4622300928805356]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.6727377651638922,1.1979369092842558,0.71338606911949],"aabb_xy":[[-0.6797780750974292,1.1179369098845846],[-0.6656974552303552,1.2779369086839274]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.5042635030435789,-1.309462915805796,0.71338606911949],"aabb_xy":[[-0.5135571212807295,-1.3469629142939297],[-0.49496988480642834,-1.2719629173176619]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.2466668393880872,-2.3791324882935325,0.71338606911949],"aabb_xy":[[0.23406414025101074,-2.391727884518398],[0.25926953852516366,-2.366537092068667]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.4143616761442148,-0.79304984990839,0.71338606911949],"aabb_xy":[[0.3503616788585662,-0.834556568861234],[0.47836167342986347,-0.751543130955546]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.44613932704029735,-0.21610343396911436,0.71338606911949],"aabb_xy":[[0.43887807946988994,-0.22889044423262384],[0.45340057461070477,-0.20331642370560488]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.2574519761229293,1.6636988730780966,0.71338606911949],"aabb_xy":[[-0.294486085550989,1.6293216657443872],[-0.22041786669486954,1.698076080411806]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.4828769643232698,-1.9732553479664532,0.71338606911949],"aabb_xy":[[-0.5019892716812486,-1.9923901268436954],[-0.46376465696529096,-1.9541205690892114]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.15600086222607135,0.9586246897363244,0.71338606911949],"aabb_xy":[[-0.2175916214500642,0.8946246916272778],[-0.09441010300207855,1.0226246878453715]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.12526622358703243,-1.7443215168859523,0.71338606911949],"aabb_xy":[[-0.17526622494791963,-1.7942994214613681],[-0.0752662222261452,-1.6943436123105369]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.42274081942644837,0.7853866962235085,0.71338606911949],"aabb_xy":[[-0.4777408176281932,0.7448647295970708],[-0.36774082122470353,0.825908662849946]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.33868562014342696,0.5282780006535295,0.71338606911949],"aabb_xy":[[0.29591891326400677,0.4642779972317269],[0.38145232702284715,0.5922780040753318]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.09917281149951651,-1.2171077273594324,0.71338606911949],"aabb_xy":[[0.06184153497427389,-1.2517607821542847],[0.13650408802475913,-1.1824546725645801]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.4981516939036186,0.4079713242557994,0.71338606911949],"aabb_xy":[[-0.5034842085582316,0.4026469960105638],[-0.49281917924900565,0.413295652501035]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.17026966732237603,1.6616294639048248,0.71338606911949],"aabb_xy":[[0.12045288785754124,1.6116294654205214],[0.22008644678721076,1.7116294623891282]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.21851018014053297,-0.9874772966041514,0.71338606911949],"aabb_xy":[[-0.23601018038558233,-1.004977084443718],[-0.20101017989548356,-0.9699775087645844]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.3001044478411621,0.9729594691642727,0.71338606911949],"aabb_xy":[[0.2920781772105361,0.9642079741869201],[0.3081307184717881,0.9817109641416253]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.43190398831125215,1.6114437593895796,0.71338606911949],"aabb_xy":[[-0.4479659157697698,1.5264437575769878],[-0.4158420608527345,1.6964437612021714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877443486859534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3381.png","name":"3381"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3381.png","name":"3381"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8902.png","name":"8902"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6667.png","name":"6667"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7893.png","name":"7893"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.3621171866821,"rotation_z_degrees":16.20177262562306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006759892513177648,-0.0001435512552879492,-0.007932833697583833]},{"name":"camera_2","offset_m":[0.0035250978058808807,-0.002949469892651869,-0.00301013061255824]},{"name":"camera_3","offset_m":[-0.00040385403347140136,-0.015242517098380603,0.008797397492026095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019281065049682054,-0.000678014712397331,0.0015365343072274982],"end_effector_yaw_offset_degrees":-0.18919540339748164},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015708570023044944,-0.0013175325575493918,-0.0018669398255005056],"end_effector_yaw_offset_degrees":0.6765655518284073},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005387815903872971,0.0007315110632451481,-0.0011908499087157128],"end_effector_yaw_offset_degrees":-0.4818706981196168}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001645841580145439,-0.004684246694530679],"position_m":[0.31076458415801456,-0.02508424669453068,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027213297459834883,0.0030311092859784004],"position_m":[0.1521213297459835,0.2823311092859784,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009035069828231355,0.004894465128426389],"position_m":[0.34189649301717684,0.2179944651284264,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00041334436444648813,-0.004435994545628422],"position_m":[0.2591133443644465,-0.36613599454562845,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99aa16aacd8bb35a04d8e25806f80d847e79a5b3a4bd3a0c6e914baded1ab5c8","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3381/tex_ceiling_textures_7893/tex_floor_textures_6667/tex_table_textures_8277/tex_wall_textures_8902","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3479152392671222626,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3479152392671222626,"visual_seed":3479152392671222626,"scene_id":"lab_003","finished_at":"2026-09-03T09:12:08"} +{"episode_id":"ep_000023","started_at":"2026-09-03T09:12:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.40462458167691145,-1.3243245189369468,0.71338606911949],"aabb_xy":[[-0.4421245821742697,-1.328293202485065],[-0.3671245811795532,-1.3203558353888285]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.07999042764938202,1.1694557679482416,0.71338606911949],"aabb_xy":[[-0.08640424129256694,1.163045947700573],[-0.07357661400619706,1.1758655881959097]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.6431318888070521,1.4949131273587297,0.71338606911949],"aabb_xy":[[0.5791318864642504,1.4499722761145972],[0.7071318911498535,1.5398539786028622]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.536345025746116,1.0356464943643875,0.71338606911949],"aabb_xy":[[-0.5459766619665456,1.0260091815846786],[-0.5267133895256864,1.0452838071440964]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.2128590692066824,-1.6071327252417946,0.71338606911949],"aabb_xy":[[0.16285907056076118,-1.6570522689012568],[0.2628590678526036,-1.557213181582332]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.31010444542067434,0.24303914734190846,0.71338606911949],"aabb_xy":[[-0.3602019094017479,0.17903914683209665],[-0.26000698143960066,0.30703914785172026]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.12805725267843893,1.3602674382756619,0.71338606911949],"aabb_xy":[[0.10559248270703378,1.3377674373968014],[0.15052202264984402,1.3827674391545224]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.6386621247306621,0.7519280445291923,0.71338606911949],"aabb_xy":[[0.6299641624399469,0.7398030702217177],[0.6473600870213775,0.7640530188366672]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.14106351387324167,-2.096540954128915,0.71338606911949],"aabb_xy":[[0.07106351206449624,-2.1178947228931024],[0.2110635156819871,-2.0751871853647277]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.44704974987173374,1.2627837064091207,0.71338606911949],"aabb_xy":[[-0.4816408327257789,1.1977837061240895],[-0.41245866701768846,1.3277837066941516]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.6201525306560289,-1.3746248373251382,0.71338606911949],"aabb_xy":[[0.5826525303638541,-1.3786663127257415],[0.6576525309482038,-1.3705833619245344]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.5513031204452895,-1.3729601505954037,0.71338606911949],"aabb_xy":[[-0.5632358548071176,-1.385342303403263],[-0.5393703860834614,-1.3605779977875443]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.11120673388370983,1.4536858139764752,0.71338606911949],"aabb_xy":[[-0.12630903534472787,1.4385842923454129],[-0.0961044324226917,1.4687873356075367]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.028208984000246407,-0.8157482385115782,0.71338606911949],"aabb_xy":[[-0.03877646365834542,-0.8262932686245867],[-0.017641504342147393,-0.8052032083985696]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.09564464672908313,-1.8425390019825822,0.71338606911949],"aabb_xy":[[0.045644647288887494,-1.8925069264668983],[0.14564464616927875,-1.7925710774982657]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.4510010386784484,-0.4869506322897461,0.71338606911949],"aabb_xy":[[-0.4722790468219205,-0.5519506346158192],[-0.429723030534976,-0.421950629963673]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.5934953639559797,-0.43722894875811047,0.71338606911949],"aabb_xy":[[0.5743830565980008,-0.4563637276353525],[0.6126076713139585,-0.41809416988086845]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.20722363803646632,0.5724524919600746,0.71338606911949],"aabb_xy":[[-0.21446740408271164,0.49245249375647226],[-0.199979871990221,0.652452490163677]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.3747062749634305,-2.018841910562374,0.71338606911949],"aabb_xy":[[-0.3976219878484805,-2.041746207698798],[-0.35179056207838066,-1.995937613425951]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.6404671694623871,-1.138779378403102,0.71338606911949],"aabb_xy":[[-0.6623758516017381,-1.1606800452231925],[-0.618558487323036,-1.116878711583011]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.26866200856749256,0.826368167448905,0.71338606911949],"aabb_xy":[[0.20866200797147638,0.7715556949036815],[0.32866200916350874,0.8811806399941284]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.053352142058197494,0.8246250587287913,0.71338606911949],"aabb_xy":[[0.03085214224429511,0.8201504423583107],[0.07585214187209988,0.8290996750992722]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.5843114545970237,1.2026466560279374,0.71338606911949],"aabb_xy":[[-0.621811453020424,1.1894824420601067],[-0.5468114561736233,1.2158108699957682]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.3606422336678383,-2.3336508927639583,0.71338606911949],"aabb_xy":[[0.2756422349757637,-2.365636756158837],[0.44564223235991296,-2.3016650293690795]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.04878783487715055,-0.012561381848147146,0.71338606911949],"aabb_xy":[[-0.0690721376005493,-0.03284400699085598],[-0.028503532153751784,0.007721243294561698]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.4064584712508499,-1.9270161735048124,0.71338606911949],"aabb_xy":[[0.38394477942739264,-1.9970161741058199],[0.428972163074307,-1.8570161729038048]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.44159413137481335,-0.9735084080146656,0.71338606911949],"aabb_xy":[[-0.48436083825423354,-1.0375084114364683],[-0.39882742449539316,-0.9095084045928633]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[0.0926295947211847,-0.7552662394057279,0.71338606911949],"aabb_xy":[[0.028629595427016485,-0.8192523797745821],[0.15662959401535292,-0.6912800990368737]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[0.569112374922818,0.302390282970999,0.71338606911949],"aabb_xy":[[0.505112372702411,0.2580171988457107],[0.6331123771432251,0.3467633670962873]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.4804691815133669,0.31315952653261325,0.71338606911949],"aabb_xy":[[-0.5604691784764061,0.23608388488883975],[-0.40046918455032776,0.39023516817638665]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[-0.270937025227179,0.7838490953605519,0.71338606911949],"aabb_xy":[[-0.30773165835208527,0.7469432202639696],[-0.23414239210227272,0.8207549704571342]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6849756790730339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6439.png","name":"6439"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6439.png","name":"6439"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1879.png","name":"1879"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9991.png","name":"9991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8530.png","name":"8530"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":689.1479719429501,"rotation_z_degrees":7.772665139866142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018507004761826394,-0.00031348884401332863,-0.004840267304363585]},{"name":"camera_2","offset_m":[-0.00036454080250647794,-0.0020293632195081644,-0.00938029583428306]},{"name":"camera_3","offset_m":[-0.004591025931052798,0.01035551798354038,0.005568653794980408]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016679310092810912,0.0007941796367272672,-0.0014764744308156698],"end_effector_yaw_offset_degrees":0.30594729014746},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011812750211829125,-0.00039273274814986977,0.000665460031397537],"end_effector_yaw_offset_degrees":0.28550839870309663},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0003586540408627753,-0.00124198673500105,0.001811633450422053],"end_effector_yaw_offset_degrees":-0.8017467416374584}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001467405539964879,0.00323811143726221],"position_m":[0.31206740553996487,-0.01716188856273779,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001171739267637739,0.00443652022893657],"position_m":[0.15057173926763776,0.2837365202289366,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004900351677296014,-0.0035091782679492626],"position_m":[0.347700351677296,0.20959082173205074,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017562951343242893,-0.0026851125367039763],"position_m":[0.2569437048656757,-0.364385112536704,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8202585daa96474495f8f352f9d0c8f1b11f8dbda52c9d6ed0da2f7b931444f1","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6439/tex_ceiling_textures_1080/tex_floor_textures_8530/tex_table_textures_1879/tex_wall_textures_9991","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2876753344099958289,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2876753344099958289,"visual_seed":2876753344099958289,"scene_id":"lab_003","finished_at":"2026-09-03T09:14:54"} +{"episode_id":"ep_000024","started_at":"2026-09-03T09:14:56","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.40127485088036163,-2.4069344790397813,0.71338606911949],"aabb_xy":[[0.33727485448478856,-2.4708977674585144],[0.4652748472759347,-2.3429711906210473]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.21944485416654758,1.2126792595975466,0.71338606911949],"aabb_xy":[[0.16945174205735572,1.162679258923351],[0.2694379662757395,1.2626792602717423]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.6698733373425562,-1.6288845092370865,0.71338606911949],"aabb_xy":[[-0.6857578306078813,-1.6432374495359106],[-0.653988844077231,-1.6145315689382624]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.41489961075407567,-0.9757436617689521,0.71338606911949],"aabb_xy":[[0.40514362124490166,-0.9855061958281864],[0.42465560026324944,-0.9659811277097176]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.5062144663673873,-1.1957707148741878,0.71338606911949],"aabb_xy":[[0.42621446940434804,-1.2728463565179613],[0.5862144633304264,-1.1186950732304144]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.6019299895343156,-2.0506790551483762,0.71338606911949],"aabb_xy":[[-0.6394299907191083,-2.0550972778444363],[-0.5644299883495227,-2.0462608324523153]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[0.43296756992982965,1.0432674343294055,0.71338606911949],"aabb_xy":[[0.3979675707370114,1.0323003883317425],[0.4679675691226479,1.0542344803270676]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.19554221154100454,-0.9022708757706104,0.71338606911949],"aabb_xy":[[-0.22985848871562248,-0.9522708757437882],[-0.1612259343663866,-0.8522708757974328]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.05537385913694126,1.3460902412515794,0.71338606911949],"aabb_xy":[[0.05145998594151873,1.3373412258450226],[0.05928773233236378,1.3548392566581362]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.17282793169061672,0.8452269075180796,0.71338606911949],"aabb_xy":[[0.1503279321669093,0.8227309600674587],[0.1953279312143241,0.8677228549687003]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.12603473122164854,-1.3180911406554536,0.71338606911949],"aabb_xy":[[0.08853473140461499,-1.3227293519665952],[0.1635347310386821,-1.3134529293443116]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.4443565640293654,1.2100984715385668,0.71338606911949],"aabb_xy":[[0.41984293993235955,1.1858338782365303],[0.46887018812637127,1.2343630648406032]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.5486016274993668,-1.2324032786306616,0.71338606911949],"aabb_xy":[[-0.5731478431221174,-1.2626521751796984],[-0.524055411876616,-1.2021543820816243]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.20301489310020482,-2.4594033104929394,0.71338606911949],"aabb_xy":[[0.19260333441972108,-2.4647490438288377],[0.2134264517806885,-2.454057577157041]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.004110990260710379,-1.9568863213986938,0.71338606911949],"aabb_xy":[[-0.007457990486226195,-1.9818863215156257],[0.015679971007646953,-1.9318863212817623]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[0.40502869087007,-1.6623296690666163,0.71338606911949],"aabb_xy":[[0.40158801463001287,-1.666191102040981],[0.4084693671101272,-1.658468236092252]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.24114235447489013,-1.7916733629238069,0.71338606911949],"aabb_xy":[[-0.3211423549451061,-1.7999840705381553],[-0.1611423540046742,-1.7833626553094588]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.23289937782791253,1.289175254353745,0.71338606911949],"aabb_xy":[[-0.29689937820544615,1.2394299875029327],[-0.16889937745037892,1.3389205212045572]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.3879759863942528,0.2971461500150765,0.71338606911949],"aabb_xy":[[-0.43797598583444836,0.24717822553076013],[-0.3379759869540571,0.34711407449939274]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.5959606046345423,1.0609636074645006,0.71338606911949],"aabb_xy":[[0.5655624935353986,1.0305567054628308],[0.6263587157336857,1.0913705094661699]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.589374008689491,0.22931855736172624,0.71338606911949],"aabb_xy":[[-0.6060511446825864,0.21261863338779596],[-0.5726968726963954,0.2460184813356565]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.08988072497935395,-1.6205954023560425,0.71338606911949],"aabb_xy":[[-0.13089866836572484,-1.6705954029869998],[-0.04886278159298307,-1.5705954017250852]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.3760088645969906,0.8494177513907726,0.71338606911949],"aabb_xy":[[-0.41100886594847236,0.8290580154339517],[-0.3410088632455089,0.8697774873475934]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.6061826128639571,-0.2235157762663471,0.71338606911949],"aabb_xy":[[-0.6861826161218001,-0.3035122840583311],[-0.5261826096061142,-0.14351926847436317]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.04391541169340851,1.7088403567781616,0.71338606911949],"aabb_xy":[[-0.05568359848806604,1.6238403568729405],[-0.03214722489875099,1.7938403566833836]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.4828206122365233,-2.2477882026970595,0.71338606911949],"aabb_xy":[[0.40282061425573823,-2.255389743658911],[0.5628206102173083,-2.240186661735207]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.23423562681812826,0.7918657197317831,0.71338606911949],"aabb_xy":[[-0.24386726303855788,0.7822284069520741],[-0.22460399059769864,0.8015030325114919]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[0.6477007110353099,0.8887025712990164,0.71338606911949],"aabb_xy":[[0.5877007111887431,0.8318839491059776],[0.7077007108818767,0.945521193492055]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[-0.40806218484888074,-1.1066305131367384,0.71338606911949],"aabb_xy":[[-0.44539346137412344,-1.1412835679315907],[-0.37073090832363814,-1.0719774583418862]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[0.22494483199169624,-0.8613676631831839,0.71338606911949],"aabb_xy":[[0.2016629897935649,-0.946367664480412],[0.24822667418982758,-0.7763676618859559]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820365663669096,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8793.png","name":"8793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8793.png","name":"8793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7056.png","name":"7056"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9658.png","name":"9658"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1490.png","name":"1490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/127.png","name":"127"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":608.178006774448,"rotation_z_degrees":188.70464460675657,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0047544201870992515,0.0052239106064845935,-0.01552280278560663]},{"name":"camera_2","offset_m":[0.0019046303890695136,-0.005232593536921444,-0.00887993769282251]},{"name":"camera_3","offset_m":[-0.01169830974952673,-0.013219244574094353,0.019204073047758927]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012941770410920665,0.00037459006686300575,-0.001685689918180543],"end_effector_yaw_offset_degrees":-0.564028727453689},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001186630217877331,0.0010404074091782136,0.0019221575532544014],"end_effector_yaw_offset_degrees":0.35516551278528574},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010046008598527463,0.0010236978189585057,-0.0009122895545186109],"end_effector_yaw_offset_degrees":0.14942715993069489}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001498933716021801,0.003268972226212789],"position_m":[0.3091010662839782,-0.01713102777378721,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035855190895611186,-0.004575554933793627],"position_m":[0.1458144809104389,0.27472444506620636,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001980180088112108,0.0016532209305099152],"position_m":[0.34081981991188787,0.2147532209305099,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004472283761888434,-0.0014830675441141116],"position_m":[0.2542277162381116,-0.3631830675441141,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a931f23c0bc0eeaac5f5f2f1ac24de30c7aec2ee8e0b5fa421dc356e9e1e214d","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8793/tex_ceiling_textures_127/tex_floor_textures_1490/tex_table_textures_7056/tex_wall_textures_9658","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2043541638225072866,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2043541638225072866,"visual_seed":2043541638225072866,"scene_id":"lab_003","finished_at":"2026-09-03T09:17:18"} +{"episode_id":"ep_000025","started_at":"2026-09-03T09:17:21","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.47008141156865,-1.9303969089184214,0.71338606911949],"aabb_xy":[[-0.4809871876562126,-2.0103969053172506],[-0.4591756354810872,-1.850396912519592]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.48655096860432556,-1.4557898506170872,0.71338606911949],"aabb_xy":[[-0.5040509020383088,-1.4732898505373218],[-0.4690510351703421,-1.4382898506968527]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.6686963496540295,-1.434221378021465,0.71338606911949],"aabb_xy":[[0.6606700790234035,-1.4429728729988176],[0.6767226202846555,-1.4254698830441124]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.1920497746251033,0.2393276483995841,0.71338606911949],"aabb_xy":[[-0.2145497744390057,0.2348530320291034],[-0.16954977481120093,0.24380226477006478]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.4913881114243306,0.5533609845431586,0.71338606911949],"aabb_xy":[[0.47628580996331243,0.5382594629120966],[0.5064904128853486,0.5684625061742202]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.07078101478494592,1.389596193476672,0.71338606911949],"aabb_xy":[[0.033281013269314194,1.378369420460527],[0.10828101630057761,1.4008229664928171]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.3397182796192167,-1.5681226659856422,0.71338606911949],"aabb_xy":[[-0.4197182770228101,-1.6481152371838248],[-0.25971828221562326,-1.4881300947874592]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.15612230963225215,0.7910621172026708,0.71338606911949],"aabb_xy":[[-0.16874909691944853,0.781516043501098],[-0.14349552234505583,0.8006081909042438]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.46207347336815885,-1.036100726436418,0.71338606911949],"aabb_xy":[[-0.5320734754995884,-1.0588626920621134],[-0.3920734712367293,-1.013338760810722]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.4140957921999432,-0.8240759170254164,0.71338606911949],"aabb_xy":[[-0.44194082898055026,-0.8548604157637281],[-0.386250755419336,-0.7932914182871047]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[0.49326456793347306,-1.9881589386448066,0.71338606911949],"aabb_xy":[[0.42926456464376495,-2.031493857648724],[0.5572645712231812,-1.9448240196408888]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.20703634231906454,1.6064314325310574,0.71338606911949],"aabb_xy":[[0.15206262028273168,1.5514314329668242],[0.2620100643553974,1.6614314320952905]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.13365869796731122,-1.2549883378116984,0.71338606911949],"aabb_xy":[[-0.22365869446818296,-1.3008999802301564],[-0.04365870146643946,-1.20907669539324]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.33320474014930035,1.227082612166181,0.71338606911949],"aabb_xy":[[-0.370536016674543,1.1924295573713288],[-0.2958734636240578,1.2617356669610333]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.6483364058458854,1.090885002937486,0.71338606911949],"aabb_xy":[[0.6412960959123484,1.0108850035378147],[0.6553767157794224,1.1708850023371575]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[0.31703228556303453,-1.0378800016495286,0.71338606911949],"aabb_xy":[[0.2670322845438993,-1.0743462173873568],[0.36703228658216985,-1.001413785911701]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.18415849660540073,-1.3868393744276344,0.71338606911949],"aabb_xy":[[0.12415849635399956,-1.441120699464099],[0.2441584968568019,-1.3325580493911697]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.6211303807056556,-1.006365973595243,0.71338606911949],"aabb_xy":[[0.5411365571270974,-1.0863659761880846],[0.7011242042842138,-0.9263659710024015]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[-0.3893207869169765,0.6186815267480594,0.71338606911949],"aabb_xy":[[-0.39465836258298115,0.5936815258189198],[-0.383983211250972,0.6436815276771993]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.5202585325999552,-1.3100771219666993,0.71338606911949],"aabb_xy":[[-0.5447721566969611,-1.3343417152687358],[-0.4957449085029494,-1.285812528664663]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.15215552814069178,-2.0214980755822474,0.71338606911949],"aabb_xy":[[-0.2161555284011626,-2.066506874935175],[-0.08815552788022098,-1.9764892762293191]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.33665274299527415,1.2354857866060462,0.71338606911949],"aabb_xy":[[0.3066851860854485,1.2054857863081605],[0.3666202999050998,1.265485786903932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868985895083246,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2500.png","name":"2500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3510.png","name":"3510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9793.png","name":"9793"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1576.png","name":"1576"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":829.8794634133753,"rotation_z_degrees":5.018220790306938,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019622567642125954,0.014904468767527764,0.006243641490709342]},{"name":"camera_2","offset_m":[-0.005297175423138567,0.004596113179732356,-0.012334221000718428]},{"name":"camera_3","offset_m":[-0.0063296737431498915,-0.0004379500388108637,0.01058567926828018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005639324970800612,0.001811710129113445,0.0015376931453815533],"end_effector_yaw_offset_degrees":-0.2675965995346996},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017621768158539047,0.0015623026582087815,-0.0008161637256399407],"end_effector_yaw_offset_degrees":-0.9948948429830065},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007648714988345035,-0.0009534092881773662,0.0010170626617742851],"end_effector_yaw_offset_degrees":0.4181045715336078}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003564446023559137,0.004696970220392915],"position_m":[0.31416444602355914,-0.015703029779607088,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012036385336633478,0.0019541838573812424],"position_m":[0.15060363853366335,0.2812541838573812,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002683576226033072,0.004720429442207724],"position_m":[0.34011642377396695,0.21782042944220772,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004645917494691007,0.004003275743610033],"position_m":[0.263345917494691,-0.35769672425639,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"14b3b1980b18d39f64f12d51a10b08dd5847173b4ce4c0d2f35ce6a993652191","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6258/tex_ceiling_textures_1576/tex_floor_textures_9793/tex_table_textures_2500/tex_wall_textures_3510","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1438013890172969208,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1438013890172969208,"visual_seed":1438013890172969208,"scene_id":"lab_003","finished_at":"2026-09-03T09:19:47"} +{"episode_id":"ep_000026","started_at":"2026-09-03T09:19:50","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.425805505008204,-0.11172455588740027,0.71338606911949],"aabb_xy":[[-0.5058055082722172,-0.1252845881963136],[-0.3458055017441909,-0.09816452357848691]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.3876013545865879,-2.155173715922299,0.71338606911949],"aabb_xy":[[-0.4776013540049588,-2.188549212766488],[-0.297601355168217,-2.1217982190781086]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.5933626881572018,1.7221598773605975,0.71338606911949],"aabb_xy":[[-0.6433626875973975,1.6721919528762812],[-0.5433626887170062,1.7721278018449138]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.09336294525769195,0.12238403093628936,0.71338606911949],"aabb_xy":[[-0.1076973703838554,0.1103238153817505],[-0.0790285201315285,0.1344442464908282]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.1207119826092885,-1.597856585937967,0.71338606911949],"aabb_xy":[[0.11278870237054016,-1.6203565861759703],[0.12863526284803684,-1.5753565856999636]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.5671489166316699,1.5300968393165548,0.71338606911949],"aabb_xy":[[0.5496489163723333,1.5160052971277824],[0.5846489168910065,1.5441883815053277]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[-0.17860322441418275,0.21424150259769137,0.71338606911949],"aabb_xy":[[-0.243603225520126,0.18927612952956308],[-0.11360322330823944,0.23920687566581966]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.15668777397395817,-2.1914967124182585,0.71338606911949],"aabb_xy":[[-0.18168777390647606,-2.1983793806391816],[-0.13168777404144028,-2.1846140441973354]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.06182541211177295,-1.088040848166482,0.71338606911949],"aabb_xy":[[-0.09628789012486072,-1.094704525349405],[-0.027362934098685177,-1.0813771709835591]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.32564158108153,-0.6040740450753588,0.71338606911949],"aabb_xy":[[-0.33851348458247016,-0.6840740454891949],[-0.3127696775805899,-0.5240740446615226]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.19221367473311668,0.5767090672498263,0.71338606911949],"aabb_xy":[[-0.24220868569256876,0.5267090682142347],[-0.14221866377366468,0.6267090662854181]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.3623986216376558,0.5748654091717911,0.71338606911949],"aabb_xy":[[0.2973986206371553,0.524079044017116],[0.4273986226381563,0.6256517743264659]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.5593573844918031,0.04972324645349335,0.71338606911949],"aabb_xy":[[-0.6093573858526903,-0.0002546581219222618],[-0.5093573831309158,0.09970115102890897]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.29984851827605913,1.2126779335168871,0.71338606911949],"aabb_xy":[[-0.3187329020445694,1.1937920087365343],[-0.280964134507549,1.23156385829724]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.3028515770800084,1.1631059734706861,0.71338606911949],"aabb_xy":[[0.2914898424267222,1.1517375070643978],[0.31421331173329453,1.174474439876974]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.6134443747394793,-0.42041642171930604,0.71338606911949],"aabb_xy":[[-0.6684180967758122,-0.4754164212835393],[-0.5584706527031464,-0.3654164221550729]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.39787437607169873,-0.6291244054919551,0.71338606911949],"aabb_xy":[[0.38779266899312526,-0.7091244033840696],[0.4079560831502722,-0.5491244075998403]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.060482898428270815,-1.398402865638441,0.71338606911949],"aabb_xy":[[0.037983762702043844,-1.420902866416704],[0.08298203415449779,-1.375902864860178]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.09889944290804797,-1.923154656803319,0.71338606911949],"aabb_xy":[[0.07598373002299809,-1.9460589539397428],[0.1218151557930979,-1.9002503596668958]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.04025822366418608,0.4606423978842189,0.71338606911949],"aabb_xy":[[-0.05726832095423673,0.4445079093859449],[-0.023248126374135425,0.47677688638249277]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.5459147623667995,-0.21408273857553217,0.71338606911949],"aabb_xy":[[0.51000125794181,-0.24999624679228677],[0.5818282667917892,-0.17816923035877752]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.21521877814109558,1.17404977911242,0.71338606911949],"aabb_xy":[[-0.2364967862845678,1.109049776786347],[-0.1939407699976233,1.239049781438493]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[-0.5007333676873873,0.3510809886196866,0.71338606911949],"aabb_xy":[[-0.5104893571965611,0.3413184545604521],[-0.4909773781782133,0.360843522678921]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.24019256552191903,-1.0097320052523309,0.71338606911949],"aabb_xy":[[-0.2951925646985085,-1.0647216800272883],[-0.18519256634532955,-0.954742330477373]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[-0.044476085807473975,-1.6199429840303599,0.71338606911949],"aabb_xy":[[-0.049111200959707356,-1.6238103191075084],[-0.03984097065524058,-1.6160756489532109]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[0.3279596112370413,0.8705884662894903,0.71338606911949],"aabb_xy":[[0.24795961016392104,0.8608104199521058],[0.4079596123101617,0.8803665126268747]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.7076475281397849,0.41581556788820473,0.71338606911949],"aabb_xy":[[0.6967959218909092,0.4049562771605537],[0.7184991343886604,0.42667485861585575]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[0.14994478354269303,-2.171509720648096,0.71338606911949],"aabb_xy":[[0.1254311594456872,-2.1957743139501327],[0.17445840763969891,-2.1472451273460598]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.25309191021716976,-0.8786804886607968,0.71338606911949],"aabb_xy":[[-0.3430919099403439,-0.9017538411959766],[-0.16309191049399555,-0.8556071361256169]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[0.4605477549933401,-1.6158751086198815,0.71338606911949],"aabb_xy":[[0.43189842263292383,-1.6445206678969573],[0.4891970873537563,-1.5872295493428057]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_30","position":[0.5400087384942496,-1.2819714276763758,0.71338606911949],"aabb_xy":[[0.4500087361602305,-1.3594537822614885],[0.6300087408282686,-1.2044890730912632]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[-0.47459942205287486,-2.505798488167146,0.71338606911949],"aabb_xy":[[-0.5295994216746207,-2.5607821809546185],[-0.419599422431129,-2.450814795379673]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_32","position":[-0.46887766449960677,-1.0493370108346443,0.71338606911949],"aabb_xy":[[-0.5238776627013515,-1.0898589774610818],[-0.41387766629786193,-1.0088150442082067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871203425363078,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8426.png","name":"8426"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8426.png","name":"8426"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7514.png","name":"7514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3438.png","name":"3438"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":792.5534987645474,"rotation_z_degrees":275.56791735450224,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004252450512153349,-0.017663297139828064,0.019254056767619054]},{"name":"camera_2","offset_m":[-0.014383297471027779,0.010490707087449782,-0.010791660223225405]},{"name":"camera_3","offset_m":[-0.01021660300352378,-0.005357669908313167,0.015916550317394803]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013747609635701703,0.0009575998275047144,-0.0018182954690053959],"end_effector_yaw_offset_degrees":0.8162588446758967},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010428720648488262,0.0019407877653481124,-0.0010579414304311397],"end_effector_yaw_offset_degrees":0.7226375277778858},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005930478305424089,-0.0004761781577875394,-6.745639496549588e-05],"end_effector_yaw_offset_degrees":-0.7599801910840136}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004643466854185436,-0.003638335463224852],"position_m":[0.3152434668541854,-0.024038335463224855,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010593425315740214,-0.0036121507300344606],"position_m":[0.14834065746842598,0.27568784926996553,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001452133208866745,-0.004541795790075481],"position_m":[0.34134786679113327,0.20855820420992452,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004745987026835668,0.003741536386011602],"position_m":[0.26344598702683564,-0.3579584636139884,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6c8981ecedd06084c481af108fee7265f8fc1011aeacd2fa94f202ac82faa307","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8426/tex_ceiling_textures_3438/tex_floor_textures_3872/tex_table_textures_2156/tex_wall_textures_7514","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":479854900845256412,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":479854900845256412,"visual_seed":479854900845256412,"scene_id":"lab_003","finished_at":"2026-09-03T09:22:34"} +{"episode_id":"ep_000027","started_at":"2026-09-03T09:22:37","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.23217292981896953,-1.0401913681167803,0.71338606911949],"aabb_xy":[[-0.29617293122696015,-1.091980319640705],[-0.16817292841097883,-0.9884024165928557]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.08631845037616481,0.6704250734158643,0.71338606911949],"aabb_xy":[[0.02231844832643283,0.6303305903265564],[0.1503184524258968,0.7105195565051723]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.5066703127176206,0.9234805159708621,0.71338606911949],"aabb_xy":[[-0.5452160055428216,0.8849347449146735],[-0.4681246198924195,0.9620262870270507]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.5610799331318811,-0.9633394928880521,0.71338606911949],"aabb_xy":[[-0.6460799318239556,-0.995325356282931],[-0.47607993443980634,-0.9313536294931732]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.009558787264595137,1.6456218740163213,0.71338606911949],"aabb_xy":[[0.0018555965905180938,1.6379125033175834],[0.01726197793867218,1.6533312447150597]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.06659846847167139,-1.8177109249457173,0.71338606911949],"aabb_xy":[[0.04331662627354004,-1.9027109262429456],[0.08988031066980272,-1.7327109236484894]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.2014551779116528,-0.9993811920941145,0.71338606911949],"aabb_xy":[[0.1825707941431426,-1.0182671168744672],[0.220339561680163,-0.9804952673137618]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.33982343637484186,0.9839000970688145,0.71338606911949],"aabb_xy":[[-0.4038234349614143,0.9368931336693059],[-0.2758234377882694,1.0309070604683233]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.3432189628974008,1.5289849864297431,0.71338606911949],"aabb_xy":[[-0.36079726508634763,1.511410496855638],[-0.32564066070845393,1.5465594760038481]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.41290924020853903,-2.244956899200869,0.71338606911949],"aabb_xy":[[0.3229092404853648,-2.268030251736049],[0.5029092399317131,-2.221883546665689]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.5451288987004752,0.7718440580629102,0.71338606911949],"aabb_xy":[[-0.5618060346935707,0.7551441340889798],[-0.5284517627073797,0.7885439820368404]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.3833368571236433,-2.0512007256855123,0.71338606911949],"aabb_xy":[[0.3283368579470538,-2.10619040046047],[0.4383368563002328,-1.9962110509105546]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[-0.6635548980311392,0.7623237273733472,0.71338606911949],"aabb_xy":[[-0.6810548982761886,0.7448239395337802],[-0.6460548977860898,0.7798235152129139]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.7050211386746088,-1.6095551730907842,0.71338606911949],"aabb_xy":[[0.6937760831039909,-1.6207969708148793],[0.7162661942452265,-1.5983133753666887]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[-0.41971930755267667,0.057688571430704716,0.71338606911949],"aabb_xy":[[-0.4897193091549561,0.044255778229047145],[-0.34971930595039713,0.0711213646323623]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.6208098522749801,1.2047048238456806,0.71338606911949],"aabb_xy":[[0.5989201046860392,1.1147048265564314],[0.6426995998639208,1.2947048211349297]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.46935752156984406,-1.3423690371601813,0.71338606911949],"aabb_xy":[[-0.4993250784796697,-1.372369037458067],[-0.4393899646600184,-1.3123690368622956]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.17582757057066667,-2.238763212249582,0.71338606911949],"aabb_xy":[[0.11082756793287318,-2.290242810949029],[0.24082757320846016,-2.187283613550135]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.6915257614930292,0.6665667096516326,0.71338606911949],"aabb_xy":[[0.6807527875716614,0.6315667114325936],[0.7022987354143969,0.7015667078706715]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[0.48046320308459367,0.08380697832524309,0.71338606911949],"aabb_xy":[[0.41887244386060096,0.019806980216196216],[0.5420539623085866,0.14780697643428997]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.5019712878319231,-1.06661318734875,0.71338606911949],"aabb_xy":[[-0.516614693385956,-1.0812719070055343],[-0.48732788227789003,-1.0519544676919659]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.48787116618904314,1.4345815218120443,0.71338606911949],"aabb_xy":[[0.46332495056629236,1.404332625263007],[0.5124173818117937,1.4648304183610812]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.3663556320220389,1.2261560066965402,0.71338606911949],"aabb_xy":[[0.34385563150999826,1.2036641483311417],[0.38885563253407945,1.2486478650619384]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.5965239297326548,0.9686681388777929,0.71338606911949],"aabb_xy":[[0.5630837545366351,0.9352245130468627],[0.6299641049286743,1.0021117647087228]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.16628950179256186,1.318375307506677,0.71338606911949],"aabb_xy":[[0.09628949966113229,1.2956133418809812],[0.23628950392399137,1.3411372731323725]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[0.1110535838640686,-0.67884375703016,0.71338606911949],"aabb_xy":[[0.06577496898291935,-0.7428437563783438],[0.15633219874521787,-0.6148437576819764]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.341822572030289,1.5687866939970614,0.71338606911949],"aabb_xy":[[0.3243225727522021,1.5514485939307152],[0.35932257130837586,1.5861247940634071]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.606911114760826,0.4693192650376341,0.71338606911949],"aabb_xy":[[-0.6150247694342031,0.4612134485836051],[-0.5987974600874489,0.47742508149166324]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.607566262034071,0.08523992569004823,0.71338606911949],"aabb_xy":[[-0.6131479336681998,0.07273992587227272],[-0.6019845903999423,0.09773992550782372]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[0.09721227308719493,-1.4071447740889402,0.71338606911949],"aabb_xy":[[0.06221227481707502,-1.4142189017839284],[0.13221227135731484,-1.400070646393952]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[-0.15781060666042623,0.25870956457356753,0.71338606911949],"aabb_xy":[[-0.21281060486217107,0.21818759794712997],[-0.10281060845868141,0.2992315312000051]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_31","position":[0.3036843473521734,-1.0939624181869,0.71338606911949],"aabb_xy":[[0.2928438691256585,-1.1111486994775488],[0.3145248255786883,-1.0767761368962514]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_32","position":[0.2188046520590483,-1.5196639492710518,0.71338606911949],"aabb_xy":[[0.19874624044580802,-1.5397290361802094],[0.2388630636722886,-1.499598862361894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835291310351077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8447.png","name":"8447"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8447.png","name":"8447"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7982.png","name":"7982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9393.png","name":"9393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6060.png","name":"6060"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1333.png","name":"1333"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":793.3555621380996,"rotation_z_degrees":134.96536276622086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004511631417747141,0.012690994837477033,0.006650965836640658]},{"name":"camera_2","offset_m":[-0.0012956820901076811,-0.01371939154732384,0.011472350953269091]},{"name":"camera_3","offset_m":[-0.0020177345712208625,0.0011471846477107625,0.009538968586823637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001067097537330967,0.00023651367999680652,-0.0001904193228608247],"end_effector_yaw_offset_degrees":-0.773336355847895},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005967660001838632,-0.0018951264003216576,0.000811649405421336],"end_effector_yaw_offset_degrees":-0.9662074324021552},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00104074716997946,-0.0018509007552123661,-0.001470945032233383],"end_effector_yaw_offset_degrees":0.28403259078899046}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004431651061807555,-0.004866335139284337],"position_m":[0.30616834893819245,-0.02526633513928434,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00029294265664622527,0.0008385129878929068],"position_m":[0.14969294265664623,0.2801385129878929,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002987188197120866,1.6195384395394086e-05],"position_m":[0.33981281180287914,0.2131161953843954,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00044311305781545053,0.0035927345436511495],"position_m":[0.25914311305781546,-0.35810726545634886,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c3ab97810a71cf81f6c501627b11510744f122119072338757dcb15a44a8fe8a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8447/tex_ceiling_textures_1333/tex_floor_textures_6060/tex_table_textures_7982/tex_wall_textures_9393","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4867519970218824307,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4867519970218824307,"visual_seed":4867519970218824307,"scene_id":"lab_003","finished_at":"2026-09-03T09:24:59"} +{"episode_id":"ep_000028","started_at":"2026-09-03T09:25:02","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.28145690401609824,0.5602196178491896,0.71338606911949],"aabb_xy":[[0.21746120662100166,0.49621961954848093],[0.3454526014111948,0.6242196161498983]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.1985013550543966,-1.7416116568661917,0.71338606911949],"aabb_xy":[[0.1865686206925685,-1.753993809674051],[0.21043408941622463,-1.7292295040583323]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.03485019940526557,1.1538455998095434,0.71338606911949],"aabb_xy":[[-0.04460618891443945,1.1440830657503087],[-0.025094209896091672,1.1636081338687776]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.3240997012552884,-2.3812414612840507,0.71338606911949],"aabb_xy":[[0.30051457779139357,-2.4462414635294825],[0.34768482471918327,-2.316241459038619]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.19462332016472927,-0.5913684854272674,0.71338606911949],"aabb_xy":[[-0.2586233193344992,-0.6381351725462299],[-0.13062332099495932,-0.5446017983083049]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.6466437732580106,-0.21436046111617824,0.71338606911949],"aabb_xy":[[0.582643770915209,-0.25930131236031073],[0.7106437756008122,-0.16941960987204574]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[-0.45831525169431747,-0.37009908486061915,0.71338606911949],"aabb_xy":[[-0.46315884645554745,-0.37495073733960327],[-0.4534716569330875,-0.36524743238163504]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.09935445494301498,-1.8358247442513247,0.71338606911949],"aabb_xy":[[-0.17935445541323095,-1.844135451865673],[-0.019354454472799047,-1.8275140366369764]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.046550455877369945,0.9635848548721158,0.71338606911949],"aabb_xy":[[-0.06905045569127233,0.959110238501635],[-0.02405045606346757,0.9680594712425965]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[-0.17461732856079026,0.10958877655323684,0.71338606911949],"aabb_xy":[[-0.1823205192348673,0.10187940585449883],[-0.16691413788671322,0.11729814725197484]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.24809886386721008,-1.1932174839249041,0.71338606911949],"aabb_xy":[[-0.2658923708021265,-1.2110172295207018],[-0.23030535693229365,-1.1754177383291065]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.5772586641867965,-1.036486593414834,0.71338606911949],"aabb_xy":[[-0.6412586644472673,-1.0814953927677617],[-0.5132586639263257,-0.9914777940619058]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.06361823702791969,-1.8601445407791655,0.71338606911949],"aabb_xy":[[0.034968904667503464,-1.8887901000562413],[0.09226756938833591,-1.8314989815020897]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.047226566565646166,0.6503256468099492,0.71338606911949],"aabb_xy":[[0.03475920845591052,0.6378603221766258],[0.059693924675381815,0.6627909714432728]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.09416022135493884,0.5544001606419839,0.71338606911949],"aabb_xy":[[-0.14416022000086004,0.5044806169825216],[-0.04416022270901766,0.6043197043014463]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.14958558341916384,-2.393166105837345,0.71338606911949],"aabb_xy":[[0.09958558397896822,-2.443134030321661],[0.19958558285935946,-2.3431981813530283]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[-0.516122328445952,-1.979638423024149,0.71338606911949],"aabb_xy":[[-0.5411223283784699,-1.9865210912450724],[-0.49112232851343407,-1.9727557548032257]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.5390104225845602,-0.7723002844127609,0.71338606911949],"aabb_xy":[[0.535569746344503,-0.7761617173871256],[0.5424510988246174,-0.7684388514383966]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.2657987586586232,-2.437471040597964,0.71338606911949],"aabb_xy":[[-0.2882987589021386,-2.449675675257736],[-0.24329875841510779,-2.425266405938192]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.5980621763104101,0.6700329586565168,0.71338606911949],"aabb_xy":[[0.5610280668823504,0.6356557513228072],[0.6350962857384699,0.704410165990226]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.18259065759498538,0.8592342226166845,0.71338606911949],"aabb_xy":[[0.11859065689151607,0.8132158401437636],[0.24659065829845478,0.9052526050896056]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[-0.41228144308398973,-0.6567883172990867,0.71338606911949],"aabb_xy":[[-0.41952520913023505,-0.736788315502689],[-0.4050376770377444,-0.5767883190954842]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.5406491435931364,-2.3872250301830706,0.71338606911949],"aabb_xy":[[-0.6006491434397032,-2.4440436523761093],[-0.48064914374656964,-2.330406407990032]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.4851966267998881,1.4142973380583936,0.71338606911949],"aabb_xy":[[-0.5040810105683984,1.395411413278041],[-0.4663122430313779,1.4331832628387466]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.6214820390964308,-2.1559571469687633,0.71338606911949],"aabb_xy":[[0.5414820369336684,-2.235912330594907],[0.7014820412591933,-2.0760019633426197]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[0.48664269419410644,-2.5423214498108204,0.71338606911949],"aabb_xy":[[0.4521803467959646,-2.5768153322086422],[0.5211050415922481,-2.507827567412997]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.20337344799197082,-0.9820938126440559,0.71338606911949],"aabb_xy":[[-0.27337345138353275,-1.0174095863474863],[-0.1333734446004088,-0.9467780389406248]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_27","position":[-0.6699391617934951,1.3455829979033753,0.71338606911949],"aabb_xy":[[-0.692854874678545,1.3226787007669518],[-0.6470234489084452,1.3684872950397988]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[0.3075583992627233,-0.596614924364774,0.71338606911949],"aabb_xy":[[0.24255839830559614,-0.6485631362984796],[0.37255840021985054,-0.5446667124310685]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[0.1739423350150806,-1.6601660946849022,0.71338606911949],"aabb_xy":[[0.1514459135812165,-1.6826660944916496],[0.1964387564489447,-1.6376660948781547]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_30","position":[0.4339053276282736,-1.6686230750116366,0.71338606911949],"aabb_xy":[[0.4187331583466402,-1.6837919319398402],[0.4490774969099069,-1.6534542180834335]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_31","position":[-0.5292685909086627,0.40713160371784607,0.71338606911949],"aabb_xy":[[-0.5373049256099476,0.3990934844134293],[-0.5212322562073779,0.41516972302226285]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_32","position":[-0.35112941882378595,-1.5586079439218958,0.71338606911949],"aabb_xy":[[-0.41612942146157944,-1.6100875426213428],[-0.28612941618599247,-1.5071283452224489]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_33","position":[0.5454144284446485,-0.3985986979193834,0.71338606911949],"aabb_xy":[[0.45572735213653315,-0.48859869817383395],[0.6351015047527641,-0.30859869766493286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855423728085607,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5653.png","name":"5653"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5653.png","name":"5653"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3210.png","name":"3210"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3642.png","name":"3642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/789.png","name":"789"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.1662722855591,"rotation_z_degrees":354.4775249492752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006938483190437102,0.007081065934420146,0.00583229474943078]},{"name":"camera_2","offset_m":[-0.007538937182627423,0.006440399273140964,0.014598871633091984]},{"name":"camera_3","offset_m":[-0.010286814266664503,0.0021740257999088713,-0.008208152161963586]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006873529797892636,0.0003629357166011968,-7.515350927523429e-05],"end_effector_yaw_offset_degrees":0.8748481053819104},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00044359320140451583,0.0017854796584750644,-0.00120314691578751],"end_effector_yaw_offset_degrees":-0.6623782890996335},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00015842751022811718,0.0013866987171041421,0.0016418290448410883],"end_effector_yaw_offset_degrees":-0.4247996183021676}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002517815201513662,0.004416900880242452],"position_m":[0.31311781520151366,-0.015983099119757548,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026606734164651372,0.000193324172426893],"position_m":[0.15206067341646515,0.2794933241724269,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00248635672711628,0.0022641840787109317],"position_m":[0.3452863567271163,0.21536418407871094,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00185841665465045,-0.003911278918864542],"position_m":[0.2568415833453495,-0.3656112789188646,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a37642ce7e084c6e654d92853689291eaf3affdd320666e23664be39f83644cf","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5653/tex_ceiling_textures_6945/tex_floor_textures_789/tex_table_textures_3210/tex_wall_textures_3642","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7945560032166568815,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7945560032166568815,"visual_seed":7945560032166568815,"scene_id":"lab_003","finished_at":"2026-09-03T09:27:35"} +{"episode_id":"ep_000029","started_at":"2026-09-03T09:27:39","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.2437388774095524,-1.013845598208753,0.71338606911949],"aabb_xy":[[-0.27803578842729304,-1.0481424844186942],[-0.20944196639181176,-0.9795487119988115]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.40308465305020896,0.6494632417991832,0.71338606911949],"aabb_xy":[[-0.47308465518163845,0.6267012761734875],[-0.33308465091877937,0.6722252074248788]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.0887571429262195,1.4008010976895386,0.71338606911949],"aabb_xy":[[0.05429466491313173,1.394137420506616],[0.12321962093930727,1.4074647748724614]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.6044907010572509,1.3841105853546285,0.71338606911949],"aabb_xy":[[-0.6544907023410907,1.3341317309640062],[-0.5544906997734108,1.4340894397452504]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.19726965520751472,0.8046896557294789,0.71338606911949],"aabb_xy":[[0.1172696580479394,0.7931420547716619],[0.27726965236709,0.816237256687296]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.3490831666135489,-1.844152191150125,0.71338606911949],"aabb_xy":[[-0.42908316877631136,-1.9241073747762687],[-0.2690831644507864,-1.7641970075239815]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.361583008547675,-1.2601951224208154,0.71338606911949],"aabb_xy":[[0.2715830088245007,-1.283268474955995],[0.4515830082708491,-1.2371217698856354]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.33363021698023804,-1.6272485867467368,0.71338606911949],"aabb_xy":[[-0.33826533213247134,-1.631115921823885],[-0.3289951018280045,-1.6233812516695876]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.6107096952788627,-0.7092011816506452,0.71338606911949],"aabb_xy":[[0.6026834246482368,-0.7179526766279978],[0.6187359659094888,-0.7004496866732925]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.6203833733682763,0.9705195429084967,0.71338606911949],"aabb_xy":[[-0.6436652155664075,0.8855195416112686],[-0.5971015311701449,1.0555195442057246]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.6573192802614009,-1.2351398760194627,0.71338606911949],"aabb_xy":[[-0.6666128984985513,-1.2726398745075964],[-0.6480256620242502,-1.1976398775313286]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.19340131844983544,-1.9236178206296943,0.71338606911949],"aabb_xy":[[-0.20110450912391245,-1.931327191328432],[-0.18569812777575836,-1.9159084499309562]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.6982260778207703,-0.16993181620710018,0.71338606911949],"aabb_xy":[[0.6732260785488079,-0.1862771798032625],[0.7232260770927325,-0.1535864526109378]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[-0.05786082935070347,0.6015236486914088,0.71338606911949],"aabb_xy":[[-0.08036082916460585,0.5970490323209281],[-0.035360829536801086,0.6059982650618896]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.37306384097598566,-2.242149618283014,0.71338606911949],"aabb_xy":[[0.32306383961509844,-2.2921275228584292],[0.4230638423368729,-2.192171713707598]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.5009557789010433,1.4636465808381405,0.71338606911949],"aabb_xy":[[0.46345577738541155,1.4524198078219954],[0.538455780416675,1.4748733538542855]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.3139252264742636,1.4310438029241808,0.71338606911949],"aabb_xy":[[0.2589252282725187,1.3905218362977434],[0.36892522467600836,1.4715657695506186]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.5035842331762164,-2.5449846548818083,0.71338606911949],"aabb_xy":[[0.49754722017555164,-2.551011355950757],[0.5096212461768811,-2.5389579538128606]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[0.2760202060315242,-0.60392754349916,0.71338606911949],"aabb_xy":[[0.2680969257927759,-0.6264275437371634],[0.28394348627027255,-0.5814275432611566]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.5254708574351457,-2.502073447284041,0.71338606911949],"aabb_xy":[[-0.5894708588431363,-2.553862398807966],[-0.46147085602715504,-2.4502844957601164]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.07473975425440438,-1.881707863941003,0.71338606911949],"aabb_xy":[[-0.11223975460263212,-1.8934992595220865],[-0.037239753906176606,-1.8699164683599194]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.16649245156747539,1.1812105600200238,0.71338606911949],"aabb_xy":[[0.09649245515751358,1.1607726243683416],[0.23649244797743715,1.201648495671705]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.5438444203406358,1.7880508559179327,0.71338606911949],"aabb_xy":[[0.5216718933639849,1.7658751887618094],[0.5660169473172866,1.8102265230740555]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.2965132369639525,0.2777729663428685,0.71338606911949],"aabb_xy":[[-0.34651323798308775,0.24130675060504064],[-0.24651323594481722,0.3142391820806965]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.1545564766413674,1.58371634337445,0.71338606911949],"aabb_xy":[[0.07455647962711939,1.5635817917010386],[0.23455647365561536,1.6038508950478612]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[0.3065042150234829,-1.365400603415124,0.71338606911949],"aabb_xy":[[0.2786591782428758,-1.3961851021534357],[0.33434925180409003,-1.3346161046768124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895360021592005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9083.png","name":"9083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9083.png","name":"9083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7681.png","name":"7681"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6565.png","name":"6565"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/473.png","name":"473"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":801.9504932920809,"rotation_z_degrees":266.40095119341584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019176719965428912,-0.005511856250135904,0.015352315060970605]},{"name":"camera_2","offset_m":[-0.01506834155822968,0.01900592009344312,-0.016302982200856235]},{"name":"camera_3","offset_m":[-0.012992470294370864,-0.017106712383468815,-0.007026483973240185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013108597431819346,-0.00015382821457524403,-0.0011779953747357145],"end_effector_yaw_offset_degrees":0.6852957822324064},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014092253479184027,0.0009780268612476868,0.0013428476795287812],"end_effector_yaw_offset_degrees":0.7950489522508246},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001586944318464211,0.0015812133461088449,0.0015846539295728337],"end_effector_yaw_offset_degrees":-0.6667002283464516}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015120931282482574,0.0029984103455203024],"position_m":[0.30908790687175175,-0.017401589654479698,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010630850378553344,0.001739962230390986],"position_m":[0.15046308503785533,0.28103996223039096,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024542756268570486,0.002503045540904748],"position_m":[0.3403457243731429,0.21560304554090476,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036328580440255142,-0.002668191738988838],"position_m":[0.2623328580440255,-0.3643681917389889,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4cb2e18bcc3607cb4073581f4c313bcd4554afb5fc3775bdc5225177183fbef6","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9083/tex_ceiling_textures_473/tex_floor_textures_6565/tex_table_textures_7681/tex_wall_textures_3479","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3601731921383682036,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3601731921383682036,"visual_seed":3601731921383682036,"scene_id":"lab_003","finished_at":"2026-09-03T09:30:02"} +{"episode_id":"ep_000030","started_at":"2026-09-03T09:31:27","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.5762715565832093,-0.30526208419017387,0.71338606911949],"aabb_xy":[[-0.6262646686924013,-0.3552620848643695],[-0.5262784444740175,-0.25526208351597823]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[0.10633363089371106,-1.6736160307128594,0.71338606911949],"aabb_xy":[[0.08133363096119318,-1.680498698933783],[0.13133363082622895,-1.6667333624919363]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.48835152735648335,-0.2920110804319629,0.71338606911949],"aabb_xy":[[0.45085152656448785,-0.298378921390153],[0.5258515281484788,-0.2856432394737728]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.505450430754603,0.820209847387956,0.71338606911949],"aabb_xy":[[-0.52794956648083,0.797709846609693],[-0.4829512950283761,0.842709848166219]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.5661351340682477,-2.4428951547367266,0.71338606911949],"aabb_xy":[[0.5442453864793069,-2.5328951520259757],[0.5880248816571885,-2.3528951574474775]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.6303927037280989,1.4741538639843328,0.71338606911949],"aabb_xy":[[-0.6880231726153695,1.414153865057622],[-0.5727622348408278,1.534153862911043]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.02846032794877207,-2.2162861859730705,0.71338606911949],"aabb_xy":[[-0.044522255407289706,-2.301286187785662],[-0.012398400490254423,-2.131286184160478]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.4893286299117947,1.324549347522911,0.71338606911949],"aabb_xy":[[0.4717819349956758,1.2870493459586598],[0.5068753248279136,1.3620493490871624]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.4223434382633926,0.8657886612341437,0.71338606911949],"aabb_xy":[[0.3977972226406419,0.8355397646851066],[0.4468896538861433,0.8960375577831807]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.6195703704048408,0.6259868059693532,0.71338606911949],"aabb_xy":[[0.6076376360430127,0.6136046531614938],[0.6315031047666688,0.6383689587772126]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.579964337780088,1.0500211027820257,0.71338606911949],"aabb_xy":[[0.5159643358677458,0.9941099535240154],[0.6439643396924305,1.1059322520400363]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.05313254443644089,0.3985170916703895,0.71338606911949],"aabb_xy":[[-0.10312737736438249,0.3485170927751459],[-0.0031377115084992926,0.448517090565633]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.11969073211501458,-2.3340169673509763,0.71338606911949],"aabb_xy":[[0.03969073471142114,-2.4140095385491587],[0.19969072951860797,-2.254024396152793]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.19524153571044783,1.148359250687478,0.71338606911949],"aabb_xy":[[-0.2652415378418773,1.125597285061782],[-0.12524153357901824,1.1711212163131732]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.43046662744938125,-0.4655295102804766,0.71338606911949],"aabb_xy":[[-0.4381698181234583,-0.4732388809792146],[-0.4227634367753042,-0.4578201395817386]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.2501615683577207,0.14913189300822305,0.71338606911949],"aabb_xy":[[-0.27881090071813686,0.12048633373114723],[-0.2215122359973044,0.17777745228529881]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[0.5091691026123901,-0.9744978467711047,0.71338606911949],"aabb_xy":[[0.44416910473074245,-1.0256215104776456],[0.574169100494038,-0.9233741830645639]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.23095794687426674,-0.7943922491055035,0.71338606911949],"aabb_xy":[[0.18095794521277195,-0.8443906913612061],[0.28095794853576145,-0.7443938068498007]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.25005096878152233,-1.0176157566902924,0.71338606911949],"aabb_xy":[[0.24029497927234844,-1.0273782907495268],[0.2598069582906962,-1.007853222631058]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.35505343872360595,-1.0557889563407208,0.71338606911949],"aabb_xy":[[-0.4190534378933759,-1.1025556434596833],[-0.291053439553836,-1.0090222692217583]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.6214901725311838,-1.388752715485693,0.71338606911949],"aabb_xy":[[-0.6311218087516134,-1.3983900282654016],[-0.6118585363107542,-1.3791154027059838]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.3760066814416171,-1.5232708860993853,0.71338606911949],"aabb_xy":[[-0.41702462482798797,-1.5732708867303427],[-0.3349887380552462,-1.473270885468428]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.1749713180070891,-0.73857675081068,0.71338606911949],"aabb_xy":[[-0.20997131719990736,-0.7495437968083424],[-0.13997131881427083,-0.7276097048130171]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[-0.5642607165458484,-1.5192956725977544,0.71338606911949],"aabb_xy":[[-0.6012948259739082,-1.5536728799314639],[-0.5272266071177887,-1.484918465264045]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.67080040674836,0.8323459055239577,0.71338606911949],"aabb_xy":[[0.6661652915961264,0.8284785704468088],[0.6754355219005931,0.8362132406011061]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.22024315676518014,-1.2928122768349186,0.71338606911949],"aabb_xy":[[0.20847496997052267,-1.3778122767401404],[0.2320113435598377,-1.2078122769296973]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679628363737055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7719.png","name":"7719"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7719.png","name":"7719"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8229.png","name":"8229"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8762.png","name":"8762"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/316.png","name":"316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6745.png","name":"6745"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":561.027953073538,"rotation_z_degrees":30.821203425960114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006496603305756521,0.019638866841023176,0.009047010531839851]},{"name":"camera_2","offset_m":[-0.01786588408628607,0.010296980097894402,-0.012606586906585001]},{"name":"camera_3","offset_m":[-0.006870461373877194,-0.0007233610376643183,0.008096479605168617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003586037241062397,0.0019064020059288457,0.00014065810970394525],"end_effector_yaw_offset_degrees":0.8917612466357367},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017822909053580545,7.013566419330998e-05,0.0011364657624623005],"end_effector_yaw_offset_degrees":-0.009662973304343625},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014358129877795603,0.0003838506236653284,-0.00023199541928761703],"end_effector_yaw_offset_degrees":0.42526902185091786}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003581364308143418,0.0012430744645505],"position_m":[0.30701863569185656,-0.019156925535449502,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018466128179353792,-0.0009354217622066273],"position_m":[0.1512466128179354,0.27836457823779337,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00398565096827118,0.0005903439746477003],"position_m":[0.3467856509682712,0.2136903439746477,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038648165540758096,0.00403937784613121],"position_m":[0.25483518344592415,-0.3576606221538688,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8a4ac7b91e29c653068c619cb6fd0b495811d61dce7da01a53158c6ccb8422a8","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7719/tex_ceiling_textures_6745/tex_floor_textures_316/tex_table_textures_8229/tex_wall_textures_8762","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6307532163925803031,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6307532163925803031,"visual_seed":6307532163925803031,"scene_id":"lab_003","finished_at":"2026-09-03T09:33:56"} +{"episode_id":"ep_000031","started_at":"2026-09-03T09:33:59","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[-0.38649907705554115,0.782082417391873,0.71338606911949],"aabb_xy":[[-0.39353938698907825,0.7020824179922018],[-0.37945876712200427,0.8620824167915447]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.22436990448746985,-0.18707319608971806,0.71338606911949],"aabb_xy":[[-0.25221494126807703,-0.21785769482802972],[-0.19652486770686278,-0.15628869735140635]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.6800209978457257,-1.7928718090649673,0.71338606911949],"aabb_xy":[[0.6575245764118616,-1.8153718088717148],[0.7025174192795898,-1.77037180925822]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.5900649700444398,-1.4826227079806167,0.71338606911949],"aabb_xy":[[0.5775976119347043,-1.4950880326139402],[0.6025323281541756,-1.4701573833472932]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.1713138613494961,0.8656922886578378,0.71338606911949],"aabb_xy":[[-0.20881386145508904,0.8588701268048565],[-0.13381386124390313,0.8725144505108188]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.3723242473137707,-2.524382949105737,0.71338606911949],"aabb_xy":[[0.3348242465217752,-2.5307507900639266],[0.4098242481057661,-2.518015108147546]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.10736687547417367,-0.664655654923342,0.71338606911949],"aabb_xy":[[-0.1623668736759185,-0.7051776215497794],[-0.05236687727242884,-0.6241336882969042]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.2186054368775972,1.5357596340597488,0.71338606911949],"aabb_xy":[[-0.27860543672416394,1.4789410118667101],[-0.1586054370310304,1.5925782562527875]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.3701674570823956,0.9655504016788878,0.71338606911949],"aabb_xy":[[0.3541055296238779,0.880550399866296],[0.3862293845409132,1.0505504034914797]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.2817682454816861,-2.135859299384975,0.71338606911949],"aabb_xy":[[-0.3317682449218817,-2.1858272238692913],[-0.2317682460414905,-2.0858913749006587]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.12634631667432317,-2.203436169178827,0.71338606911949],"aabb_xy":[[-0.16134631498501864,-2.2111511841023725],[-0.09134631836362775,-2.1957211542552812]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.5196709640155914,-0.7124747997292165,0.71338606911949],"aabb_xy":[[-0.5996709672734344,-0.7924713075212004],[-0.4396709607577485,-0.6324782919372325]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.1731129337418026,-1.0113198732089763,0.71338606911949],"aabb_xy":[[-0.2631129304774128,-1.0645033365262706],[-0.08311293700619235,-0.9581364098916816]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.42977671588627486,-0.06151054121978827,0.71338606911949],"aabb_xy":[[-0.49377671910491266,-0.10823365311879662],[-0.36577671266763695,-0.014787429320779921]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.11193860074540374,-1.488806900232636,0.71338606911949],"aabb_xy":[[0.09188018913216345,-1.508871987141794],[0.13199701235864403,-1.4687418133234786]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.43508990656455104,-1.0715191185628132,0.71338606911949],"aabb_xy":[[0.3750899059685349,-1.126331591108037],[0.4950899071605673,-1.01670664601759]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.6536426972389137,0.47571455113040173,0.71338606911949],"aabb_xy":[[-0.6713183278275119,0.458034334850999],[-0.6359670666503152,0.4933947674098045]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.6202516758304535,-0.585083580018793,0.71338606911949],"aabb_xy":[[0.5702516745466134,-0.635062434409415],[0.6702516771142933,-0.5351047256281708]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.5814878317610668,-1.4073249192789772,0.71338606911949],"aabb_xy":[[0.5733601435677536,-1.4162385276896847],[0.58961551995438,-1.3984113108682696]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.348804188060879,0.7261023269853712,0.71338606911949],"aabb_xy":[[0.32425797243812826,0.6958534304363341],[0.3733504036836297,0.7563512235344082]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.31198079693965186,-0.5728571262009945,0.71338606911949],"aabb_xy":[[-0.3225482765977508,-0.583402156314003],[-0.3014133172815528,-0.5623120960879859]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.6495570029532225,1.0078159035628582,0.71338606911949],"aabb_xy":[[0.6343941299762854,0.9926504462677397],[0.6647198759301596,1.0229813608579772]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.14745317299463834,1.2850566058839208,0.71338606911949],"aabb_xy":[[-0.18308232889459808,1.2494239391270678],[-0.1118240170946786,1.3206892726407737]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.13652223805226993,1.4188416813484293,0.71338606911949],"aabb_xy":[[-0.1540222373303568,1.401503581282083],[-0.11902223877418305,1.436179781414775]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.5328684788891623,-1.6744840127617502,0.71338606911949],"aabb_xy":[[-0.5557841917742123,-1.697388309898174],[-0.5099527660041125,-1.651579715625327]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.10556691227338211,-1.2749419647273859,0.71338606911949],"aabb_xy":[[-0.11901343890742544,-1.288411816380477],[-0.09212038563933878,-1.2614721130742947]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[0.12488190813390498,-1.8910094011819898,0.71338606911949],"aabb_xy":[[0.044881911170865804,-1.968085042825763],[0.20488190509694415,-1.8139337595382161]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.5981313220941904,-0.24583344117882477,0.71338606911949],"aabb_xy":[[-0.6214131642923217,-0.33083344247605284],[-0.5748494798960591,-0.1608334398815967]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[-0.6326527495156765,-1.4702808769135838,0.71338606911949],"aabb_xy":[[-0.6866683457975764,-1.5342808798058407],[-0.5786371532337764,-1.4062808740213264]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[-0.6706482766316877,-1.5889838117907549,0.71338606911949],"aabb_xy":[[-0.6888541002929354,-1.6000092123727467],[-0.65244245297044,-1.5779584112087635]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[0.5892469888208185,-0.40969604116452896,0.71338606911949],"aabb_xy":[[0.5714534818859021,-0.42749578676032657],[0.6070404957557349,-0.39189629556873123]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[0.11352460173091661,-1.591306857248556,0.71338606911949],"aabb_xy":[[0.10195562098398005,-1.6163068573654877],[0.12509358247785318,-1.5663068571316243]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[-0.2816126034575566,1.7287358652055986,0.71338606911949],"aabb_xy":[[-0.3516126060941429,1.708631000209733],[-0.21161260082097022,1.748840730201464]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_33","position":[0.5759723172019944,-2.512592734343685,0.71338606911949],"aabb_xy":[[0.5159723163411813,-2.564019164350171],[0.635972318062807,-2.4611663043371976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882249669484565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9236.png","name":"9236"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9236.png","name":"9236"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8056.png","name":"8056"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2328.png","name":"2328"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6533.png","name":"6533"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.3238403488997,"rotation_z_degrees":261.3764892216022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01171509686997026,0.004649850871349628,-0.009350010241344209]},{"name":"camera_2","offset_m":[0.010297838182393923,-0.005971591113011652,0.013891551455491199]},{"name":"camera_3","offset_m":[0.0022382136462387944,-0.016439291231178838,0.014898943797078849]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001967758985785369,-0.0013596505897787358,0.0018000075228773614],"end_effector_yaw_offset_degrees":-0.13383493296085214},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012521256661346793,-0.0009555898708426378,0.001747909223898453],"end_effector_yaw_offset_degrees":0.10382178758144822},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005397057880943922,0.0014462165649794891,-0.0019644879843553663],"end_effector_yaw_offset_degrees":-0.9419221112621639}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-2.9883700359076802e-05,0.003911466427075854],"position_m":[0.31057011629964093,-0.01648853357292415,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004729461971210631,-0.0038629931630767213],"position_m":[0.15412946197121064,0.2754370068369233,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024113159944762984,-0.0010151156972350106],"position_m":[0.3403886840055237,0.212084884302765,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003985483182625591,0.0003899422447873561],"position_m":[0.2626854831826256,-0.3613100577552127,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"250c43d4c0f2db15f6d4e70bbcc106fbfc25fb9fd330223baaa19787d2d8ec1c","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9236/tex_ceiling_textures_6533/tex_floor_textures_2328/tex_table_textures_8053/tex_wall_textures_8056","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1674205855209748059,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1674205855209748059,"visual_seed":1674205855209748059,"scene_id":"lab_003","finished_at":"2026-09-03T09:36:27"} +{"episode_id":"ep_000032","started_at":"2026-09-03T09:37:49","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[0.33956980596340003,1.5446871282387353,0.71338606911949],"aabb_xy":[[0.2845960839270672,1.4896871286745024],[0.39454352799973297,1.5996871278029687]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[0.2686740187506771,-1.5652358754756286,0.71338606911949],"aabb_xy":[[0.23304486285071735,-1.6008685422324818],[0.30430317465063683,-1.5296032087187759]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.43579068467308507,-2.1546774657126604,0.71338606911949],"aabb_xy":[[-0.49979068689349204,-2.1990505498379487],[-0.371790682452678,-2.110304381587372]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.3599549305690438,-0.8600466763079653,0.71338606911949],"aabb_xy":[[-0.4499549342459619,-0.9214790828850693],[-0.2699549268921256,-0.7986142697308606]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.33711136333863606,1.6087489290894461,0.71338606911949],"aabb_xy":[[-0.35378849933173157,1.592049005115516],[-0.32043422734554056,1.6254488530633766]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.5474990263519379,0.08082198285287001,0.71338606911949],"aabb_xy":[[-0.582499025544756,0.06985493685520737],[-0.5124990271591194,0.09178902885053263]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.022555065091001247,-2.1276485438163424,0.71338606911949],"aabb_xy":[[-0.07657066137290125,-2.191648546708599],[0.031460531190898755,-2.063648540924085]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.3710967002671824,0.0806161851667726,0.71338606911949],"aabb_xy":[[-0.40859670008421595,0.07597797385563074],[-0.33359670045014883,0.08525439647791447]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.4273617327795889,-1.327878184746069,0.71338606911949],"aabb_xy":[[0.36336173635226704,-1.3750478085681654],[0.49136172920691085,-1.2807085609239726]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.30954921698991755,-2.2901958491290757,0.71338606911949],"aabb_xy":[[-0.3193052064990914,-2.2999583831883097],[-0.2997932274807436,-2.280433315069841]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.5414645062733492,-1.756667012868769,0.71338606911949],"aabb_xy":[[0.5342032587029418,-1.7694540231322786],[0.5487257538437568,-1.7438800026052597]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.4722270929631809,0.8399228401154328,0.71338606911949],"aabb_xy":[[0.4082270926892027,0.7898567399181449],[0.5362270932371591,0.8899889403127208]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[0.5154594872917504,-2.331797818531496,0.71338606911949],"aabb_xy":[[0.49802877221274383,-2.349069933195347],[0.5328902023707568,-2.314525703867645]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.4664319278905926,1.5008247093346303,0.71338606911949],"aabb_xy":[[0.45939047693984497,1.4937979575968359],[0.47347337884134016,1.5078514610724247]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.5240681549926429,-1.9582633574445714,0.71338606911949],"aabb_xy":[[0.4905889877316021,-1.9917424708156786],[0.557547322253684,-1.9247842440734646]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.4770447877373978,-0.38852503402610017,0.71338606911949],"aabb_xy":[[0.4170447871413816,-0.4433375065713237],[0.537044788333414,-0.33371256148087675]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.44874794933257567,-1.5048305850542254,0.71338606911949],"aabb_xy":[[0.4379074711060607,-1.522016866344874],[0.4595884275590905,-1.4876443037635763]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.38039835886074463,-1.9761968561067262,0.71338606911949],"aabb_xy":[[-0.38844171878669986,-2.061196857202093],[-0.3723549989347895,-1.89119685501136]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[0.128096304690267,1.3448614433227202,0.71338606911949],"aabb_xy":[[0.08281768980911774,1.2808614439745363],[0.17337491957141626,1.4088614426709036]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.5492184482065303,1.2695612244803631,0.71338606911949],"aabb_xy":[[-0.6108092074305232,1.2055612263713162],[-0.4876276889825376,1.33356122258941]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[0.606648615471207,0.2336984625873959,0.71338606911949],"aabb_xy":[[0.5426486181688606,0.18933203561953912],[0.6706486127735534,0.27806488955525266]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.547925312846337,-2.4845561730978116,0.71338606911949],"aabb_xy":[[0.5104253125541623,-2.4885976484984154],[0.585425313138512,-2.480514697697208]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.3240620524344071,-0.7319675001523049,0.71338606911949],"aabb_xy":[[0.24033982693432465,-0.8219675036870009],[0.40778427793448957,-0.641967496617609]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.651310096138394,0.9352747450812426,0.71338606911949],"aabb_xy":[[0.5873100944603965,0.8867573536019283],[0.7153100978163912,0.9837921365605568]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.33143776975424677,0.8508204579914342,0.71338606911949],"aabb_xy":[[0.3095480221653059,0.7608204607021851],[0.3533275173431875,0.9408204552806834]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[-0.186092757262323,-0.7773696858188139,0.71338606911949],"aabb_xy":[[-0.19543976484461825,-0.791673308036458],[-0.1767457496800278,-0.7630660636011699]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.5006364366910602,0.7192046565695804,0.71338606911949],"aabb_xy":[[-0.5181363701250434,0.7017046566493459],[-0.4831365032570767,0.736704656489815]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.6128601193231918,-1.4202665004850723,0.71338606911949],"aabb_xy":[[-0.6628601203423271,-1.4567327162229002],[-0.5628601183040566,-1.3838002847472444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6830205067037595,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8434.png","name":"8434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8434.png","name":"8434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3132.png","name":"3132"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1457.png","name":"1457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1028.png","name":"1028"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7346.png","name":"7346"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.6869220614575,"rotation_z_degrees":248.4981848085441,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010834481359556954,-0.004395007918655547,-0.011386281564308796]},{"name":"camera_2","offset_m":[0.019602939577252624,-0.01496948482138816,0.007716098513590137]},{"name":"camera_3","offset_m":[0.002326008478780797,0.017906645347534517,-0.006278973778929307]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00037815605544640933,-0.0005637322159356155,0.00012957696316786204],"end_effector_yaw_offset_degrees":-0.8531840096762977},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00022216243199656388,0.0006605384160776563,-0.0012763926899475512],"end_effector_yaw_offset_degrees":-0.9789948525241432},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000669738968436473,0.0010583748516608447,-0.0018086596912543823],"end_effector_yaw_offset_degrees":0.12228491639563477}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020156938663405044,-0.0005696770546134104],"position_m":[0.31261569386634047,-0.02096967705461341,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004314534630503189,-0.00295626480439139],"position_m":[0.1537145346305032,0.2763437351956086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009503336965702878,0.003972341959204901],"position_m":[0.3418496663034297,0.2170723419592049,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027020625492921104,-0.0005127648527635505],"position_m":[0.25599793745070787,-0.36221276485276355,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4807b2f91585c4c1923e5a45b3a474816d53cb5414498ea858d00646a20cd4b0","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8434/tex_ceiling_textures_7346/tex_floor_textures_1028/tex_table_textures_3132/tex_wall_textures_1457","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2577317284439500560,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2577317284439500560,"visual_seed":2577317284439500560,"scene_id":"lab_003","finished_at":"2026-09-03T09:40:17"} +{"episode_id":"ep_000033","started_at":"2026-09-03T09:40:20","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.4246810480362752,0.5992585130696884,0.71338606911949],"aabb_xy":[[-0.46218104820814715,0.5665577776867811],[-0.38718104786440327,0.6319592484525954]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.09080826429743138,-0.9098237069831032,0.71338606911949],"aabb_xy":[[0.010808267283183404,-0.9299582586565145],[0.17080826131167937,-0.889689155309692]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.5548158265182541,-0.895155861472817,0.71338606911949],"aabb_xy":[[0.538931333252929,-0.9095088017716411],[0.5707003197835793,-0.880802921173993]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.22039692953373924,-1.528604598636693,0.71338606911949],"aabb_xy":[[0.17041812102342332,-1.5786045986424118],[0.2703757380440551,-1.4786045986309742]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.08521864811814472,0.6678951675054092,0.71338606911949],"aabb_xy":[[0.07506563256399533,0.6318256259326687],[0.09537166367229408,0.7039647090781493]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.6418228268379027,-1.7112037514835303,0.71338606911949],"aabb_xy":[[0.6341985587477245,-1.718836975020074],[0.649447094928081,-1.7035705279469866]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.33998875706216886,-0.7415674654269044,0.71338606911949],"aabb_xy":[[-0.38996182259468437,-0.7915674652394376],[-0.2900156915296534,-0.6915674656143717]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.5699230662573902,-2.1134441899794743,0.71338606911949],"aabb_xy":[[-0.6043854136555318,-2.1479380723772965],[-0.5354607188592482,-2.078950307581651]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.6890470211737918,0.25955176235617694,0.71338606911949],"aabb_xy":[[0.6734912517635265,0.24400132911176975],[0.7046027905840571,0.27510219560058413]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.5580674438410492,-2.502766623385224,0.71338606911949],"aabb_xy":[[-0.6180674440924504,-2.5570479484216886],[-0.49806744358964805,-2.4484852983487597]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.31390892458606023,-1.0148910534150355,0.71338606911949],"aabb_xy":[[0.26393563058279973,-1.0648910539695828],[0.3638822185893206,-0.9648910528604882]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.3675217068607492,-0.23734911786553647,0.71338606911949],"aabb_xy":[[-0.3938105311811898,-0.26362055152018765],[-0.3412328825403085,-0.2110776842108852]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.26301941072622714,0.42587481592232423,0.71338606911949],"aabb_xy":[[-0.32701941263856954,0.3699636666643138],[-0.19901940881388486,0.4817859651803347]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[-0.10285840004553659,-1.3415599310362378,0.71338606911949],"aabb_xy":[[-0.1678584010026638,-1.3935081429699432],[-0.037858399088409385,-1.289611719102532]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.026179784030958442,0.28291403612951127,0.71338606911949],"aabb_xy":[[-0.04397329096587488,0.2651142905337136],[-0.008386277096042005,0.30071378172530894]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.617944366388067,0.9572066052633543,0.71338606911949],"aabb_xy":[[0.5990599826195568,0.9383206804830015],[0.6368287501565773,0.9760925300437071]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.3445027072831673,0.9868470459539216,0.71338606911949],"aabb_xy":[[-0.4085027064529373,0.9400803588349591],[-0.2805027081133974,1.033613733072884]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.42695552151091665,-0.42466226095529613,0.71338606911949],"aabb_xy":[[0.38992141208285686,-0.45903946828900555],[0.4639896309389763,-0.3902850536215866]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.4309336201625853,-0.8642546171789403,0.71338606911949],"aabb_xy":[[-0.45343275588881227,-0.8867546179572032],[-0.4084344844363583,-0.8417546164006773]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.5251604024859476,-0.46205297159975967,0.71338606911949],"aabb_xy":[[-0.5311974154866125,-0.468079672668708],[-0.519123389485283,-0.4560262705308116]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.29563138638382885,-1.025725121782978,0.71338606911949],"aabb_xy":[[-0.3556313868916817,-1.082571855468899],[-0.2356313858759759,-0.9688783880970565]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.5642845323519499,0.661902725039857,0.71338606911949],"aabb_xy":[[0.5523517979901218,0.6495205722319977],[0.5762172667137779,0.6742848778477164]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[0.6894435572576265,-1.2798177818662584,0.71338606911949],"aabb_xy":[[0.6844875370727455,-1.30231778206838],[0.6943995774425078,-1.2573177816641368]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[0.28735454365141155,-2.1845254655490947,0.71338606911949],"aabb_xy":[[0.22335454224342086,-2.2363144170730194],[0.35135454505940217,-2.13273651402517]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.558961021699764,1.1586221781563264,0.71338606911949],"aabb_xy":[[0.5414610225653967,1.1487425511187384],[0.5764610208341311,1.168501805193914]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.2884016753148122,1.7562586781396967,0.71338606911949],"aabb_xy":[[0.265936905343407,1.7337586772608362],[0.31086644528621726,1.7787586790185572]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.4092262308786163,1.4208855672790368,0.71338606911949],"aabb_xy":[[-0.4317262308887647,1.4067893476394338],[-0.38672623086846813,1.4349817869186403]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[-0.16098324412424403,-0.7496217715568065,0.71338606911949],"aabb_xy":[[-0.17061488034467365,-0.7592590843365155],[-0.1513516079038144,-0.7399844587770976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893710980521609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5387.png","name":"5387"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5387.png","name":"5387"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4182.png","name":"4182"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2405.png","name":"2405"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5997.png","name":"5997"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":588.7502093521083,"rotation_z_degrees":33.8571097550645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005250192024246588,-0.003209157969603728,0.009700811204235719]},{"name":"camera_2","offset_m":[-0.013684492851458785,0.003072141397579293,0.014971080852710584]},{"name":"camera_3","offset_m":[-0.01861436458073629,-0.002983712399004329,-0.006826742383087425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002301116122048353,0.000696820150886371,0.0002186824625868859],"end_effector_yaw_offset_degrees":-0.12287141506143184},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008943698147298332,0.00010978892792841595,0.0014065743422976978],"end_effector_yaw_offset_degrees":-0.2477811345962344},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014490143302979437,-0.001354924093811531,0.0005765055218587942],"end_effector_yaw_offset_degrees":-0.9244735264974726}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000655466039493912,-0.0015667475603759772],"position_m":[0.3112554660394939,-0.02196674756037598,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00480975015122702,-0.0021089579640157373],"position_m":[0.14459024984877297,0.27719104203598427,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009386048699240824,-0.0014534218770357655],"position_m":[0.3437386048699241,0.21164657812296425,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004505934112318721,-0.0009484020905727343],"position_m":[0.2632059341123187,-0.36264840209057275,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d69f89bebfb5c336c7e0335a569e610c55b867fd0af69690f0954ef6b0679675","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5387/tex_ceiling_textures_5997/tex_floor_textures_2405/tex_table_textures_4182/tex_wall_textures_9589","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5592069907195783460,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5592069907195783460,"visual_seed":5592069907195783460,"scene_id":"lab_003","finished_at":"2026-09-03T09:42:57"} +{"episode_id":"ep_000034","started_at":"2026-09-03T09:43:00","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.31084548163905634,-0.9326018688709579,0.71338606911949],"aabb_xy":[[-0.3908454819126634,-1.0055514166966746],[-0.23084548136544944,-0.8596523210452413]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.38777685789382144,-1.4261811377191134,0.71338606911949],"aabb_xy":[[0.32377685567341435,-1.4705542218444017],[0.4517768601142284,-1.381808053593825]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.3518949657713394,0.23034520382933676,0.71338606911949],"aabb_xy":[[-0.40177766264903564,0.180345204583062],[-0.3020122688936432,0.2803452030756115]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.35658897667513306,-2.4280633815376245,0.71338606911949],"aabb_xy":[[-0.39408897509853336,-2.4412275955054548],[-0.31908897825173266,-2.4148991675697933]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.6355963345384606,-2.1655800505981677,0.71338606911949],"aabb_xy":[[-0.6415628734791965,-2.171541195257532],[-0.6296297955977248,-2.1596189059388036]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.23654935693994728,0.9598113917145907,0.71338606911949],"aabb_xy":[[-0.28367873594178294,0.8958113906701886],[-0.1894199779381116,1.0238113927589925]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.049467392351311035,-1.1133402906856853,0.71338606911949],"aabb_xy":[[-0.056879847892699516,-1.1191915011073132],[-0.04205493680992257,-1.1074890802640573]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.3856620166080674,-1.0641472812516617,0.71338606911949],"aabb_xy":[[-0.3982888038952638,-1.0736933549532344],[-0.3730352293208711,-1.0546012075500886]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.3086546231310568,0.4350572434503093,0.71338606911949],"aabb_xy":[[-0.3149667226673952,0.42929030419709047],[-0.30234252359471836,0.4408241827035281]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.31395625271325844,0.8172600058513013,0.71338606911949],"aabb_xy":[[0.2789562535833028,0.8115147847756372],[0.3489562518432141,0.8230052269269654]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.24425702484676898,1.7833517986450622,0.71338606911949],"aabb_xy":[[-0.2729063572071852,1.7547062393679864],[-0.21560769248635275,1.811997357922138]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.2817401016748109,-1.6735583655161945,0.71338606911949],"aabb_xy":[[0.26463802371644274,-1.690665171047464],[0.29884217963317905,-1.6564515599849245]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.012938970831027463,1.120219341854825,0.71338606911949],"aabb_xy":[[-0.07693896811667611,1.078712622901981],[0.05106102645462118,1.161726060807669]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.5149524534788466,-2.254504816337396,0.71338606911949],"aabb_xy":[[-0.5518030014158342,-2.2920048171604304],[-0.47810190554185894,-2.217004815514363]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.48976424103529215,-1.2253957430899591,0.71338606911949],"aabb_xy":[[-0.5397642413958581,-1.2753757302995619],[-0.439764240674726,-1.175415755880356]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.12026022254478608,0.04893756547607131,0.71338606911949],"aabb_xy":[[-0.16634531379951753,-0.0150624317764838],[-0.07417513129005458,0.11293756272862643]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.33674108488001603,0.7747408393657413,0.71338606911949],"aabb_xy":[[-0.416741088137859,0.6947443315737573],[-0.2567410816221731,0.8547373471577252]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.2504868213658993,1.4195902314632778,0.71338606911949],"aabb_xy":[[-0.2757076582257389,1.3943664806103908],[-0.22526598450605959,1.4448139823161643]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.5466338604588694,1.3895705862206231,0.71338606911949],"aabb_xy":[[0.5290555582699226,1.371996096646518],[0.5642121626478163,1.407145075794728]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.6594209598392757,-0.5462704064707515,0.71338606911949],"aabb_xy":[[-0.6769209591173625,-0.5636085065370975],[-0.6419209605611887,-0.5289323064044056]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.6524436129498956,0.14732426678111832,0.71338606911949],"aabb_xy":[[0.6179811349368077,0.14066058959819547],[0.6869060909629833,0.1539879439640411]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.5095077016649774,1.6021670125391076,0.71338606911949],"aabb_xy":[[0.48567148402437255,1.5121670117306216],[0.5333439193055827,1.6921670133475946]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.503716576115467,-1.8227696901294195,0.71338606911949],"aabb_xy":[[-0.557732172397367,-1.8867696930216764],[-0.44970097983356705,-1.758769687237162]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.3023258227339744,-1.104504613285629,0.71338606911949],"aabb_xy":[[-0.3242345048733254,-1.1264052801057196],[-0.2804171405946233,-1.0826039464655381]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.12612881555250066,0.5787353605299761,0.71338606911949],"aabb_xy":[[0.12003418766438234,0.5701659659783075],[0.13222344344061898,0.5873047550816449]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[-0.3307894649954554,-0.5903493389176526,0.71338606911949],"aabb_xy":[[-0.3347499487651898,-0.5980172035031733],[-0.326828981225721,-0.5826814743321321]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[0.42883030960212665,-1.2371306262301276,0.71338606911949],"aabb_xy":[[0.36483030638348884,-1.283853738129136],[0.49283031282076456,-1.1904075143311192]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_27","position":[0.03816521473773249,0.6628224516132404,0.71338606911949],"aabb_xy":[[0.024718688103689157,0.6493525999601492],[0.05161174137177582,0.6762923032663316]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[0.2513910913604068,-0.8958383355280914,0.71338606911949],"aabb_xy":[[0.16639109266833219,-0.9278241989229703],[0.33639109005248147,-0.8638524721332126]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_29","position":[0.5121424585116978,-0.42717550600781884,0.71338606911949],"aabb_xy":[[0.5019894429575482,-0.4632450475805591],[0.522295474065847,-0.39110596443507845]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[0.4070898333476325,-1.6861844659997127,0.71338606911949],"aabb_xy":[[0.37059401272035364,-1.72266840842647],[0.4435856539749111,-1.649700523572955]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.5237111867006868,-1.4059401126937103,0.71338606911949],"aabb_xy":[[-0.5325132420096594,-1.4137514388486394],[-0.514909131391714,-1.3981287865387813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822978502958713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3386.png","name":"3386"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3386.png","name":"3386"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4401.png","name":"4401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3575.png","name":"3575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9620.png","name":"9620"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":611.6868884353133,"rotation_z_degrees":143.47570821597787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005032092282283861,-0.005708328696429694,-0.017678247807113953]},{"name":"camera_2","offset_m":[-0.009960949368305588,0.010880061750331738,-0.016143105525949695]},{"name":"camera_3","offset_m":[0.0058526958614183895,-0.015154281312693522,0.013485027078862535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011797487576134845,-0.000937710307139327,-0.0003391805368029566],"end_effector_yaw_offset_degrees":-0.14882557013513686},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00114034957837667,0.0009359699711714632,-1.5245695176753504e-06],"end_effector_yaw_offset_degrees":0.5056962102910945},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001636631470631083,-0.0007271356658903212,4.860228245712672e-05],"end_effector_yaw_offset_degrees":-0.4971460747992251}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00422534261319074,-0.0018867265362595919],"position_m":[0.31482534261319073,-0.022286726536259592,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016360439162991726,0.0025525687522910878],"position_m":[0.14776395608370083,0.2818525687522911,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018920168193538702,0.0006054790906479786],"position_m":[0.34090798318064613,0.213705479090648,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004732264483919396,-0.002385851392098297],"position_m":[0.2539677355160806,-0.3640858513920983,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"591894ade4f00246abf1b7b00dc91adf99ee695313e4be2df5c7206c917742fe","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3386/tex_ceiling_textures_9620/tex_floor_textures_3575/tex_table_textures_4401/tex_wall_textures_1980","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6593476214490513252,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6593476214490513252,"visual_seed":6593476214490513252,"scene_id":"lab_003","finished_at":"2026-09-03T09:45:24"} +{"episode_id":"ep_000035","started_at":"2026-09-03T09:45:27","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.1444989916808821,-1.7303651958782043,0.71338606911949],"aabb_xy":[[0.1365055018856001,-1.7383633278186803],[0.15249248147616415,-1.722367063937729]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.3714576919416497,-1.6873093541540936,0.71338606911949],"aabb_xy":[[0.3339576914442914,-1.6912780377022119],[0.40895769243900787,-1.6833406706059748]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.4294070884579413,1.237881771743433,0.71338606911949],"aabb_xy":[[0.3794228527497641,1.1878817729299374],[0.47939132416611857,1.2878817705569285]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.5641271767910474,-0.16458042382982274,0.71338606911949],"aabb_xy":[[0.5596965474362073,-0.17002879556450534],[0.5685578061458877,-0.15913205209514014]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.06772342426246858,-1.4130615525958687,0.71338606911949],"aabb_xy":[[0.053080018708435595,-1.4277202722526527],[0.08236682981650156,-1.3984028329390843]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.6202561604511636,0.5549275729518826,0.71338606911949],"aabb_xy":[[-0.6558853163511232,0.5192949061950296],[-0.5846270045512038,0.5905602397087355]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[0.5432413775955292,-1.4415388163236533,0.71338606911949],"aabb_xy":[[0.5057413777784956,-1.4461770276347952],[0.5807413774125627,-1.4369006050125115]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.0932603097933411,1.5871338854909598,0.71338606911949],"aabb_xy":[[-0.17326031305118406,1.5071373776989756],[-0.013260306535498131,1.6671303932829435]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.2610113977603662,-1.381438651432684,0.71338606911949],"aabb_xy":[[-0.33101139956911163,-1.4027924201968711],[-0.19101139595162075,-1.3600848826684964]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.17930155505413237,0.5939035339098275,0.71338606911949],"aabb_xy":[[0.16412938577249905,0.5787346769816242],[0.19447372433576574,0.6090723908380309]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[0.2440862161416114,1.6647425350859648,0.71338606911949],"aabb_xy":[[0.22658628270762798,1.64724253516573],[0.26158614957559473,1.6822425350061991]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.3421505854221354,-2.414029254970109,0.71338606911949],"aabb_xy":[[0.31715058615017305,-2.4303746185662707],[0.3671505846940976,-2.397683891373946]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.4632912007630642,-1.6026360193769347,0.71338606911949],"aabb_xy":[[-0.46742705709576443,-1.6401360188212917],[-0.45915534443036404,-1.5651360199325777]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.34246691851561323,0.19772421576438548,0.71338606911949],"aabb_xy":[[-0.4124669201178927,0.1842914225627279],[-0.27246691691333375,0.21115700896604306]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.18970769070676985,-0.6474259055033773,0.71338606911949],"aabb_xy":[[0.16720769046325443,-0.6596305401631493],[0.21220769095028522,-0.6352212708436054]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.1452435008404871,-1.1545428685361974,0.71338606911949],"aabb_xy":[[0.12781278576148056,-1.171814983200048],[0.16267421591949358,-1.1372707538723463]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.6742654205874286,1.7169557962649686,0.71338606911949],"aabb_xy":[[0.6431185017438453,1.6469557975781615],[0.7054123394310116,1.7869557949517758]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.2634505180859141,-1.9260375222214028,0.71338606911949],"aabb_xy":[[-0.34345051855613007,-1.9343482298357517],[-0.18345051761569817,-1.9177268146070547]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.27866313911753054,0.5419512972337368,0.71338606911949],"aabb_xy":[[-0.33365861693818993,0.48695129579982976],[-0.22366766129687116,0.5969512986676436]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.49685772705945164,0.5715536075402672,0.71338606911949],"aabb_xy":[[0.4618577270829558,0.5620889914926506],[0.5318577270359475,0.5810182235878838]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.4689887534584185,1.1041127477550363,0.71338606911949],"aabb_xy":[[-0.5117554603378387,1.0401127443332339],[-0.4262220465789983,1.1681127511768388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6818868106010055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7875.png","name":"7875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7875.png","name":"7875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9315.png","name":"9315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9259.png","name":"9259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9347.png","name":"9347"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4999.png","name":"4999"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":714.2533216132143,"rotation_z_degrees":178.0669759149452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010167439239490272,-0.008199845367751393,0.008068363119339832]},{"name":"camera_2","offset_m":[-0.016764173344948553,-0.010733620214637444,-0.00030619176316810937]},{"name":"camera_3","offset_m":[-0.01675942227434324,-0.0038769229596174494,0.009185261897357487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013595350657944249,-0.0012697220250116872,0.0013359462868431098],"end_effector_yaw_offset_degrees":-0.5592219447394768},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005728586306855826,0.0019072052084800634,0.0015210725537068938],"end_effector_yaw_offset_degrees":0.6192152154155379},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008224227591997174,0.00010380233247896109,-0.0014296187927699492],"end_effector_yaw_offset_degrees":0.4179790338528613}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014673245044600491,-0.002281651980231495],"position_m":[0.31206732450446006,-0.022681651980231497,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004481780244263712,0.0033278959571543696],"position_m":[0.15388178024426372,0.2826278959571544,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035136382546828446,-0.003844458047454016],"position_m":[0.34631363825468287,0.209255541952546,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003906722237051938,-0.00030054598143817307],"position_m":[0.254793277762948,-0.3620005459814382,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"94ae48279b534d1ae7e7e6ea7a27685692c9532de745c815cb167c522b63e26a","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7875/tex_ceiling_textures_4999/tex_floor_textures_9347/tex_table_textures_9315/tex_wall_textures_9259","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5814916915899454231,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5814916915899454231,"visual_seed":5814916915899454231,"scene_id":"lab_003","finished_at":"2026-09-03T09:48:20"} +{"episode_id":"ep_000036","started_at":"2026-09-03T09:48:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.30017550554173056,-1.2985747261897749,0.71338606911949],"aabb_xy":[[0.25019255535425117,-1.348574725832335],[0.35015845572920984,-1.2485747265472142]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.611170352338219,1.696686136246781,0.71338606911949],"aabb_xy":[[-0.6461703506489144,1.6889711213232355],[-0.5761703540275235,1.7044011511703268]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.09949421934656988,1.225712126186254,0.71338606911949],"aabb_xy":[[0.009494220752099936,1.2094615398728332],[0.18949421794103982,1.2419627124996753]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.03791369212308848,-0.8739576330373693,0.71338606911949],"aabb_xy":[[-0.11791368908612765,-0.9510332746811425],[0.04208630483995069,-0.7968819913935956]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.5558053513795258,-0.2872435143693113,0.71338606911949],"aabb_xy":[[0.4981748824922547,-0.34724351329602177],[0.6134358202667964,-0.22724351544260057]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[-0.5989513274638985,0.5617369834818513,0.71338606911949],"aabb_xy":[[-0.6364513260395193,0.5490006878182934],[-0.5614513288882776,0.5744732791454092]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.152916835946328,-1.603057507854437,0.71338606911949],"aabb_xy":[[0.06291683652795707,-1.6364330046986264],[0.24291683536469885,-1.569682011010247]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.41190010250614556,0.3606175847511981,0.71338606911949],"aabb_xy":[[-0.44752925840610536,0.32498491799434515],[-0.3762709466061859,0.39625025150805104]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.5375638176728601,-1.1659709053782876,0.71338606911949],"aabb_xy":[[0.5000638171755019,-1.169939588926406],[0.5750638181702183,-1.1620022218301689]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.3639090955714854,-0.5628825406947247,0.71338606911949],"aabb_xy":[[-0.3720227502448625,-0.5709883571487537],[-0.3557954408981083,-0.5547767242406956]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[-0.5725248610260559,1.43489022197967,0.71338606911949],"aabb_xy":[[-0.6225241361944921,1.3848902207037228],[-0.5225255858576198,1.4848902232556171]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.4753385100966821,0.016255537184342472,0.71338606911949],"aabb_xy":[[-0.499852134193688,-0.00800905611769398],[-0.4508248859996763,0.040520130486378925]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.27424416411279295,-2.513556161765459,0.71338606911949],"aabb_xy":[[0.18424416043587474,-2.5749885683425626],[0.3642441677897111,-2.452123755188354]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.6230529484545586,-1.4240892225549653,0.71338606911949],"aabb_xy":[[-0.6568285076452516,-1.4381277177681304],[-0.5892773892638656,-1.4100507273418001]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.5949565271726756,-0.6243420321309938,0.71338606911949],"aabb_xy":[[0.5604940491595877,-0.6310057093139165],[0.6294190051857632,-0.6176783549480709]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.0111521172460598,1.7661103332832462,0.71338606911949],"aabb_xy":[[-0.05284788466628254,1.7101991840252357],[0.07515211915840214,1.8220214825412566]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.4149567099061984,0.14417865877872726,0.71338606911949],"aabb_xy":[[0.4073324418160202,0.13654543524218357],[0.42258097799637667,0.151811882315271]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.3474024243857752,-2.0654298601321988,0.71338606911949],"aabb_xy":[[-0.3592745073972763,-2.150429859825849],[-0.33553034137427407,-1.9804298604385484]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.28274297043782404,-1.7272098833558094,0.71338606911949],"aabb_xy":[[0.27344935220067346,-1.764709881843943],[0.2920365886749746,-1.6897098848676753]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.285729778556115,0.5407064309733851,0.71338606911949],"aabb_xy":[[-0.34972977566822067,0.4916740611789745],[-0.2217297814440093,0.5897388007677957]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.29479657570079765,1.1598070647119618,0.71338606911949],"aabb_xy":[[0.23079657653102773,1.1130403775929993],[0.3587965748705676,1.2065737518309243]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.17497636130924987,-2.383048279466802,0.71338606911949],"aabb_xy":[[-0.20845552857029082,-2.4165273928379096],[-0.14149719404820893,-2.3495691660956957]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[0.33301075832939286,-0.7925785439302901,0.71338606911949],"aabb_xy":[[0.2433236820212774,-0.8825785441847407],[0.4226978346375083,-0.7025785436758396]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.15144705199983421,1.4267502940923378,0.71338606911949],"aabb_xy":[[-0.16229865824870982,1.4158910033646868],[-0.14059544575095861,1.4376095848199888]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.03271597224574041,-1.777095357700206,0.71338606911949],"aabb_xy":[[-0.07984535124757608,-1.8410953587446077],[0.014413406756095266,-1.7130953566558038]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[-0.3992429794235844,0.8767402236727935,0.71338606911949],"aabb_xy":[[-0.4792429796971914,0.8037906758470768],[-0.3192429791499774,0.9496897714985102]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.4151999105905807,-1.3163378768418432,0.71338606911949],"aabb_xy":[[-0.42676889133751733,-1.3413378769587752],[-0.4036309298436442,-1.2913378767249117]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_27","position":[-0.3747244626499128,-1.0238569981587275,0.71338606911949],"aabb_xy":[[-0.4347244635107255,-1.0752834281652137],[-0.3147244617890999,-0.972430568152241]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[-0.35644878398209073,1.241672063032436,0.71338606911949],"aabb_xy":[[-0.3643720642208391,1.2191720627944327],[-0.34852550374334246,1.2641720632704394]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.28440619763962394,0.7242320053546591,0.71338606911949],"aabb_xy":[[0.21940619948370488,0.697935760804747],[0.349406195795543,0.7505282499045713]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[-0.006141527172632055,-2.3894324040619126,0.71338606911949],"aabb_xy":[[-0.08613535075119028,-2.469432406654754],[0.07385229640592617,-2.309432401469071]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_31","position":[-0.40101829269615596,-2.4501988641044217,0.71338606911949],"aabb_xy":[[-0.4049787764658903,-2.457866728689942],[-0.3970578089264216,-2.4425309995189006]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_32","position":[0.3616351010789378,-2.0568654153373123,0.71338606911949],"aabb_xy":[[0.28163510367534433,-2.136857986535495],[0.4416350984825312,-1.9768728441391297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6795824650065928,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4875.png","name":"4875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4875.png","name":"4875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/451.png","name":"451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5195.png","name":"5195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9408.png","name":"9408"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/714.png","name":"714"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":634.7223611925876,"rotation_z_degrees":12.56589779359533,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01999473628904164,-0.012656140896513955,-0.005407672547616333]},{"name":"camera_2","offset_m":[0.0051142916618976166,0.019248562478540166,0.01049872252985122]},{"name":"camera_3","offset_m":[0.0007469810866945897,0.007808338995643375,0.0040243089928257356]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003402642338974657,-0.0011333999704036643,0.0014921055934491688],"end_effector_yaw_offset_degrees":-0.8653655900568542},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016185769143647998,-0.0011022989889365102,-0.0015164877308400375],"end_effector_yaw_offset_degrees":0.9521411624309355},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010083350341341668,-0.0019347539593930678,0.0002486951981186909],"end_effector_yaw_offset_degrees":-0.2431323936835259}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006827742133675863,-0.0017597308364084388],"position_m":[0.3112827742133676,-0.02215973083640844,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003646363773032706,-0.004290513008197142],"position_m":[0.1530463637730327,0.27500948699180283,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002971454975379192,-0.0015629336116913363],"position_m":[0.3398285450246208,0.2115370663883087,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004829077415602473,0.0025729000847567593],"position_m":[0.25387092258439753,-0.3591270999152433,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1af800138818f3e37cfdd7b182693c5a731f823974327a2bf7a5096950640563","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4875/tex_ceiling_textures_714/tex_floor_textures_9408/tex_table_textures_451/tex_wall_textures_5195","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5896375097094461494,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5896375097094461494,"visual_seed":5896375097094461494,"scene_id":"lab_003","finished_at":"2026-09-03T09:50:45"} +{"episode_id":"ep_000037","started_at":"2026-09-03T09:50:48","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.3579766406385702,-1.9944604294087243,0.71338606911949],"aabb_xy":[[-0.40797664165770553,-2.030926645146552],[-0.30797663961943494,-1.9579942136708965]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.27697494424991975,-0.7059104408914403,0.71338606911949],"aabb_xy":[[0.23947494582651935,-0.7190746548592708],[0.31447494267332005,-0.6927462269236095]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.45148291127946605,1.114891845008564,0.71338606911949],"aabb_xy":[[0.41444880185140626,1.0805146376748547],[0.48851702070752573,1.1492690523422735]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.2672720183081442,-2.561707690471065,0.71338606911949],"aabb_xy":[[0.2022720172022009,-2.5866730635391932],[0.33227201941408746,-2.5367423174029367]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[-0.10446144215865538,0.031213552966816938,0.71338606911949],"aabb_xy":[[-0.15946144133524484,-0.023776121808140708],[-0.04946144298206587,0.08620322774177458]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.06579494140276554,-2.029969754916804,0.71338606911949],"aabb_xy":[[-0.14579494283289274,-2.1094869099294136],[0.01420506002736166,-1.9504525999041946]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.02149526272685831,-2.2911194369013677,0.71338606911949],"aabb_xy":[[-0.004793561593582351,-2.3173908705560184],[0.047784087047298966,-2.264848003246716]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.1802719176672022,0.5480842949295921,0.71338606911949],"aabb_xy":[[-0.21404747685789516,0.5340457997164271],[-0.14649635847650921,0.5621227901427571]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.3426073674793204,-2.122721881143116,0.71338606911949],"aabb_xy":[[0.2526073709784486,-2.168633523561574],[0.4326073639801921,-2.0768102387246574]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.6314029174515879,1.7049677794202434,0.71338606911949],"aabb_xy":[[-0.6814029188124753,1.6549898748448275],[-0.5814029160907008,1.7549456839956588]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.35977292721147164,-0.468462093397787,0.71338606911949],"aabb_xy":[[-0.43977293047548477,-0.48202212570670033],[-0.2797729239474585,-0.45490206108887365]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.3225190693042258,-0.27267599068128057,0.71338606911949],"aabb_xy":[[-0.41220614561234126,-0.3626759909357311],[-0.23283199299611035,-0.18267599042683003]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.046856297656684864,1.631789413220281,0.71338606911949],"aabb_xy":[[0.04054419812034643,1.6260224739670621],[0.0531683971930233,1.6375563524735]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[0.07916494490801496,1.0634856532111328,0.71338606911949],"aabb_xy":[[0.06161824999189601,1.0259856516468815],[0.09671163982413387,1.100985654775384]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.39311104789065054,-1.1449336766211775,0.71338606911949],"aabb_xy":[[-0.44320851187172416,-1.2089336771309893],[-0.3430135839095769,-1.0809336761113657]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.6269615750206617,-0.2824568339147069,0.71338606911949],"aabb_xy":[[-0.6625907309206215,-0.3180895006715598],[-0.591332419120702,-0.24682416715785388]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.3219003967952983,-2.234970779273957,0.71338606911949],"aabb_xy":[[-0.32534107303535553,-2.238832212248322],[-0.3184597205552412,-2.231109346299593]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.5523898779451062,-2.0870263310298625,0.71338606911949],"aabb_xy":[[-0.6163898771148761,-2.1337930181488245],[-0.4883898787753363,-2.0402596439108995]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.1538448716343772,1.5359930046234909,0.71338606911949],"aabb_xy":[[-0.18830734964746496,1.529329327440568],[-0.11938239362128941,1.5426566818064134]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.5010142892219109,-1.16335435838536,0.71338606911949],"aabb_xy":[[0.42101429225887177,-1.2404300000291333],[0.5810142861849501,-1.0862787167415864]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.25400841935439583,-2.3617398083557495,0.71338606911949],"aabb_xy":[[-0.2765084198664364,-2.384231666721148],[-0.23150841884235518,-2.339247949990351]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.3807324102094769,1.7535490033944812,0.71338606911949],"aabb_xy":[[0.3457324088579951,1.7331892674376603],[0.4157324115609586,1.773908739351302]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[-0.16842949129049856,0.6372270807912601,0.71338606911949],"aabb_xy":[[-0.18398526070076382,0.621676647546853],[-0.1528737218802333,0.6527775140356674]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6819652863482041,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5335.png","name":"5335"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5335.png","name":"5335"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/528.png","name":"528"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8487.png","name":"8487"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3244.png","name":"3244"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2320.png","name":"2320"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":842.5689725109214,"rotation_z_degrees":200.67282997130485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010376477962837628,-0.005629948609867954,-0.015754138001794402]},{"name":"camera_2","offset_m":[-0.00300708778901514,0.004776262916573969,-0.01836575147709873]},{"name":"camera_3","offset_m":[0.008218682188276746,0.018797730588071205,0.019076422833906443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010273278119594194,0.0009413998353105081,0.0015641914826379582],"end_effector_yaw_offset_degrees":-0.1532888940247028},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003618034474735933,-0.001098636844048183,0.001992230481847948],"end_effector_yaw_offset_degrees":0.6886607600771277},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019225664222932081,-0.00010878118322143137,-0.0006619140747858032],"end_effector_yaw_offset_degrees":-0.2674970321665382}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018914964498852704,-0.00482042637873331],"position_m":[0.3087085035501147,-0.025220426378733313,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019114430809057245,-0.0020627652384014893],"position_m":[0.15131144308090572,0.2772372347615985,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041654737836068255,-0.0028882034823547176],"position_m":[0.3386345262163932,0.2102117965176453,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0040660304979036254,-0.0007024116464680943],"position_m":[0.2546339695020964,-0.36240241164646814,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ada258a91d44108c3fe6869933b61191695771be24528621b7bbdbb429de1821","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5335/tex_ceiling_textures_2320/tex_floor_textures_3244/tex_table_textures_528/tex_wall_textures_8487","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8010337169909081281,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8010337169909081281,"visual_seed":8010337169909081281,"scene_id":"lab_003","finished_at":"2026-09-03T09:53:18"} +{"episode_id":"ep_000038","started_at":"2026-09-03T09:53:20","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.16155690775613152,-2.2206735735979244,0.71338606911949],"aabb_xy":[[0.12564340333114182,-2.2565870818146787],[0.1974704121811212,-2.184760065381169]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.2806691615541895,-2.099627220888621,0.71338606911949],"aabb_xy":[[-0.3306684367226257,-2.1496272221645683],[-0.23066988638575336,-2.049627219612674]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.36977236017564485,-1.4402213010159859,0.71338606911949],"aabb_xy":[[0.3648730678690813,-1.4678982203185544],[0.3746716524822083,-1.412544381713417]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.6579959005325766,0.799054808457138,0.71338606911949],"aabb_xy":[[0.6079958988710817,0.7490563662014352],[0.7079959021940713,0.8490532507128407]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.449891512681591,1.0092424185937032,0.71338606911949],"aabb_xy":[[0.4000088158038949,0.9592424193474287],[0.4997742095592873,1.0592424178399782]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.47511178556343325,-0.937517398366976,0.71338606911949],"aabb_xy":[[-0.5062587044070164,-1.0075173970537832],[-0.4439648667198501,-0.8675173996801687]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.3817535678071534,-0.36334333219066783,0.71338606911949],"aabb_xy":[[-0.392659343894716,-0.44334332858949693],[-0.3708477917195906,-0.2833433357918386]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.5139032437319733,-2.3703872664112926,0.71338606911949],"aabb_xy":[[0.49610973679705683,-2.3881870120070903],[0.5316967506668897,-2.352587520815495]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.3389757635043007,0.545664461307346,0.71338606911949],"aabb_xy":[[0.3301945363570645,0.536884714018816],[0.347756990651537,0.5544442085958763]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.32640689162363934,1.3802016853342125,0.71338606911949],"aabb_xy":[[0.3011860547637996,1.3549779344813255],[0.35162772848347895,1.405425436187099]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.1190007738624842,-0.33200623111778604,0.71338606911949],"aabb_xy":[[-0.18400077201840326,-0.35830247566769824],[-0.05400077570656514,-0.30570998656787385]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[0.5833138036420376,0.4851329064855503,0.71338606911949],"aabb_xy":[[0.5508521027601099,0.4550000743706476],[0.6157755045239648,0.5152657386004528]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.16668802290218077,-1.2265522823895811,0.71338606911949],"aabb_xy":[[-0.17631965912261038,-1.2361895951692898],[-0.15705638668175115,-1.216914969609872]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.2852578525659393,0.6439685133029966,0.71338606911949],"aabb_xy":[[0.25692814261739905,0.6395077711092795],[0.3135875625144795,0.6484292554967136]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.33681397881240294,0.712662759675839,0.71338606911949],"aabb_xy":[[0.29931397729677117,0.7014359866596941],[0.3743139803280346,0.7238895326919842]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.23891145480242926,-1.6098518246533207,0.71338606911949],"aabb_xy":[[-0.3189052783809875,-1.6898518272461625],[-0.15891763122387104,-1.5298518220604793]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.5165632560487692,-0.3964625679856275,0.71338606911949],"aabb_xy":[[0.46157100541325824,-0.45146256972894033],[0.5715555066842801,-0.34146256624231475]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.16894970773674045,1.476012415894123,0.71338606911949],"aabb_xy":[[0.16503583454131793,1.4672634004875664],[0.17286358093216297,1.48476143130068]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.5142771831942159,0.16002024606315812,0.71338606911949],"aabb_xy":[[0.45027717997557803,0.11329713416414977],[0.5782771864128537,0.20674335796216647]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.1885182156547457,1.769749997074562,0.71338606911949],"aabb_xy":[[0.1733460463731124,1.754581140146359],[0.2036903849363791,1.7849188540027656]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[0.42824466398886063,0.45181256912548884,0.71338606911949],"aabb_xy":[[0.4221500361007423,0.4432431745738202],[0.43433929187697895,0.4603819636771576]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.0780761153335432,1.3461399061207469,0.71338606911949],"aabb_xy":[[-0.1420761157110768,1.2963946392699346],[-0.014076114956009578,1.3958851729715591]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[-0.32942548561942914,0.6512220197941847,0.71338606911949],"aabb_xy":[[-0.4094254827790044,0.6396744188363676],[-0.24942548845985385,0.6627696207520016]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[0.6011792130126159,-0.638575752095291,0.71338606911949],"aabb_xy":[[0.5511792116517287,-0.6885536566707067],[0.6511792143735031,-0.5885978475198754]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.7004427359307412,-1.9047063939409843,0.71338606911949],"aabb_xy":[[0.6940289222875562,-1.9111162141886524],[0.7068565495739261,-1.8982965736933157]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.4350513342603244,-2.358867575787835,0.71338606911949],"aabb_xy":[[0.42258397615058874,-2.3713329004211587],[0.44751869237006003,-2.3464022511545117]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[-0.25397612844762757,1.4006569541418266,0.71338606911949],"aabb_xy":[[-0.2778123460882327,1.31065695333334],[-0.23013991080702256,1.490656954950313]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[0.5525913356900918,-2.128746324114598,0.71338606911949],"aabb_xy":[[0.48259133388134634,-2.1501000928787852],[0.6225913374988372,-2.1073925553504105]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.12200217805046687,1.1877271943007979,0.71338606911949],"aabb_xy":[[0.06687697242087609,1.1277271928595105],[0.17712738368005765,1.2477271957420848]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[-0.5119783970205061,-1.8056157752036088,0.71338606911949],"aabb_xy":[[-0.5669521190568391,-1.860615774767842],[-0.4570046749841733,-1.7506157756393756]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[0.4262396188564481,0.7958403132210923,0.71338606911949],"aabb_xy":[[0.3999507945360074,0.7695688795664409],[0.45252844317688873,0.8221117468757434]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_31","position":[-0.23170218247227653,-0.13958400173080898,0.71338606911949],"aabb_xy":[[-0.2529801906157487,-0.204584004056882],[-0.21042417432880425,-0.0745839994047359]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854995978770781,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3550.png","name":"3550"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3550.png","name":"3550"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9343.png","name":"9343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4935.png","name":"4935"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/233.png","name":"233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8560.png","name":"8560"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":617.5243078734976,"rotation_z_degrees":2.576835451654307,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016083229072691337,0.006517405788846468,-0.00490013299061284]},{"name":"camera_2","offset_m":[0.007965725635286667,0.014300105289476926,0.0002559148715929535]},{"name":"camera_3","offset_m":[0.0006329247320715908,0.004553097608189602,-0.012603379244743113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014386083094005135,-0.00160504434725493,0.0008259923358060854],"end_effector_yaw_offset_degrees":0.5843200094043679},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.15989928968255e-05,0.0017370801799732492,0.0016764450686708844],"end_effector_yaw_offset_degrees":-0.6496443082572496},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019922949746003843,0.001687849163835365,-0.0011780663059811403],"end_effector_yaw_offset_degrees":-0.10090752114510204}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011159438747060644,-0.0023578476675523295],"position_m":[0.30948405612529395,-0.02275784766755233,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[1.206629130257042e-05,0.0028087936613118173],"position_m":[0.14941206629130258,0.2821087936613118,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001097209538888453,0.0007822596944869042],"position_m":[0.3417027904611115,0.2138822596944869,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019672711762148153,-0.004003703212313829],"position_m":[0.2567327288237852,-0.3657037032123138,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"177403c3bf7a00dd1f08cb087c098e52fed4c3d36ecab7646e476f32721bd4e7","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3550/tex_ceiling_textures_8560/tex_floor_textures_233/tex_table_textures_9343/tex_wall_textures_4935","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6867857129706665409,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6867857129706665409,"visual_seed":6867857129706665409,"scene_id":"lab_003","finished_at":"2026-09-03T09:55:50"} +{"episode_id":"ep_000039","started_at":"2026-09-03T09:55:52","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.08096543221498953,-2.0622727587584575,0.71338606911949],"aabb_xy":[[0.06632202666095655,-2.0769314784152413],[0.09560883776902251,-2.047614039101673]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.3866301101455708,1.1866496624598906,0.71338606911949],"aabb_xy":[[-0.40880263712222153,1.1644739953037673],[-0.3644575831689199,1.2088253296160134]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.3209569071055197,0.6352270837128251,0.71338606911949],"aabb_xy":[[-0.4046791326056022,0.5452270801781292],[-0.23723468160543726,0.725227087247521]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.33791672635409564,-0.9351549670386743,0.71338606911949],"aabb_xy":[[0.2679167247518162,-0.948587760240332],[0.4079167279563752,-0.9217221738370168]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.3379972527001318,-0.8012299342986353,0.71338606911949],"aabb_xy":[[0.27399724948149395,-0.8479530461976437],[0.40199725591876967,-0.754506822399627]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.12354496055459918,1.5370356496375268,0.71338606911949],"aabb_xy":[[0.10443265319662032,1.5179008707602848],[0.14265726791257805,1.5561704285147688]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.6488977498961814,0.9683025881386236,0.71338606911949],"aabb_xy":[[0.6360258463952412,0.8883025877247874],[0.6617696533971215,1.0483025885524597]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.03919694584929112,1.7027253604480594,0.71338606911949],"aabb_xy":[[0.004196946656472848,1.6917583144503967],[0.07419694504210939,1.7136924064457217]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.635897602977485,-1.666576512980468,0.71338606911949],"aabb_xy":[[0.6108976038118519,-1.6735287586858247],[0.6608976021431181,-1.6596242672751116]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[0.504184001696059,-0.23619189515007433,0.71338606911949],"aabb_xy":[[0.4541840013354929,-0.2861718823596773],[0.554184002056625,-0.18621190794047138]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.5797290615019485,1.0569777810924386,0.71338606911949],"aabb_xy":[[-0.6026447743869985,1.0340734839560153],[-0.5568133486168987,1.0798820782288623]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.661782751472664,-1.4057096890385978,0.71338606911949],"aabb_xy":[[0.6365619146128241,-1.4309334398914844],[0.6870035883325034,-1.3804859381857109]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.5781630654783261,-1.530231733475069,0.71338606911949],"aabb_xy":[[-0.6681630648966969,-1.5636072303192587],[-0.4881630660599551,-1.4968562366308793]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.11203298631607683,1.0686875172440247,0.71338606911949],"aabb_xy":[[-0.12719585929301394,1.0535220599489061],[-0.09687011333913978,1.0838529745391436]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.5708026475538419,-2.112290977421336,0.71338606911949],"aabb_xy":[[-0.578796137349124,-2.120289109361812],[-0.56280915775856,-2.104292845480861]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.17605723522862893,1.4361440314863683,0.71338606911949],"aabb_xy":[[0.10605723259204258,1.4160391664905028],[0.24605723786521527,1.4562488964822338]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[0.3113039562516866,-2.1473694392620497,0.71338606911949],"aabb_xy":[[0.2994318732401855,-2.2323694389557],[0.3231760392631877,-2.0623694395683994]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.14897163245884726,-1.7340531049040302,0.71338606911949],"aabb_xy":[[0.06897163505525382,-1.8140456761022128],[0.22897162986244066,-1.6540605337058472]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.19507764020510399,-0.14503691660394002,0.71338606911949],"aabb_xy":[[-0.2850776369407142,-0.1982203799212345],[-0.10507764346949375,-0.09185345328664549]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.6806719816434406,-1.1727518261348562,0.71338606911949],"aabb_xy":[[0.6450428257434809,-1.2083844928917093],[0.7163011375434004,-1.1371191593780035]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.1437326209382367,1.3887634261226767,0.71338606911949],"aabb_xy":[[-0.17619432182016412,1.3586305940077739],[-0.11127092005630922,1.418896258237579]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.23527998502215774,-2.062408368941113,0.71338606911949],"aabb_xy":[[-0.30027998597928496,-2.1143565808748184],[-0.17027998406503053,-2.010460157007407]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.5239422712189363,1.4786035367595223,0.71338606911949],"aabb_xy":[[0.4976534468984955,1.4523321031048708],[0.5502310955393768,1.5048749704141733]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.3263485248214655,1.6161050708099087,0.71338606911949],"aabb_xy":[[0.3175464695124927,1.6082937446549794],[0.33515058013043814,1.6239163969648376]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.48696250730898294,-0.5324995642345209,0.71338606911949],"aabb_xy":[[0.4781812801617468,-0.5412793115230511],[0.4957437344562193,-0.5237198169459908]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.11722460306541904,-1.6678907290449856,0.71338606911949],"aabb_xy":[[-0.12698059257459293,-1.6776532631042196],[-0.10746861355624514,-1.6581281949857507]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[0.6836417221462225,-1.5579739490809386,0.71338606911949],"aabb_xy":[[0.6486417207947407,-1.5783336850377594],[0.7186417234977042,-1.5376142131241177]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.2623605813802206,-1.174463968970004,0.71338606911949],"aabb_xy":[[-0.27006377205429766,-1.1821733396687422],[-0.25465739070614357,-1.166754598271266]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_28","position":[0.21403144635878524,-0.5860000319965608,0.71338606911949],"aabb_xy":[[0.1765314461869133,-0.618700767379468],[0.2515314465306572,-0.5532992966136536]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[0.5740164375065191,-0.8362743225204698,0.71338606911949],"aabb_xy":[[0.49401644054347993,-0.9133499641642432],[0.6540164344695583,-0.7591986808766963]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6813719860764323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6778.png","name":"6778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6778.png","name":"6778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/638.png","name":"638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":541.3096297615757,"rotation_z_degrees":131.49053480895938,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018213725962256355,-0.01695765278193714,-0.0007149232645958757]},{"name":"camera_2","offset_m":[0.014136749012363985,0.004100705037174857,0.010597711022952195]},{"name":"camera_3","offset_m":[0.004488601259739062,-0.011130657182935648,-0.017397132458537624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000980225602224452,0.001131902420547959,-0.0014314107505076766],"end_effector_yaw_offset_degrees":-0.1068408716177387},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012264381126608419,-0.0010496993450566463,-0.0004923848172519274],"end_effector_yaw_offset_degrees":0.9848106657675777},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006024867073367098,0.00017510311454960485,-6.495197447190784e-05],"end_effector_yaw_offset_degrees":0.9804101185965122}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005606400949404585,-0.00453323150000345],"position_m":[0.31003935990505954,-0.024933231500003452,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004340843307984556,0.004376141683629109],"position_m":[0.14505915669201544,0.2836761416836291,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003606062986308671,-0.00411419794639956],"position_m":[0.34640606298630866,0.20898580205360046,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002141672862938928,0.003510656909989634],"position_m":[0.25655832713706106,-0.3581893430900104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dbe3732e54a43b84f170a32004d4e88a0b79f137b37f3d234a32b95b63119f11","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6778/tex_ceiling_textures_65/tex_floor_textures_2050/tex_table_textures_8825/tex_wall_textures_638","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1355266903574828877,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1355266903574828877,"visual_seed":1355266903574828877,"scene_id":"lab_003","finished_at":"2026-09-03T09:58:21"} +{"episode_id":"ep_000040","started_at":"2026-09-03T09:58:24","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.06895082995323654,-0.8585589890663312,0.71338606911949],"aabb_xy":[[-0.011042993625321684,-0.9385589916591728],[0.14894465353179476,-0.7785589864734896]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.48929137686936097,-0.21031897856872606,0.71338606911949],"aabb_xy":[[-0.569291374850146,-0.217920519530578],[-0.4092913788885759,-0.2027174376068741]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.3392237767415387,1.6496436587496626,0.71338606911949],"aabb_xy":[[-0.34318426051127304,1.641975794164142],[-0.33526329297180435,1.6573115233351832]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.08983464466000612,-1.9067655137408819,0.71338606911949],"aabb_xy":[[0.08279433472646916,-1.986765513140554],[0.09687495459354316,-1.8267655143412111]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.25826487291357414,-1.5406274075942639,0.71338606911949],"aabb_xy":[[0.24948364576633802,-1.5494071548827943],[0.2670461000608105,-1.5318476603057338]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.40608137318492893,1.2616313294765575,0.71338606911949],"aabb_xy":[[-0.4560813741354616,1.2300821824730361],[-0.356081372234396,1.293180476480079]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.3996295233097784,-2.236889970024053,0.71338606911949],"aabb_xy":[[-0.4496083318200943,-2.2868899700297716],[-0.3496507147994625,-2.186889970018334]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.36338193027282384,-1.115111301396003,0.71338606911949],"aabb_xy":[[0.34088193026267555,-1.1292075210356063],[0.38588193028297213,-1.1010150817563997]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.6080781034771002,-2.443604401836983,0.71338606911949],"aabb_xy":[[-0.6720781053894426,-2.4995155510949933],[-0.5440781015647579,-2.3876932525789725]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.35518460123773,-2.2805243924079153,0.71338606911949],"aabb_xy":[[0.33930010797240484,-2.294877332706739],[0.37106909450305514,-2.2661714521090914]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.08172663242846634,0.8214394612476763,0.71338606911949],"aabb_xy":[[-0.11171829516233665,0.7914394619108757],[-0.051734969694596,0.8514394605844767]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.2538749934803042,-2.279946421981409,0.71338606911949],"aabb_xy":[[0.24683354252955664,-2.2869731737192036],[0.26091644443105183,-2.2729196702436147]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.4852361361995975,1.5335036631334957,0.71338606911949],"aabb_xy":[[-0.4961419122871602,1.4535036667346664],[-0.4743303601120348,1.6135036595323247]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.3842722610438922,-2.0864743476008654,0.71338606911949],"aabb_xy":[[0.3341747970628186,-2.150474348110677],[0.43436972502496585,-2.0224743470910536]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.3341956243811337,0.8836008622783829,0.71338606911949],"aabb_xy":[[0.32935202961990373,0.8787492097993987],[0.3390392191423637,0.888452514757367]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.5691580720967158,-1.7516801545294745,0.71338606911949],"aabb_xy":[[-0.5730719452921382,-1.760429169936031],[-0.5652441989012933,-1.7429311391229174]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.33893040022072984,0.5404501735817022,0.71338606911949],"aabb_xy":[[0.32808992199421494,0.5232638922910534],[0.34977087844724475,0.557636454872351]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.662258267005764,0.017442594159017055,0.71338606911949],"aabb_xy":[[0.6581801090987144,0.013361613910753745],[0.6663364249128138,0.021523574407280366]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.4381680635498775,-0.8551880976039934,0.71338606911949],"aabb_xy":[[-0.5081680653586229,-0.8765418663681808],[-0.36816806174113204,-0.833834328839806]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.4372753987349515,0.962894366630147,0.71338606911949],"aabb_xy":[[-0.4453890534083287,0.954788550176118],[-0.4291617440615745,0.9710001830841761]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.5422176046152285,-0.060170465636409265,0.71338606911949],"aabb_xy":[[0.5240117809539808,-0.0711958662184009],[0.5604234282764762,-0.04914506505441763]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.5517515683424411,1.3953624372213924,0.71338606911949],"aabb_xy":[[-0.5570891440084458,1.3703624362922526],[-0.5464139926764366,1.4203624381505322]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.268799129459338,1.0952363661984608,0.71338606911949],"aabb_xy":[[-0.2736984217659014,1.0675594468958918],[-0.26389983715277443,1.1229132855010293]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.6038949374409464,1.1014186406958646,0.71338606911949],"aabb_xy":[[-0.6499800286956777,1.0374186434433095],[-0.5578098461862148,1.1654186379484197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.689678742710818,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2184.png","name":"2184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2009.png","name":"2009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7664.png","name":"7664"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7933.png","name":"7933"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":809.0699471623932,"rotation_z_degrees":120.75179145966761,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0069712375388218725,0.013163187791802543,-0.017874619020052575]},{"name":"camera_2","offset_m":[-0.01633680037818533,-0.005345843588228948,-0.002368126431769292]},{"name":"camera_3","offset_m":[0.004493749194670445,-0.016836850678016935,0.011249132641897946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010759398004526514,8.662932118184063e-05,-0.0013381783607663276],"end_effector_yaw_offset_degrees":-0.2591806097511087},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017203406889276418,-0.0008774521107024081,-2.3982967489200816e-05],"end_effector_yaw_offset_degrees":0.02885916010422651},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000455588659562359,0.0019651311011591507,0.0012504589073348447],"end_effector_yaw_offset_degrees":-0.9814003390473345}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017755075682343137,0.0020557972590455964],"position_m":[0.3123755075682343,-0.018344202740954406,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000711742567027814,0.0006864265755921672],"position_m":[0.1501117425670278,0.27998642657559214,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034481800491587625,0.0035609113226804474],"position_m":[0.33935181995084124,0.21666091132268045,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002392507441164958,-0.004921973119097136],"position_m":[0.26109250744116497,-0.36662197311909717,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"400c8ab0115bb523355df7c142c86d2b6366de613efed5337efa573a5e017b55","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3027/tex_ceiling_textures_7933/tex_floor_textures_7664/tex_table_textures_2184/tex_wall_textures_2009","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4182721929569693526,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4182721929569693526,"visual_seed":4182721929569693526,"scene_id":"lab_003","finished_at":"2026-09-03T10:00:51"} +{"episode_id":"ep_000041","started_at":"2026-09-03T10:00:54","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.05323081468123936,-1.1585990361004137,0.71338606911949],"aabb_xy":[[-0.06203286999021207,-1.1664103622553426],[-0.044428759372266646,-1.1507877099454844]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[0.4803169715277391,0.0519266034147563,0.71338606911949],"aabb_xy":[[0.4694764933012242,0.03474032212410749],[0.491157449754254,0.06911288470540511]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.4540030599776842,-1.1957804675528199,0.71338606911949],"aabb_xy":[[-0.4655720407246208,-1.2207804676697516],[-0.4424340792307476,-1.1707804674358882]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.3737700456520902,-1.0405619719597665,0.71338606911949],"aabb_xy":[[-0.39831626127484093,-1.0708108685088034],[-0.3492238300293395,-1.0103130754107292]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.546011534443096,0.616519015768823,0.71338606911949],"aabb_xy":[[-0.6100115347170741,0.5664529155715351],[-0.4820115341691177,0.666585115966111]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[0.4861432031393833,0.2506149641150768,0.71338606911949],"aabb_xy":[[0.4061432057357898,0.17062239291689393],[0.5661432005429766,0.33060753531325954]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.29116341105137333,-1.4040288470557638,0.71338606911949],"aabb_xy":[[0.22716340913903105,-1.4599399963137742],[0.35516341296371573,-1.3481176977977534]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.15939080497812608,1.4310322490856398,0.71338606911949],"aabb_xy":[[0.1364750920930762,1.4081279519492162],[0.182306517863176,1.4539365462220633]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.003729636542906367,-1.3504547220393244,0.71338606911949],"aabb_xy":[[-0.01844289043374447,-1.3726303891954472],[0.0259021635195572,-1.328279054883201]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.01169183725882239,1.7363115424584712,0.71338606911949],"aabb_xy":[[-0.015132513498879565,1.7324501094841072],[-0.008251161018765218,1.7401729754328361]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.5307906556685701,-2.00705586520377,0.71338606911949],"aabb_xy":[[-0.5482213707475765,-2.024327979867621],[-0.5133599405895635,-1.9897837505399192]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.2637225650179277,-1.4827489504558533,0.71338606911949],"aabb_xy":[[-0.28622256502807597,-1.4968451700954564],[-0.2412225650077794,-1.4686527308162498]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.572011649893426,-0.7897796123052558,0.71338606911949],"aabb_xy":[[0.5576772247672624,-0.8018398278597947],[0.5863460750195894,-0.777719396750717]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.38361556403999075,1.7613009016957295,0.71338606911949],"aabb_xy":[[-0.4011155631743579,1.7514212746581415],[-0.3661155649056236,1.771180528733317]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.41955910372543026,0.5048660101100495,0.71338606911949],"aabb_xy":[[0.3555591030219609,0.4588476276371286],[0.48355910442889966,0.5508843925829706]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.0719722245234643,1.126955866803228,0.71338606911949],"aabb_xy":[[0.03697222317198256,1.1065961308464072],[0.10697222587494602,1.1473156027600488]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.6694008125860509,0.628145403272208,0.71338606911949],"aabb_xy":[[0.6469043911521868,0.6056454034654607],[0.691897234019915,0.6506454030789556]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.07851812800143931,1.4729340013055867,0.71338606911949],"aabb_xy":[[-0.14251812729560753,1.4089478609367325],[-0.014518128707271094,1.536920141674441]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.1656095124399365,-1.8590866440263685,0.71338606911949],"aabb_xy":[[-0.18324234803346404,-1.8767095900419912],[-0.1479766768464089,-1.8414636980107453]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.6153626878283999,-0.9481120908905984,0.71338606911949],"aabb_xy":[[-0.6416515121488405,-0.9743835245452495],[-0.5890738635079592,-0.921840657235947]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.25392325664620335,-1.20292480557706,0.71338606911949],"aabb_xy":[[-0.3179232599359115,-1.2462597245809774],[-0.18992325335649526,-1.1595898865731422]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.4421419322661979,0.6863078514580847,0.71338606911949],"aabb_xy":[[0.3781419299233963,0.6413670002139521],[0.5061419346089994,0.7312487027022171]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871025283795297,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2846.png","name":"2846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2846.png","name":"2846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2501.png","name":"2501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2242.png","name":"2242"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6955.png","name":"6955"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":778.1503917971988,"rotation_z_degrees":76.89518219781388,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009509280234588382,0.005152846039833476,0.0062689391710869374]},{"name":"camera_2","offset_m":[-0.003842496163747308,-0.0003760467641900217,-0.013119477543226444]},{"name":"camera_3","offset_m":[0.01102747260257814,-0.0004628968340174046,-0.0076445687546370465]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017438761934191393,0.0008733586763325879,0.0005024262321786151],"end_effector_yaw_offset_degrees":-0.5044914394873699},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000746131797093486,0.0010296544459426887,0.0018439116683550282],"end_effector_yaw_offset_degrees":0.6466590288434613},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014048842785376508,-0.00013963075758894965,0.001876757608932435],"end_effector_yaw_offset_degrees":-0.9508306594112912}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012680560510021713,-0.004062261948215062],"position_m":[0.31186805605100215,-0.024462261948215065,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019637792211330577,-0.00032444696702369977],"position_m":[0.15136377922113306,0.2789755530329763,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009949837306607364,0.0029369561879122015],"position_m":[0.34180501626933923,0.21603695618791222,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004876903352075456,-0.0031103780042834464],"position_m":[0.25918769033520755,-0.36481037800428345,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37516c08fe632300e32c56d57b7c6a613bfa60c985039e93e4b2ec9d4679ffb6","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2846/tex_ceiling_textures_6955/tex_floor_textures_2242/tex_table_textures_8080/tex_wall_textures_2501","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":358938373121341456,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":358938373121341456,"visual_seed":358938373121341456,"scene_id":"lab_003","finished_at":"2026-09-03T10:03:26"} +{"episode_id":"ep_000042","started_at":"2026-09-03T10:04:48","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.32992355691999936,1.768421481245992,0.71338606911949],"aabb_xy":[[-0.3636991161106923,1.7543829860328268],[-0.29614799772930633,1.7824599764591567]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.402544951230525,0.8832193230596204,0.71338606911949],"aabb_xy":[[0.31254495263605503,0.8669687367461995],[0.4925449498249949,0.8994699093730415]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.6226939019911263,1.8170492945737649,0.71338606911949],"aabb_xy":[[-0.6268098521031988,1.8129337395409189],[-0.6185779518790535,1.82116484960661]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.22362966877688883,1.7087375854854332,0.71338606911949],"aabb_xy":[[0.16203890955289604,1.6447375873763865],[0.28522042800088165,1.7727375835944803]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.6142048010373649,-1.7684510383106313,0.71338606911949],"aabb_xy":[[-0.6782048027153621,-1.8169684297899455],[-0.5502047993593674,-1.719933646831317]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.4354480195487641,-2.2230057305047697,0.71338606911949],"aabb_xy":[[-0.4832541871625327,-2.288005733211828],[-0.3876418519349954,-2.1580057277977103]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.6719781324612628,0.9095376813388008,0.71338606911949],"aabb_xy":[[0.6344781338856419,0.8968013856752426],[0.7094781310368835,0.9222739770023585]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.6176618616716453,-1.2274105707933458,0.71338606911949],"aabb_xy":[[-0.6521242090697869,-1.2619044531911683],[-0.5831995142735033,-1.192916688395523]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.31475848227166736,1.1000485848749868,0.71338606911949],"aabb_xy":[[0.3021557831345909,1.0874531886501213],[0.3273611814087438,1.1126439810998523]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.4614231434978062,1.4916021071243946,0.71338606911949],"aabb_xy":[[0.39642314561615843,1.4404784434178537],[0.526423141379454,1.5427257708309356]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.5097385667036956,-1.8848429639716415,0.71338606911949],"aabb_xy":[[0.492307851624689,-1.902115078635492],[0.527169281782702,-1.8675708493077903]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.6129928582086854,0.44614041696969764,0.71338606911949],"aabb_xy":[[-0.6629928585692514,0.39616042976009475],[-0.5629928578481193,0.49612040417930064]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[0.4690798617716787,-1.7520157503519829,0.71338606911949],"aabb_xy":[[0.40407986361575965,-1.778311994901895],[0.5340798599275978,-1.7257195058020707]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.09295439454392806,0.6758345503134997,0.71338606911949],"aabb_xy":[[-0.1054217526536637,0.6633692256801762],[-0.0804870364341924,0.6882998749468232]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.2462470431698347,-1.2651281930279603,0.71338606911949],"aabb_xy":[[0.24028050422909888,-1.2710893376873242],[0.25221358211057043,-1.2591670483685964]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.09094608899749579,-0.522816406817082,0.71338606911949],"aabb_xy":[[-0.15594608995462297,-0.5747646187507874],[-0.025946088040368572,-0.47086819488337633]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.41041632251057536,0.9594545325788557,0.71338606911949],"aabb_xy":[[-0.4454163224870712,0.949989916531239],[-0.3754163225340795,0.9689191486264722]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.1138136461831959,0.8035174945636214,0.71338606911949],"aabb_xy":[[0.06381364516406063,0.7670512788257938],[0.16381364720233116,0.8399837103014497]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.019447606568382847,0.537440417063292,0.71338606911949],"aabb_xy":[[-0.026487916501919846,0.45744041766362076],[-0.012407296634845858,0.6174404164629635]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.3365150514627087,-1.5756587901391046,0.71338606911949],"aabb_xy":[[-0.3965150513092755,-1.6324774123321433],[-0.2765150516161419,-1.518840167946066]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.5410766823490221,-0.4056222882693552,0.71338606911949],"aabb_xy":[[-0.5452125386817224,-0.44312228771371226],[-0.536940826016322,-0.36812228882499826]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.515509049918331,1.0630801625901531,0.71338606911949],"aabb_xy":[[0.4255090462414126,1.0016477560130486],[0.605509053595249,1.1245125691672573]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.45312397837436,-0.03592902315525803,0.71338606911949],"aabb_xy":[[-0.49589068525378016,-0.09992902657706049],[-0.4103572714949398,0.02807098026654442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906702186173155,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6710.png","name":"6710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6710.png","name":"6710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2606.png","name":"2606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7980.png","name":"7980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7818.png","name":"7818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9361.png","name":"9361"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":705.5846277268398,"rotation_z_degrees":339.957873497141,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002054797320738603,-0.006396147954076751,0.0033243355283752406]},{"name":"camera_2","offset_m":[0.0062512296644408015,-0.0012822406149366125,0.019106848527308238]},{"name":"camera_3","offset_m":[-0.016037306841541643,0.01579223449194823,-0.004332071249443046]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007092158629219774,-0.0015701644314861892,-0.0006111977124180165],"end_effector_yaw_offset_degrees":0.1958823864835968},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018845451699843773,-0.0005260344191167455,0.0016531905794944192],"end_effector_yaw_offset_degrees":-0.06967783818129436},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011756378960758652,0.0011627746553034765,-0.0001303371350793582],"end_effector_yaw_offset_degrees":0.07960477374596309}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00428752673471472,0.0001935060684278185],"position_m":[0.3148875267347147,-0.020206493931572183,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002995753860237468,-0.00021361841618655966],"position_m":[0.14640424613976255,0.27908638158381344,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035777663425078246,0.004048855580576215],"position_m":[0.34637776634250783,0.21714885558057623,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037181834874170728,-0.00467370889068082],"position_m":[0.2624181834874171,-0.3663737088906808,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a1116819734aa88ffd2dff6cd9f839f543129dbe0cd84241bed61292772700c5","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6710/tex_ceiling_textures_9361/tex_floor_textures_7818/tex_table_textures_2606/tex_wall_textures_7980","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6807424204895987236,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6807424204895987236,"visual_seed":6807424204895987236,"scene_id":"lab_003","finished_at":"2026-09-03T10:07:27"} +{"episode_id":"ep_000043","started_at":"2026-09-03T10:07:30","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.3154281610016654,-0.5302525605235524,0.71338606911949],"aabb_xy":[[0.2867788286412491,-0.5588981198006281],[0.34407749336208154,-0.5016070012464765]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.22143065939982853,0.5324893578803103,0.71338606911949],"aabb_xy":[[0.18393065821503574,0.5280711351842495],[0.25893066058462133,0.5369075805763706]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.32677983548159256,0.46789767967190654,0.71338606911949],"aabb_xy":[[-0.3443265303977115,0.4303976781076553],[-0.30923314056547363,0.5053976812361578]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.04379873695587633,-1.4108903295222373,0.71338606911949],"aabb_xy":[[-0.020196960439220264,-1.4748903278229457],[0.10779443435097291,-1.3468903312215283]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.6903359773261151,0.8184767082813216,0.71338606911949],"aabb_xy":[[0.6658223532291092,0.7942121149792852],[0.7148496014231209,0.8427413015833581]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.3341964263854017,-2.49364284991951,0.71338606911949],"aabb_xy":[[-0.41791865188548416,-2.5836428534542057],[-0.25047420088531924,-2.403642846384814]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.5643633318325192,-1.7269414454743783,0.71338606911949],"aabb_xy":[[0.5563698420372374,-1.7349395774148542],[0.5723568216278014,-1.718943313533903]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.48628247638871785,-2.0784272595835405,0.71338606911949],"aabb_xy":[[-0.4970554503100857,-2.1134272578025795],[-0.47550950246735013,-2.0434272613645015]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.4004665306730204,1.7337321535301222,0.71338606911949],"aabb_xy":[[0.37855784853366936,1.7118314867100313],[0.42237521281237145,1.7556328203502127]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.38425640919536574,-0.7399751410263724,0.71338606911949],"aabb_xy":[[0.3429518661316298,-0.8039751405944894],[0.4255609522591018,-0.6759751414582552]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.06506594625696693,0.18857925126880382,0.71338606911949],"aabb_xy":[[-0.08753071622837204,0.1660792503899433],[-0.0426011762855618,0.21107925214766432]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.2935924328576125,0.906241932848109,0.71338606911949],"aabb_xy":[[0.2135924314274853,0.8267247778354995],[0.3735924342877397,0.9857590878607184]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.08150590297314231,-0.22639533644554044,0.71338606911949],"aabb_xy":[[-0.11498507023418325,-0.2598744498166474],[-0.04802673571210137,-0.19291622307443343]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.6665803366460712,-0.20813726557644596,0.71338606911949],"aabb_xy":[[0.616596100937894,-0.25813726438994156],[0.7165645723542484,-0.15813726676295037]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.6564284735945255,-0.6963723666968464,0.71338606911949],"aabb_xy":[[-0.6932790215315131,-0.7338723675198803],[-0.6195779256575379,-0.6588723658738128]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.4660447262415671,-1.7112345837765206,0.71338606911949],"aabb_xy":[[-0.5300447226371402,-1.7751978721952542],[-0.40204472984599404,-1.647271295357787]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.14193833062323657,-1.7814312782183506,0.71338606911949],"aabb_xy":[[-0.19193316355117818,-1.831431277113594],[-0.09194349769529497,-1.731431279323107]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.2439052564975389,-2.4304801542875056,0.71338606911949],"aabb_xy":[[0.2238468448842986,-2.450545241196663],[0.2639636681107792,-2.410415067378348]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.5799951812459043,-1.9252306628456055,0.71338606911949],"aabb_xy":[[0.5250214592095713,-1.980230662409839],[0.6349689032822371,-1.8702306632813726]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.5550941341423294,-2.145441511497706,0.71338606911949],"aabb_xy":[[0.5051010220331377,-2.195441512171902],[0.6050872462515214,-2.0954415108235107]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.3478000567886125,-1.3573904221483504,0.71338606911949],"aabb_xy":[[-0.3518782146956622,-1.361471402396614],[-0.34372189888156274,-1.3533094419000873]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.3723386126665848,-0.8928088171699311,0.71338606911949],"aabb_xy":[[-0.3803648832972108,-0.9015603121472838],[-0.3643123420359588,-0.8840573221925786]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.69761583897947,-2.085679386341379,0.71338606911949],"aabb_xy":[[0.6806057416894193,-2.101813874839653],[0.7146259362695206,-2.0695448978431052]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.42467761105493573,0.32249993433738533,0.71338606911949],"aabb_xy":[[0.3871776109493427,0.3156777724844042],[0.46217761116052863,0.32932209619036645]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.4455521912999685,-0.17219948571665444,0.71338606911949],"aabb_xy":[[0.43733764618428445,-0.18087607601429567],[0.4537667364156524,-0.1635228954190131]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[-0.36608394472445244,-0.2652637814403036,0.71338606911949],"aabb_xy":[[-0.42009954100635244,-0.32926378433256076],[-0.31206834844255243,-0.20126377854804645]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[-0.5272284615864865,0.4597030340780748,0.71338606911949],"aabb_xy":[[-0.5912284580138084,0.4125334102559784],[-0.4632284651591646,0.5068726579001712]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.16785233066253225,-1.0365019134290463,0.71338606911949],"aabb_xy":[[0.15005882372761578,-1.054301659024844],[0.18564583759744865,-1.0187021678332486]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[0.11344127064904952,-2.011736659922253,0.71338606911949],"aabb_xy":[[0.09580843505552193,-2.0293596059378753],[0.13107410624257707,-1.9941137139066296]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[0.30917364875672915,-1.476295739904407,0.71338606911949],"aabb_xy":[[0.3052597755613066,-1.4850447553109636],[0.31308752195215167,-1.46754672449785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838604268053535,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4907.png","name":"4907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9111.png","name":"9111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3878.png","name":"3878"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":573.2040520334947,"rotation_z_degrees":282.1915844347756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012080812427065556,0.010373990665402892,-0.0110668413966016]},{"name":"camera_2","offset_m":[-0.016891810046753296,0.009480107384133702,-0.0022292848233726494]},{"name":"camera_3","offset_m":[0.014523261549028967,0.010257445457860257,-0.01644170767944484]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008682894426345906,2.9485009415536594e-05,-0.0007233220112599942],"end_effector_yaw_offset_degrees":-0.5709666128254942},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006442902980972648,0.0014417283811713698,0.00141971490454415],"end_effector_yaw_offset_degrees":0.10803580778538158},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012194596576066332,-0.00017136923541341922,-0.00018351464787859763],"end_effector_yaw_offset_degrees":0.7230592126854238}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017186865377447867,0.0037034011790684626],"position_m":[0.3088813134622552,-0.016696598820931538,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018383257253501329,0.0038789507818490594],"position_m":[0.14756167427464986,0.28317895078184907,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004902196354789887,0.002868631832271799],"position_m":[0.3477021963547899,0.2159686318322718,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002847837196552324,-0.0023260065444099054],"position_m":[0.25585216280344764,-0.3640260065444099,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"796f809ddd8fac900e9f745e4e1ab6b261099fc9747d87c6758f895dd1ff5367","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4275/tex_ceiling_textures_3878/tex_floor_textures_9111/tex_table_textures_4907/tex_wall_textures_9263","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4566925327144348690,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4566925327144348690,"visual_seed":4566925327144348690,"scene_id":"lab_003","finished_at":"2026-09-03T10:09:58"} +{"episode_id":"ep_000044","started_at":"2026-09-03T10:12:55","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.43696973771580017,0.9483121605871458,0.71338606911949],"aabb_xy":[[0.3994697376102072,0.9414899987341647],[0.4744697378213931,0.955134322440127]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.2591936607004959,-2.400619728097359,0.71338606911949],"aabb_xy":[[0.2527798470573109,-2.4070295483450272],[0.26560747434368076,-2.39420990784969]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.291991104627734,1.1850109813392895,0.71338606911949],"aabb_xy":[[-0.3145047964511911,1.1150109807382818],[-0.26947741280427673,1.2550109819402968]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.6397839007607978,-2.2363461714991955,0.71338606911949],"aabb_xy":[[-0.6600682034841965,-2.256628796641904],[-0.619499598037399,-2.216063546356486]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.178181608423976,1.737412983760088,0.71338606911949],"aabb_xy":[[0.1606033062350292,1.7198384941859828],[0.1957599106129229,1.7549874733341928]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.5135673243172919,0.6362937618230338,0.71338606911949],"aabb_xy":[[-0.5473428835079848,0.6222552666098687],[-0.4797917651265988,0.6503322570361988]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.3100512658376761,-1.1092250033591833,0.71338606911949],"aabb_xy":[[-0.3600462767971282,-1.159225002394775],[-0.26005625487822415,-1.0592250043235916]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.3970372844603082,1.5117921634295484,0.71338606911949],"aabb_xy":[[-0.47703728662307077,1.4318369798034047],[-0.3170372822975458,1.591747347055692]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.20489653226010396,-2.348410545161361,0.71338606911949],"aabb_xy":[[0.19785622232656702,-2.4284105445610327],[0.211936842193641,-2.26841054576169]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.6068616232374772,-0.4531946520829093,0.71338606911949],"aabb_xy":[[-0.6868616212182622,-0.46079619304476127],[-0.5268616252566921,-0.4455931111210574]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.02277718746063795,1.2063913171519358,0.71338606911949],"aabb_xy":[[-0.0005046547374933894,1.1213913158547075],[0.04605902965876929,1.2913913184491637]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.5632590946142162,-1.1159134490650402,0.71338606911949],"aabb_xy":[[0.5403433817291664,-1.138817746201464],[0.5861748074992662,-1.093009151928617]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.18507789951947273,0.870650360193721,0.71338606911949],"aabb_xy":[[-0.21556214964650286,0.8206503604122249],[-0.15459364939244255,0.9206503599752168]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.05904028142271445,-2.4186242975347234,0.71338606911949],"aabb_xy":[[-0.0965402817709422,-2.430415693115806],[-0.02154028107448669,-2.406832901953639]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.4639738609650504,-1.4444153084955924,0.71338606911949],"aabb_xy":[[-0.5239738618258629,-1.4958417385020784],[-0.40397386010423747,-1.3929888784891056]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.19843489252708157,0.43688677973894974,0.71338606911949],"aabb_xy":[[-0.2624348889544035,0.38971715591685335],[-0.13443489609975967,0.48405640356104623]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.4528351545906455,1.3602051930869323,0.71338606911949],"aabb_xy":[[0.3977099489610547,1.3002051916456452],[0.5079603602202363,1.4202051945282195]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.6085499150168941,-1.6568804584028576,0.71338606911949],"aabb_xy":[[-0.6495678584032649,-1.706880459033815],[-0.5675319716305232,-1.6068804577719003]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.6082609962754824,-0.03508231675191498,0.71338606911949],"aabb_xy":[[-0.6882609977056096,-0.11459947176452445],[-0.5282609948453552,0.044434838260694505]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[0.38672380154477937,-1.7761537363227444,0.71338606911949],"aabb_xy":[[0.34922380172774575,-1.780791947633886],[0.42422380136181287,-1.7715155250116024]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.6926023905521512,1.799677544543457,0.71338606911949],"aabb_xy":[[0.6748088836172348,1.7818777989476593],[0.7103958974870677,1.8174772901392546]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.19858341570986082,-2.1082482569604384,0.71338606911949],"aabb_xy":[[0.1867113326983597,-2.1932482566540887],[0.21045549872136193,-2.023248257266788]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.3143925080900972,0.6599557364797608,0.71338606911949],"aabb_xy":[[-0.3843925107266835,0.6398508714838953],[-0.24439250545351082,0.6800606014756263]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[-0.0487708906828046,1.656765890311815,0.71338606911949],"aabb_xy":[[-0.08468439510779428,1.6208523820950604],[-0.01285738625781492,1.6926793985285695]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[0.5958136765014248,0.28121376908343887,0.71338606911949],"aabb_xy":[[0.5733172550675607,0.25871376927669143],[0.6183100979352889,0.3037137688901863]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.11304359567125977,1.521787719821544,0.71338606911949],"aabb_xy":[[-0.16302654585873907,1.4717877201789833],[-0.06306064548378042,1.5717877194641041]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.568281611750532,0.17056210175983733,0.71338606911949],"aabb_xy":[[0.553118738773595,0.15539664446471857],[0.5834444847274691,0.18572755905495608]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[0.538618640034805,-0.48973345995058315,0.71338606911949],"aabb_xy":[[0.5336626198499238,-0.5122334601527049],[0.5435746602196861,-0.46723345974846164]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[0.22745391432234519,0.7581773579188833,0.71338606911949],"aabb_xy":[[0.2201926667519378,0.7453903476553737],[0.23471516189275263,0.7709643681823927]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[-0.1560222387109782,-0.3309643279722545,0.71338606911949],"aabb_xy":[[-0.16536924629327343,-0.3452679501898986],[-0.14667523112868297,-0.3166607057546105]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857702939366359,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4246.png","name":"4246"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4246.png","name":"4246"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5216.png","name":"5216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9728.png","name":"9728"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5268.png","name":"5268"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7838.png","name":"7838"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":744.5037672127065,"rotation_z_degrees":325.75794207332314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01033905906459006,0.0009429379446174134,-0.018215590855526247]},{"name":"camera_2","offset_m":[-0.001612944196641198,0.008678201109794417,0.005298452972378333]},{"name":"camera_3","offset_m":[-0.014252047060047613,-0.01818162764640959,-0.016672986668168945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001777286317597398,-0.0017552529819323422,-0.000907815082143519],"end_effector_yaw_offset_degrees":-0.5699568015286802},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005281590609594042,0.000990246743326611,0.0011859804984641624],"end_effector_yaw_offset_degrees":-0.5860866523257575},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010263281618676065,-0.0009805999828824072,-0.0011117981948015926],"end_effector_yaw_offset_degrees":-0.8322444999794141}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036350128390928898,-0.0009771216095649064],"position_m":[0.3142350128390929,-0.021377121609564908,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00346966684646548,-0.00020243100728251345],"position_m":[0.1459303331535345,0.2790975689927175,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011797980019202566,-0.0037092491480465485],"position_m":[0.34397979800192025,0.20939075085195347,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018336161577133655,0.0015770366076018885],"position_m":[0.26053361615771337,-0.36012296339239813,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"553f6b064f8baaebff0ed85dae99325e85e61ea4e4c1740532d2c767a624bbd7","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4246/tex_ceiling_textures_7838/tex_floor_textures_5268/tex_table_textures_5216/tex_wall_textures_9728","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6581700663917342300,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6581700663917342300,"visual_seed":6581700663917342300,"scene_id":"lab_003","finished_at":"2026-09-03T10:15:17"} +{"episode_id":"ep_000045","started_at":"2026-09-03T10:15:20","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.6175889929578506,-0.33610875058708567,0.71338606911949],"aabb_xy":[[0.6070215132997515,-0.3466537807000942],[0.6281564726159495,-0.3255637204740771]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.009873912435774956,-1.9765660316809481,0.71338606911949],"aabb_xy":[[-0.08987391350889529,-1.9863440780183326],[0.07012608863734537,-1.9667879853435637]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.14692163006639092,-0.7296292682961247,0.71338606911949],"aabb_xy":[[-0.15777323631526652,-0.7404885590237756],[-0.13607002381751532,-0.7187699775684736]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.3226159293093824,1.1360161147448031,0.71338606911949],"aabb_xy":[[-0.33817169871964764,1.120465681500396],[-0.3070601598991171,1.1515665479892103]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.6177009201286804,1.1294177729190173,0.71338606911949],"aabb_xy":[[-0.6777009203800816,1.0751364478825525],[-0.5577009198772792,1.1836990979554818]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.16669651912490746,1.40206503794625,0.71338606911949],"aabb_xy":[[0.13169651993208917,1.3910979919485873],[0.2016965183177257,1.4130320839439123]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.558094119696249,0.5570106412059292,0.71338606911949],"aabb_xy":[[0.5335479040734982,0.5267617446568921],[0.5826403353189996,0.5872595377549662]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.2301059677724362,-1.1177971313390036,0.71338606911949],"aabb_xy":[[0.21004755615919593,-1.137862218248161],[0.2501643793856765,-1.0977320444298462]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.27846779173492564,-1.0621146543954965,0.71338606911949],"aabb_xy":[[-0.33846779337784744,-1.1141148036874406],[-0.21846779009200373,-1.0101145051035523]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.4366809482456518,-0.018381648425579655,0.71338606911949],"aabb_xy":[[-0.5066809498479312,-0.03181444162723723],[-0.36668094664337236,-0.004948855223922077]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.6322852114810782,1.1589730210633906,0.71338606911949],"aabb_xy":[[0.5871138936329093,1.0949730239188522],[0.6774565293292473,1.222973018207929]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[0.1263176000333729,-2.25975578602855,0.71338606911949],"aabb_xy":[[0.09068844413341315,-2.2953884527854025],[0.16194675593333263,-2.2241231192716966]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.5507359414674302,0.822662861586791,0.71338606911949],"aabb_xy":[[0.5148224370424406,0.7867493533700363],[0.5866494458924199,0.8585763698035456]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.3886770911127332,-1.6525545946768596,0.71338606911949],"aabb_xy":[[-0.4012797902498097,-1.6651499909017253],[-0.3760743919756568,-1.6399591984519943]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.34537828964085354,-2.073778947320428,0.71338606911949],"aabb_xy":[[-0.4253782866038927,-2.1508545889642012],[-0.2653782926778144,-1.9967033056766543]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.10211736261635274,1.2669781317249038,0.71338606911949],"aabb_xy":[[0.08510726532630207,1.2508436432266299],[0.11912745990640337,1.2831126202231777]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.07456225702842767,-2.4658217162491125,0.71338606911949],"aabb_xy":[[0.0377676239035214,-2.502727591345695],[0.11135689015333394,-2.4289158411525302]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.4989637427368878,-1.2702367066111155,0.71338606911949],"aabb_xy":[[0.44494814645498776,-1.3342367095033725],[0.5529793390187878,-1.2062367037188582]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.6562444616051039,0.022408533288365007,0.71338606911949],"aabb_xy":[[-0.6650465169140765,0.014597207133435925],[-0.647442406296131,0.030219859443294077]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.5692110707690878,-1.0502634236271393,0.71338606911949],"aabb_xy":[[0.5572783364072598,-1.0626455764349987],[0.5811438051309159,-1.03788127081928]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.2660058487455802,-1.8047285713562171,0.71338606911949],"aabb_xy":[[0.26192769083853046,-1.8088095516044804],[0.27008400665262994,-1.8006475911079538]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[0.25582568589617005,1.5027226333087005,0.71338606911949],"aabb_xy":[[0.25036774025914993,1.4227226300010412],[0.26128363153319006,1.5827226366163594]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[0.4507211113692382,0.9088529416475746,0.71338606911949],"aabb_xy":[[0.4271359879053433,0.8438529394021428],[0.474306234833133,0.9738529438930064]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.13798854000062422,1.5424079037521357,0.71338606911949],"aabb_xy":[[0.09270992511947496,1.478407904403952],[0.18326715488177348,1.6064079031003193]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[-0.16447141838195212,-2.179993664020561,0.71338606911949],"aabb_xy":[[-0.21447141966579203,-2.2299725184111825],[-0.11447141709811211,-2.1300148096299383]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.00837678911885753,-0.8973270156243465,0.71338606911949],"aabb_xy":[[-0.028267828999197782,-0.9099828269090433],[0.011514250761482716,-0.8846712043396496]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.31413392705179616,0.8936380721469925,0.71338606911949],"aabb_xy":[[-0.3692591326813869,0.8336380707057054],[-0.2590087214222053,0.9536380735882797]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[0.6659624692977983,-1.7765266561268862,0.71338606911949],"aabb_xy":[[0.6188330902959626,-1.840526657171288],[0.7130918482996339,-1.712526655082484]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_28","position":[-0.26480282767367236,1.305508106660909,0.71338606911949],"aabb_xy":[[-0.34480282626099173,1.2261925047227482],[-0.1848028290863529,1.38482370859907]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[-0.560489433403575,1.7330787675954427,0.71338606911949],"aabb_xy":[[-0.5720584141505117,1.708078767478511],[-0.5489204526566386,1.7580787677123744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902580642528353,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7135.png","name":"7135"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7135.png","name":"7135"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9101.png","name":"9101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1995.png","name":"1995"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/387.png","name":"387"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":532.2469304040314,"rotation_z_degrees":339.67148614188187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007220436055969092,-0.009722598889967937,0.018638654820592234]},{"name":"camera_2","offset_m":[0.012659541531451334,0.018648842462214,0.005840339213911663]},{"name":"camera_3","offset_m":[-0.019496151962676733,0.016054297058272455,-0.009120162282943633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019322609907932373,-0.001900072849188159,0.0006823905887857994],"end_effector_yaw_offset_degrees":0.31902418125346843},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010610470727807778,-0.0007385630029664396,0.0008000746548646838],"end_effector_yaw_offset_degrees":-0.505587705435897},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015726025715086956,-0.0007614973889008936,-0.0010931483317399837],"end_effector_yaw_offset_degrees":-0.7054418788650387}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004654051964612278,-0.0017801186211072982],"position_m":[0.3059459480353877,-0.0221801186211073,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024386059881219067,0.0036266017273694105],"position_m":[0.1469613940118781,0.2829266017273694,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004940502996965358,-0.004656378702826444],"position_m":[0.34774050299696535,0.20844362129717356,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035464236268118515,-0.004171073108195752],"position_m":[0.26224642362681183,-0.3658710731081958,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ce12cdefd93855d3ce15ae0b853756e1787757f77b0b2bc9a3ae8ec6556ea402","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7135/tex_ceiling_textures_387/tex_floor_textures_1995/tex_table_textures_9101/tex_wall_textures_9650","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5098592003238129360,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5098592003238129360,"visual_seed":5098592003238129360,"scene_id":"lab_003","finished_at":"2026-09-03T10:17:46"} +{"episode_id":"ep_000046","started_at":"2026-09-03T10:19:03","dimensions":{"distractor":{"count":32,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.1498249470451407,-1.1789021855694977,0.71338606911949],"aabb_xy":[[0.06982495003089273,-1.199036737242909],[0.2298249440593887,-1.1587676338960864]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.3127851552315888,-2.413159018157442,0.71338606911949],"aabb_xy":[[0.25278515437077587,-2.464585448163928],[0.3727851560924015,-2.361732588150955]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.03974443890685986,1.4227408809151876,0.71338606911949],"aabb_xy":[[0.014523602047020188,1.3975171300623004],[0.06496527576669951,1.4479646317680739]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.24357725397097907,-0.87016685732126,0.71338606911949],"aabb_xy":[[0.20607725379910713,-0.9028675927041672],[0.281077254142851,-0.8374661219383528]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.018049641850692466,-1.3207594927169821,0.71338606911949],"aabb_xy":[[-0.04595035840977833,-1.3657682920699101],[0.08204964211116327,-1.2757506933640541]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.2709163482787684,-1.4372610880904184,0.71338606911949],"aabb_xy":[[-0.27895268298005327,-1.4452992073948352],[-0.2628800135774836,-1.4292229687860016]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.29164116567659626,1.2895671332446126,0.71338606911949],"aabb_xy":[[0.21164734209803804,1.2095671306517708],[0.3716349892551545,1.369567135837454]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.22204878548097173,-1.0787534856483463,0.71338606911949],"aabb_xy":[[-0.2870487836368908,-1.1050497301982585],[-0.1570487873250527,-1.052457241098434]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.43024457392720006,-1.772716204684584,0.71338606911949],"aabb_xy":[[0.3662445774998782,-1.8198858285066806],[0.494244570354522,-1.7255465808624877]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.014811080794945308,1.6722013122111261,0.71338606911949],"aabb_xy":[[0.004038106873577529,1.6372013139920873],[0.025584054716313087,1.7072013104301653]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.378018242728799,-1.1189567650437273,0.71338606911949],"aabb_xy":[[0.34098413330073923,-1.1533339723774365],[0.4150523521568587,-1.0845795577100177]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.4629693241052538,-2.105812402686608,0.71338606911949],"aabb_xy":[[-0.47433105875854,-2.1171808690928953],[-0.45160758945196766,-2.0944439362803196]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.1318123133474549,-1.707001701001087,0.71338606911949],"aabb_xy":[[0.04681231465538027,-1.738987564395966],[0.21681231203952955,-1.6750158376062083]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.6072706171086204,0.7909009696857292,0.71338606911949],"aabb_xy":[[-0.6447706179006157,0.7845331287275391],[-0.5697706163166248,0.7972688106439193]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.3435464700370182,-0.49472551518212526,0.71338606911949],"aabb_xy":[[-0.38479528106693295,-0.5497255146943427],[-0.3022976590071035,-0.4397255156699078]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.28162056983610195,1.4213598784499495,0.71338606911949],"aabb_xy":[[-0.33563616611800184,1.3573598755576923],[-0.22760497355420184,1.4853598813422066]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.5850367443573936,0.6416334141769942,0.71338606911949],"aabb_xy":[[0.515036742225964,0.6188714485512984],[0.655036746488823,0.6643953798026897]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.2507751566695593,-0.2918268246559075,0.71338606911949],"aabb_xy":[[-0.261680932757122,-0.37182682105473663],[-0.23986938058199658,-0.21182682825707833]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.12477721332682756,1.6307976424583628,0.71338606911949],"aabb_xy":[[-0.1324014814170058,1.623164418921819],[-0.11715294523664933,1.6384308659949065]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.2965396520041688,-1.9127845865925663,0.71338606911949],"aabb_xy":[[-0.35151337404050176,-1.9677845861567995],[-0.241565929967836,-1.8577845870283332]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.5565272984025561,-0.5060604405053737,0.71338606911949],"aabb_xy":[[-0.6018059132837054,-0.5700604398535574],[-0.5112486835214068,-0.44206044115719]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.046722754541688394,-0.7153283104787798,0.71338606911949],"aabb_xy":[[0.029222754296639005,-0.7328280983183465],[0.06422275478673777,-0.6978285226392128]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.6124702926686998,-2.2058717456690116,0.71338606911949],"aabb_xy":[[0.5879566685716939,-2.230136338971048],[0.6369839167657056,-2.181607152366975]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[0.349051098119431,-2.3155197437214574,0.71338606911949],"aabb_xy":[[0.3444159829671976,-2.3193870787986057],[0.35368621327166433,-2.311652408644308]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.5280029297298492,-0.646435756742288,0.71338606911949],"aabb_xy":[[-0.5530029296623671,-0.6533184249632115],[-0.5030029297973313,-0.6395530885213648]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[0.5839240206544745,-1.4877899888754278,0.71338606911949],"aabb_xy":[[0.4939240183204554,-1.5652723434605402],[0.6739240229884935,-1.410307634290315]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.42808935353587024,-1.3645930955134358,0.71338606911949],"aabb_xy":[[-0.5118115790359528,-1.4545930990481317],[-0.3443671280357878,-1.2745930919787398]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[0.473454569661935,-1.0376956902421708,0.71338606911949],"aabb_xy":[[0.46030332369064575,-1.0626956899988576],[0.48660581563322447,-1.0126956904854845]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[0.37116518375423735,0.9568860392596696,0.71338606911949],"aabb_xy":[[0.34487635943379663,0.9306146056050183],[0.39745400807467796,0.9831574729143208]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[-0.2168737324043476,1.1086405846087062,0.71338606911949],"aabb_xy":[[-0.2357581161728578,1.0897546598283534],[-0.1979893486358374,1.127526509389059]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_30","position":[0.15004015767328183,1.0807711286658543,0.71338606911949],"aabb_xy":[[0.12876214952980955,1.0157711263397813],[0.17131816581675405,1.1457711309919274]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_31","position":[0.689583277983087,0.23412523276425645,0.71338606911949],"aabb_xy":[[0.6645832787111248,0.21777986916809408],[0.7145832772550493,0.25047059636041874]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867234238637331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8768.png","name":"8768"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8768.png","name":"8768"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/638.png","name":"638"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2174.png","name":"2174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4213.png","name":"4213"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6143.png","name":"6143"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":803.5797810634142,"rotation_z_degrees":243.3522505933623,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016369949977116004,0.018396761198158956,0.0006636689555010143]},{"name":"camera_2","offset_m":[0.013787200703011624,-0.009645067234392509,0.006799986597777016]},{"name":"camera_3","offset_m":[0.007408641937690547,0.0015487248812416816,-0.010629797165423694]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004367473627602137,-0.0016858739999519826,0.0013615776115180802],"end_effector_yaw_offset_degrees":-0.20560027706185724},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000853010710367706,0.0012901192621024983,0.0011483932222697267],"end_effector_yaw_offset_degrees":-0.4816266767431474},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014506306298914286,-0.0019156601494137858,-0.0016913848529056619],"end_effector_yaw_offset_degrees":0.2407832641373424}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009029549360738531,0.0039042217785319718],"position_m":[0.31150295493607383,-0.01649577822146803,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011778282207456602,0.0023173444725924468],"position_m":[0.14822217177925434,0.28161734447259246,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038289935121082162,0.004905299859570225],"position_m":[0.3389710064878918,0.21800529985957023,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00042720637458361875,-0.003854839615863832],"position_m":[0.2582727936254164,-0.3655548396158639,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"375f02af717d04dcbc30af691ca81930853b8917612e4dc01663f9734f4ca15c","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8768/tex_ceiling_textures_6143/tex_floor_textures_4213/tex_table_textures_638/tex_wall_textures_2174","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3169703255523808969,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3169703255523808969,"visual_seed":3169703255523808969,"scene_id":"lab_003","finished_at":"2026-09-03T10:21:37"} +{"episode_id":"ep_000047","started_at":"2026-09-03T10:21:41","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.4339112049519065,-1.0868051113222468,0.71338606911949],"aabb_xy":[[0.3699112046779282,-1.1368712115195347],[0.49791120522588467,-1.0367390111249588]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.06593933643756633,0.6098779746170084,0.71338606911949],"aabb_xy":[[-0.10343933710214502,0.5941909166167862],[-0.028439335772987625,0.6255650326172306]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.6909534901110834,-0.5349958840401414,0.71338606911949],"aabb_xy":[[0.6735227750320768,-0.5522679987039921],[0.7083842051900898,-0.5177237693762905]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.0063708506987179,0.9754509192620522,0.71338606911949],"aabb_xy":[[-0.006860094835963394,0.9622235002400527],[0.019601796233399194,0.9886783382840515]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.5884571659610079,-2.5130833727906583,0.71338606911949],"aabb_xy":[[-0.6234571642717033,-2.520798387714204],[-0.5534571676503124,-2.5053683578671126]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.600165676301387,-0.8142291077006489,0.71338606911949],"aabb_xy":[[-0.6226793681248441,-0.8842291083016562],[-0.5776519844779298,-0.7442291070996412]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.1860062944426667,-1.8420171142790396,0.71338606911949],"aabb_xy":[[0.1685063610086833,-1.8595171141992737],[0.20350622787665004,-1.8245171143588046]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.13472662781858713,-1.1894823167435897,0.71338606911949],"aabb_xy":[[0.04472662922411719,-1.205732903057011],[0.22472662641305707,-1.173231730430169]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.12804172625408705,1.1849956153693242,0.71338606911949],"aabb_xy":[[0.0640417245760897,1.1364782238900102],[0.1920417279320844,1.2335130068486386]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.40502526243230075,0.5714146940710156,0.71338606911949],"aabb_xy":[[0.3675252621401259,0.567373218670412],[0.4425252627244755,0.5754561694716193]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.10544675136176285,1.7036534932805973,0.71338606911949],"aabb_xy":[[-0.1410759072617226,1.6680208265237446],[-0.06981759546180309,1.7392861600374505]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.0048184682616393415,-1.4114774317772285,0.71338606911949],"aabb_xy":[[-0.0698184664175584,-1.4377736763271405],[0.06018152989427972,-1.385181187227316]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.2556618320819311,-1.5570119425138103,0.71338606911949],"aabb_xy":[[-0.2597976884146313,-1.5945119419581673],[-0.2515259757492309,-1.5195119430694533]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.5293901795485916,-1.607563611261384,0.71338606911949],"aabb_xy":[[0.49591101228755075,-1.6410427246324912],[0.5628693468096326,-1.5740844978902773]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[0.5935457525383587,1.4502426797614585,0.71338606911949],"aabb_xy":[[0.5285457514324156,1.4252773066933302],[0.6585457536443021,1.4752080528295868]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.15426396190116998,1.4116078782404098,0.71338606911949],"aabb_xy":[[-0.16342384084504655,1.4050766601968727],[-0.14510408295729335,1.4181390962839469]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.644627843849691,1.4025097586773678,0.71338606911949],"aabb_xy":[[-0.6555336199372537,1.3225097622785387],[-0.6337220677621282,1.482509755076197]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.6054505453021133,-1.5807019109820426,0.71338606911949],"aabb_xy":[[-0.665450545809966,-1.6375486446679637],[-0.5454505447942601,-1.523855177296121]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.5245259238349316,-1.7740355414474804,0.71338606911949],"aabb_xy":[[-0.5405878512934491,-1.8590355432600723],[-0.5084639963764138,-1.6890355396348886]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.527579599791851,-2.3569574192759832,0.71338606911949],"aabb_xy":[[-0.5825795989684404,-2.4119470940509404],[-0.4725796006152614,-2.301967744501025]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.6857004629196322,1.7782171981060624,0.71338606911949],"aabb_xy":[[0.6607004636476698,1.7618718345098998],[0.7107004621915943,1.7945625617022245]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[-0.47431230914226746,0.13253097524458068,0.71338606911949],"aabb_xy":[[-0.5243115843107036,0.08253097396863351],[-0.42431303397383124,0.18253097652052785]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.09554160660746525,-2.4470403645026706,0.71338606911949],"aabb_xy":[[0.054292795577550505,-2.5020403640148876],[0.13679041763737995,-2.3920403649904527]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[-0.2177545574314408,-2.2677193212434217,0.71338606911949],"aabb_xy":[[-0.22952274422609836,-2.3527193211486432],[-0.20598637063678332,-2.1827193213382]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.07294593304303731,-0.03621936184297736,0.71338606911949],"aabb_xy":[[-0.11149162586823835,-0.07476513289916602],[-0.03440024021783628,0.0023264092132112973]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.42970403450827943,-0.5935909089415896,0.71338606911949],"aabb_xy":[[-0.5197040342314535,-0.6166642614767693],[-0.3397040347851052,-0.5705175564064097]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[-0.25461586650481605,-0.8728279642659507,0.71338606911949],"aabb_xy":[[-0.2626592264307712,-0.9578279653613171],[-0.24657250657886087,-0.7878279631705842]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[0.2603680411939766,-2.2759140245705263,0.71338606911949],"aabb_xy":[[0.22286804108838362,-2.282736186423507],[0.2978680412995695,-2.2690918627175445]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.08908828341549724,1.5156811930299168,0.71338606911949],"aabb_xy":[[-0.0009117160028736526,1.482305696185727],[0.17908828283386813,1.5490566898741065]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_29","position":[0.6966960334860284,-2.0636964480976583,0.71338606911949],"aabb_xy":[[0.6887727532472802,-2.0861964483356616],[0.7046193137247768,-2.041196447859655]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.4362046167522299,-0.9760819565230487,0.71338606911949],"aabb_xy":[[-0.4862046161924254,-1.0260498810073648],[-0.38620461731203415,-0.9261140320387323]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892201060132659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7787.png","name":"7787"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7787.png","name":"7787"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4651.png","name":"4651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5706.png","name":"5706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/417.png","name":"417"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/339.png","name":"339"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":754.2198445382339,"rotation_z_degrees":178.18687177426233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006565771601364432,-0.003960053122586717,0.002376866930544265]},{"name":"camera_2","offset_m":[-0.004799575623316454,0.003606814664358367,-0.007885074552704784]},{"name":"camera_3","offset_m":[0.00900268883822656,0.006062561917271881,-0.005856651212686904]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008551577642413582,-0.0017425727906351615,-0.00045439382815405877],"end_effector_yaw_offset_degrees":-0.20697487422913752},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014246228957226208,-0.0013585186263325743,0.0014801223444961924],"end_effector_yaw_offset_degrees":-0.25948740717753793},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009335748281984943,0.000738660046469916,7.804396749939903e-05],"end_effector_yaw_offset_degrees":-0.12593850948814578}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020288265427675497,0.0040093445777902295],"position_m":[0.3126288265427675,-0.01639065542220977,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033380005766827535,0.000966201777848146],"position_m":[0.14606199942331724,0.2802662017778481,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004703449661103905,-0.003531896999095456],"position_m":[0.3475034496611039,0.20956810300090456,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004513749818988906,-0.0006486547936620157],"position_m":[0.2632137498189889,-0.362348654793662,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d05790df5fc8148beca2b97a03c03e184492901c55eee9f569b73e0ba61d31a5","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7787/tex_ceiling_textures_339/tex_floor_textures_417/tex_table_textures_4651/tex_wall_textures_5706","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8305327930959171029,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8305327930959171029,"visual_seed":8305327930959171029,"scene_id":"lab_003","finished_at":"2026-09-03T10:24:12"} +{"episode_id":"ep_000048","started_at":"2026-09-03T10:24:14","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.21273138449004647,1.5015752603747514,0.71338606911949],"aabb_xy":[[0.19515308230109965,1.4840007708006464],[0.23030968667899335,1.5191497499488564]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.5630395562594477,1.3438327226694597,0.71338606911949],"aabb_xy":[[-0.576270501794129,1.33060530364746],[-0.5498086107247664,1.357060141691459]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.6019745718431184,-2.4120849883744886,0.71338606911949],"aabb_xy":[[0.5219745713729025,-2.420395695988837],[0.6819745723133344,-2.4037742807601403]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.14640022191803115,1.7069369844752056,0.71338606911949],"aabb_xy":[[0.14106264625202658,1.681936983546066],[0.15173779758403572,1.7319369854043456]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.3565717242749282,1.4710265533205322,0.71338606911949],"aabb_xy":[[0.3422372991487648,1.4589663377659934],[0.3709061494010917,1.483086768875071]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.6044485473496293,0.5793535494997153,0.71338606911949],"aabb_xy":[[-0.6544273558599452,0.5293535494939964],[-0.5544697388393134,0.629353549505434]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.6113390932505373,-1.3488975401792802,0.71338606911949],"aabb_xy":[[-0.6399884256109534,-1.377543099456356],[-0.5826897608901209,-1.3202519809022044]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.5035745048494329,-0.7177353292558308,0.71338606911949],"aabb_xy":[[-0.5080051342042731,-0.7231837009905135],[-0.4991438754945927,-0.7122869575211483]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.4353078815989939,-1.1232016065030297,0.71338606911949],"aabb_xy":[[0.35530788052587353,-1.1329796528404141],[0.5153078826721142,-1.1134235601656453]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.2712194916599956,-1.1544811739904335,0.71338606911949],"aabb_xy":[[-0.3017037417870257,-1.2044811737719294],[-0.24073524153296538,-1.1044811742089375]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.11343672357333656,0.25083957230529963,0.71338606911949],"aabb_xy":[[-0.12223877888230926,0.24302824615037052],[-0.10463466826436384,0.25865089846022865]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.5345773370782952,-1.088819369686454,0.71338606911949],"aabb_xy":[[-0.5422805277523723,-1.096528740385192],[-0.5268741464042181,-1.0811099989877162]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.2973781606357516,-1.858678222701999,0.71338606911949],"aabb_xy":[[0.21237816194367698,-1.8906640860968775],[0.38237815932782626,-1.8266923593071198]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.5499794196794812,-1.0412589347108598,0.71338606911949],"aabb_xy":[[0.4799794178707357,-1.0626127034750472],[0.6199794214882266,-1.0199051659466725]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.09516480615106648,0.843646202197375,0.71338606911949],"aabb_xy":[[-0.17888703165114894,0.7536461986626789],[-0.011442580650984024,0.9336462057320708]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.361371764454377,1.6423863621442414,0.71338606911949],"aabb_xy":[[-0.41636724227503635,1.5873863607103345],[-0.3063762866337176,1.6973863635781483]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[0.47728238791324973,-1.3250865024126708,0.71338606911949],"aabb_xy":[[0.4678649133433869,-1.3345026795503898],[0.4866998624831124,-1.3156703252749518]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.13681419933609718,-1.8895251950645005,0.71338606911949],"aabb_xy":[[0.12953188295943346,-1.979525198674009],[0.14409651571276078,-1.799525191454991]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.5983021427913274,1.0624895312894056,0.71338606911949],"aabb_xy":[[-0.6534273484209181,1.0024895298481182],[-0.5431769371617365,1.1224895327306925]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[0.43935930541119483,-1.5140434089047212,0.71338606911949],"aabb_xy":[[0.4018593055941613,-1.518681620215863],[0.4768593052282284,-1.5094051975935794]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.643089407356678,-2.150421391690836,0.71338606911949],"aabb_xy":[[0.5930901321882418,-2.200421392966783],[0.6930886825251141,-2.1004213904148887]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.49468260605120284,-1.0071963571630007,0.71338606911949],"aabb_xy":[[-0.5062515867981394,-1.0321963572799326],[-0.4831136253042663,-0.9821963570460692]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.24503912484087242,-1.6552574268787434,0.71338606911949],"aabb_xy":[[0.23310639047904436,-1.6676395796866026],[0.2569718592027005,-1.6428752740708839]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.04600003541221498,1.0464485119323728,0.71338606911949],"aabb_xy":[[-0.018999965544912224,0.9945002999986671],[0.11100003636934219,1.0983967238660781]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6846554743390617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3647.png","name":"3647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3647.png","name":"3647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6746.png","name":"6746"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3654.png","name":"3654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4769.png","name":"4769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1757.png","name":"1757"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":607.2439035033292,"rotation_z_degrees":17.689026539196696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010313757988286487,-0.0006010242749859319,-0.016497055715253617]},{"name":"camera_2","offset_m":[0.0074322938839564215,0.004942803622260197,-0.010725841585001646]},{"name":"camera_3","offset_m":[-0.007097369456471672,0.012161759439206669,-0.018489543999206177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006373184662516371,-0.00010512663412726208,-0.0011436188234805918],"end_effector_yaw_offset_degrees":0.10940686581915582},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008476055159905671,0.00018524679064164896,-0.0009697349577487628],"end_effector_yaw_offset_degrees":-0.6637305484598204},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009174388208822585,-0.0016329765015526735,-0.000797320407191096],"end_effector_yaw_offset_degrees":0.47682262397047404}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003975446888463432,0.0018667121309190642],"position_m":[0.3066245531115366,-0.018533287869080938,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002778781164520906,-0.002401581242559223],"position_m":[0.1466212188354791,0.27689841875744076,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003155928582639019,0.002603143818053497],"position_m":[0.33964407141736097,0.2157031438180535,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028744401979171486,-0.003859496933476747],"position_m":[0.2558255598020828,-0.3655594969334768,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f746adf381d215cbc35b83aaebf971e8fb3c2f77741bf66973b9a218a99adab5","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3647/tex_ceiling_textures_1757/tex_floor_textures_4769/tex_table_textures_6746/tex_wall_textures_3654","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5514057014803249078,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5514057014803249078,"visual_seed":5514057014803249078,"scene_id":"lab_003","finished_at":"2026-09-03T10:27:00"} +{"episode_id":"ep_000049","started_at":"2026-09-03T10:27:03","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.41456488188652363,-0.3016713060657965,0.71338606911949],"aabb_xy":[[-0.4445565446203939,-0.33167130540259704],[-0.38457321915265325,-0.271671306728996]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[0.4755690091804352,-1.2878834290463903,0.71338606911949],"aabb_xy":[[0.45367926159149435,-1.3778834263356392],[0.49745875676937595,-1.197883431757141]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.5472660469026205,0.0666820148740972,0.71338606911949],"aabb_xy":[[-0.5591381299141216,-0.01831798481955317],[-0.5353939638911194,0.15168201456774755]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.6068997224548323,1.505909284493637,0.71338606911949],"aabb_xy":[[0.5569066103456404,1.4559092838194416],[0.6568928345640241,1.5559092851678331]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.08626378427081938,0.7163771514258266,0.71338606911949],"aabb_xy":[[0.07501872870020153,0.7051353537017313],[0.0975088398414372,0.7276189491499219]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.6948368337275679,-1.6015269374275514,0.71338606911949],"aabb_xy":[[0.6702906181048172,-1.6317758339765884],[0.7193830493503186,-1.5712780408785143]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.09657151927611074,0.4495992156546942,0.71338606911949],"aabb_xy":[[-0.17657152070623794,0.3700820606420847],[-0.016571517845983527,0.5291163706673037]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.5036061768604027,-0.6994385821940092,0.71338606911949],"aabb_xy":[[-0.5261025982942668,-0.7219385820007567],[-0.48110975542653855,-0.6769385823872618]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.3904927526321813,0.7642758509640784,0.71338606911949],"aabb_xy":[[0.377046225998138,0.7508059993109872],[0.40393927926622464,0.7777457026171697]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.5424138168764603,0.4529571043292573,0.71338606911949],"aabb_xy":[[0.4624138198622123,0.432822552655846],[0.6224138138907083,0.47309165600266856]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.289223186919531,-1.89873321494902,0.71338606911949],"aabb_xy":[[0.26933214703919073,-1.9113890262337168],[0.3091142267998712,-1.886077403664323]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[-0.6543011431531628,-1.3260440881824307,0.71338606911949],"aabb_xy":[[-0.671403221111531,-1.3431508937137004],[-0.6371990651947946,-1.308937282651161]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.26879645563947085,1.0986412492343698,0.71338606911949],"aabb_xy":[[0.25963657669559426,1.0921100311908327],[0.27795633458334745,1.1051724672779069]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[0.527897081027275,-1.063286228988724,0.71338606911949],"aabb_xy":[[0.5104663659482683,-1.0805583436525745],[0.5453277961062813,-1.046014114324873]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.22333997424846885,-2.4494958947430256,0.71338606911949],"aabb_xy":[[0.163339972605547,-2.50149604403497],[0.2833399758913907,-2.3974957454510815]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.37697317641898215,1.3167984585467996,0.71338606911949],"aabb_xy":[[-0.44197317905677563,1.2653188598473526],[-0.31197317378118866,1.3682780572462465]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.6561477734204955,-1.1269439945061572,0.71338606911949],"aabb_xy":[[0.6358634706970966,-1.1472266196488659],[0.6764320761438941,-1.1066613693634482]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.1164857138482227,1.6253052109685204,0.71338606911949],"aabb_xy":[[-0.14099933794522856,1.601040617666484],[-0.09197208975121686,1.6495698042705569]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.22505663694026934,1.1370317683212314,0.71338606911949],"aabb_xy":[[-0.2663611800040053,1.0730317687531143],[-0.18375209387653335,1.2010317678893485]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.5693914975647622,-1.6396795032565774,0.71338606911949],"aabb_xy":[[-0.5864015948548128,-1.6558139917548511],[-0.5523814002747115,-1.6235450147583033]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[-0.17757322743131032,1.757557385122221,0.71338606911949],"aabb_xy":[[-0.19080417296599161,1.7443299661002216],[-0.16434228189662903,1.7707848041442205]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.09588295554856185,-1.7160071780330295,0.71338606911949],"aabb_xy":[[0.058382954756566394,-1.7223750189912195],[0.1333829563405573,-1.709639337074839]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[0.6941568085523264,-2.0678867867201434,0.71338606911949],"aabb_xy":[[0.66550747619191,-2.0965323459972187],[0.7228061409127424,-2.039241227443067]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[-0.36238006004034157,0.5371103184671275,0.71338606911949],"aabb_xy":[[-0.4423738836188998,0.45711031587428597],[-0.28238623646178335,0.6171103210599691]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[-0.6349222103448923,-2.418804385626367,0.71338606911949],"aabb_xy":[[-0.690047415974483,-2.478804387067654],[-0.5797970047153015,-2.35880438418508]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.17050378119742537,0.18372721290574656,0.71338606911949],"aabb_xy":[[-0.2605037779330356,0.13054374958845202],[-0.08050378446181516,0.23691067622304104]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[-0.48252295952430935,-1.182056604757579,0.71338606911949],"aabb_xy":[[-0.567522958216384,-1.2140424681524578],[-0.3975229608322347,-1.1500707413627]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[-0.44372895483836117,-0.06819401741999309,0.71338606911949],"aabb_xy":[[-0.478191432851449,-0.0748576946029159],[-0.40926647682527345,-0.061530340237070255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6813350141712489,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3631.png","name":"3631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3631.png","name":"3631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2968.png","name":"2968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1890.png","name":"1890"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5389.png","name":"5389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5820.png","name":"5820"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":562.0296436776016,"rotation_z_degrees":225.9579076059226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005797428948840425,-0.0195493751291467,0.012697034161220488]},{"name":"camera_2","offset_m":[0.010104704312142495,-0.014123941672924144,-0.0052476943239900195]},{"name":"camera_3","offset_m":[-0.0018326759015377808,-0.0007193771264737588,-0.016555282970618188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00034311429006589887,-0.000985772515088502,0.0013352839660020458],"end_effector_yaw_offset_degrees":0.013921000427084884},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006452890859209659,-0.0018080727201245082,0.0014067121808670575],"end_effector_yaw_offset_degrees":0.47359704287193893},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010715668472409384,-0.0016713422433727039,0.0003322149870357148],"end_effector_yaw_offset_degrees":-0.4375097160236969}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036244374317613926,-0.003666800362694941],"position_m":[0.31422443743176137,-0.024066800362694943,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007574368264852468,0.001616537767945383],"position_m":[0.14864256317351476,0.2809165377679454,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038474729527531544,0.00031463676938196707],"position_m":[0.34664747295275317,0.21341463676938197,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002893826772161382,0.0023664904184102576],"position_m":[0.2558061732278386,-0.35933350958158977,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"054cb31980c16cba9c695d0b4d46b926e699abdc48d4db7e0ee6de6c84a33265","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3631/tex_ceiling_textures_5820/tex_floor_textures_5389/tex_table_textures_2968/tex_wall_textures_1890","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6954949298974449235,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6954949298974449235,"visual_seed":6954949298974449235,"scene_id":"lab_003","finished_at":"2026-09-03T10:29:37"} +{"episode_id":"ep_000050","started_at":"2026-09-03T10:29:42","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.3880583862414296,0.826800746118002,0.71338606911949],"aabb_xy":[[-0.46805838950544265,0.8132407138090886],[-0.3080583829774164,0.8403607784269153]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.6026582790662368,-0.7051749360355082,0.71338606911949],"aabb_xy":[[-0.632649941800107,-0.7351749353723087],[-0.5726666163323664,-0.6751749366987077]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.17916145123850447,1.118709997844436,0.71338606911949],"aabb_xy":[[0.11516144956050711,1.0701926063651217],[0.24316145291650182,1.1672273893237501]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.21222272767659273,-0.36230960370374676,0.71338606911949],"aabb_xy":[[-0.24972272886138547,-0.36672782639980717],[-0.17472272649179987,-0.35789138100768614]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.4334884038145353,0.0474591845486354,0.71338606911949],"aabb_xy":[[-0.4384444239994166,0.024959184346513792],[-0.4285323836296541,0.06995918475075703]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.5848697288478246,0.2650222220015226,0.71338606911949],"aabb_xy":[[-0.6398697284695705,0.21003852921404986],[-0.5298697292260788,0.3200059147889953]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.09198810150657577,-1.0284587750683123,0.71338606911949],"aabb_xy":[[0.04201068464132219,-1.0784587765575606],[0.14196551837182936,-0.9784587735790636]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.519444317966069,-1.1936855373138209,0.71338606911949],"aabb_xy":[[-0.5606931289959837,-1.2486855368260381],[-0.47819550693615426,-1.1386855378016032]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.18656639101365657,-2.2685708789002987,0.71338606911949],"aabb_xy":[[0.1515663896621748,-2.2889306148571196],[0.22156639236513828,-2.248211142943478]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.5801950801773745,-0.6645618718614459,0.71338606911949],"aabb_xy":[[0.5523500433967674,-0.6953463705997575],[0.6080401169579817,-0.6337773731231341]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.03323437709670485,-2.4370714304047096,0.71338606911949],"aabb_xy":[[-0.01674443141361104,-2.4870714304104284],[0.08321318560702073,-2.387071430398991]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.14784481734461563,-2.1287222391500493,0.71338606911949],"aabb_xy":[[0.09836439613065684,-2.192722237062901],[0.19732523855857442,-2.0647222412371975]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.349344824843987,-2.392396678269667,0.71338606911949],"aabb_xy":[[-0.3797429359431306,-2.422803580271336],[-0.3189467137448434,-2.361989776267997]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.5007753026690438,0.41334878288322985,0.71338606911949],"aabb_xy":[[0.4782753026588955,0.3992525632436265],[0.5232753026791921,0.4274450025228331]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.25713602832956545,-2.4809644699157154,0.71338606911949],"aabb_xy":[[-0.2659380836385381,-2.4887757960706445],[-0.2483339730205927,-2.4731531437607863]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[0.5634988069178708,-0.9912108858033917,0.71338606911949],"aabb_xy":[[0.5555755266791225,-1.013710886041395],[0.5714220871566191,-0.9687108855653883]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[0.09876826069544542,-1.564243373506842,0.71338606911949],"aabb_xy":[[0.09506499936630654,-1.5679453918155597],[0.10247152202458427,-1.5605413551981238]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.3044219506276748,1.7441679938213048,0.71338606911949],"aabb_xy":[[-0.30838243439740926,1.7365001292357842],[-0.30046146685794045,1.7518358584068254]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[0.585366370766393,1.0366393371959237,0.71338606911949],"aabb_xy":[[0.5603663708338751,1.0297566689750004],[0.6103663706989109,1.043522005416847]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.5194584510315869,-0.8598303357646269,0.71338606911949],"aabb_xy":[[-0.5745836566611776,-0.9198303372059139],[-0.4643332454019961,-0.7998303343233396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6804704774168547,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3153.png","name":"3153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3153.png","name":"3153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2861.png","name":"2861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9050.png","name":"9050"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3465.png","name":"3465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1190.png","name":"1190"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":512.5145192681629,"rotation_z_degrees":219.06184898350295,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01969974025371451,-0.008106311144638468,0.017276599350212227]},{"name":"camera_2","offset_m":[-0.015095068294979015,-0.0029898461045631645,-0.015361094148301332]},{"name":"camera_3","offset_m":[0.018300030627797084,-0.012924153209115666,-0.015739154256988703]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008483032794054956,-0.000853191680740883,0.0005090773625493349],"end_effector_yaw_offset_degrees":0.478631308780884},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00010647416432428515,9.295246711234868e-05,-0.00043615914618858834],"end_effector_yaw_offset_degrees":-0.11387168177448159},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019464612276314309,0.00011237092819604789,-0.0014128587050696991],"end_effector_yaw_offset_degrees":-0.8129843520107323}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027595294132711423,0.004703964278673375],"position_m":[0.3133595294132711,-0.015696035721326627,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003009950756225908,0.0025896346870800113],"position_m":[0.1463900492437741,0.28188963468708,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015938692326588964,-0.0021076259801977516],"position_m":[0.3412061307673411,0.21099237401980225,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003359608899714972,0.003255733276560156],"position_m":[0.255340391100285,-0.3584442667234399,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01e1b82190323de324d138d2d1da211512aae8f9234117fd209ffdaa7bc4ceac","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3153/tex_ceiling_textures_1190/tex_floor_textures_3465/tex_table_textures_2861/tex_wall_textures_9050","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3338540589291624593,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3338540589291624593,"visual_seed":3338540589291624593,"scene_id":"lab_003","finished_at":"2026-09-03T10:32:06"} +{"episode_id":"ep_000051","started_at":"2026-09-03T10:32:10","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.1568922882920839,-2.0924041817145462,0.71338606911949],"aabb_xy":[[-0.17012323382676517,-2.105631600736545],[-0.14366134275740258,-2.0791767626925464]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[-0.5693283349842733,0.7798473969763604,0.71338606911949],"aabb_xy":[[-0.5882127187527835,0.7609614721960076],[-0.5504439512157631,0.7987333217567132]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.6820699842516511,-0.7287381634269443,0.71338606911949],"aabb_xy":[[-0.6945373423613869,-0.7412034880602678],[-0.6696026261419156,-0.7162728387936208]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.6834603602628415,-2.008264209374551,0.71338606911949],"aabb_xy":[[0.6459603618394412,-2.0214284233423814],[0.7209603586862419,-1.99509999540672]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[0.4097000023495634,-0.604256992822858,0.71338606911949],"aabb_xy":[[0.39381550908423824,-0.6186099331216821],[0.42558449561488854,-0.589904052524034]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[0.31175619876824134,-1.898799494264611,0.71338606911949],"aabb_xy":[[0.22175619904506713,-1.9218728467997903],[0.4017561984914155,-1.8757261417294306]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.6221179839899817,-1.0531985233308192,0.71338606911949],"aabb_xy":[[-0.6861136813850782,-1.1171985216315279],[-0.558122286594885,-0.9891985250301105]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.10604609336892656,1.6397507657286883,0.71338606911949],"aabb_xy":[[-0.18604609479905376,1.5602336107160786],[-0.02604609193879938,1.7192679207412975]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.35344475943967124,0.5935478543360797,0.71338606911949],"aabb_xy":[[0.332166751296199,0.5285478520100065],[0.3747227675831435,0.6585478566621527]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.5399937263030792,1.0178440685144143,0.71338606911949],"aabb_xy":[[0.5024937263593128,1.0095509784795778],[0.5774937262468456,1.026137158549251]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.6030462600870621,0.5239900169731948,0.71338606911949],"aabb_xy":[[-0.6630462605949149,0.46714328328727345],[-0.543046259579209,0.580836750659116]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.4361619000028488,-1.2937721321362619,0.71338606911949],"aabb_xy":[[-0.5161619032606918,-1.3737686399282458],[-0.35616189674500587,-1.2137756243442779]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.07518479427586566,0.03461842436915674,0.71338606911949],"aabb_xy":[[-0.09768479451938106,0.022413789709384797],[-0.05268479403235027,0.0468230590289287]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.5635051156382318,-0.02673430995783388,0.71338606911949],"aabb_xy":[[-0.5991342715381915,-0.06236697671468683],[-0.5278759597382721,0.008898356799019066]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.622427429759043,-0.5751720585091888,0.71338606911949],"aabb_xy":[[-0.6774206410961797,-0.6301720588479824],[-0.5674342184219062,-0.5201720581703952]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.5279109893071999,-0.9109427489084252,0.71338606911949],"aabb_xy":[[-0.5979109911159454,-0.9322965176726125],[-0.4579109874984545,-0.8895889801442377]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.360456749996543,0.33072321377542124,0.71338606911949],"aabb_xy":[[0.34295681656255955,0.31322321385518664],[0.3779566834305263,0.34822321369565573]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.291717445429585,1.108215729968081,0.71338606911949],"aabb_xy":[[-0.30914816050859145,1.09094361530423],[-0.27428673035057843,1.1254878446319316]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.2742875298215988,-1.3707833167140318,0.71338606911949],"aabb_xy":[[-0.2789226449738322,-1.3746506517911803],[-0.26965241466936535,-1.3669159816368828]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.4416455168959075,1.420623842210769,0.71338606911949],"aabb_xy":[[0.39556042564117605,1.356623844958214],[0.487730608150639,1.4846238394633242]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.604708223881053,-0.5666281104671902,0.71338606911949],"aabb_xy":[[0.5712680486850333,-0.60007173629812],[0.6381483990770725,-0.5331844846362599]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.6293983153150132,0.6791537212398815,0.71338606911949],"aabb_xy":[[-0.6513069974543642,0.6572530544197906],[-0.6074896331756621,0.7010543880599721]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.20159188603448402,-0.7319488881762057,0.71338606911949],"aabb_xy":[[-0.25159188769597873,-0.7819473304319082],[-0.1515918843729892,-0.6819504459205028]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.13540991113780387,0.2863378390887732,0.71338606911949],"aabb_xy":[[-0.13952586124987648,0.2822222840559277],[-0.13129396102573115,0.2904533941216187]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.33047783612207304,-0.5013472933830201,0.71338606911949],"aabb_xy":[[0.3260472067672329,-0.5067956651177027],[0.3349084654769133,-0.4958989216483375]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.6963334946606992,-0.1623799438742477,0.71338606911949],"aabb_xy":[[0.6784643869062437,-0.17621285185145866],[0.7142026024151547,-0.1485470358970368]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.608881495547812,1.3849684192929237,0.71338606911949],"aabb_xy":[[-0.6888814925108512,1.30789277764915],[-0.5288814985847728,1.462044060936697]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[-0.2581612458584662,0.5713442498790609,0.71338606911949],"aabb_xy":[[-0.2756612451365531,0.5540061498127148],[-0.24066124658037935,0.5886823499454067]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[0.2726094530729736,-0.9217421142414552,0.71338606911949],"aabb_xy":[[0.22260945178913358,-0.9717209686320774],[0.3226094543568135,-0.8717632598508331]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_29","position":[-0.1683483912648034,0.6022403380413826,0.71338606911949],"aabb_xy":[[-0.1826828163909668,0.5901801224868437],[-0.1540139661386399,0.6143005535959214]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_30","position":[-0.5884828121461687,-1.7552047992403508,0.71338606911949],"aabb_xy":[[-0.5964763019414507,-1.7632029311808266],[-0.5804893223508867,-1.7472066672998754]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[0.5724353326435754,-0.9226426462821817,0.71338606911949],"aabb_xy":[[0.5577919270895423,-0.9373013659389658],[0.5870787381976083,-0.9079839266253974]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874344529462567,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7773.png","name":"7773"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7773.png","name":"7773"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6559.png","name":"6559"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5462.png","name":"5462"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8313.png","name":"8313"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":755.7256795531654,"rotation_z_degrees":340.10737579511414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00491798345030044,0.012528948035255099,0.011038873633325716]},{"name":"camera_2","offset_m":[0.0058034325254867035,0.018557249823826286,0.004928170199265797]},{"name":"camera_3","offset_m":[0.019682884402521344,-0.013888067574015475,0.00429388561105758]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014446600186133933,0.0016470367006393457,-0.0009835046600322542],"end_effector_yaw_offset_degrees":0.4601145672217355},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008897133764832238,0.001421861405253644,0.0007683893948679582],"end_effector_yaw_offset_degrees":0.03717029122805404},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017344960742003458,-0.0015326992027597372,-0.0015544248967985065],"end_effector_yaw_offset_degrees":0.6125171181546629}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004605683543415328,0.004988135971709104],"position_m":[0.30599431645658465,-0.015411864028290898,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006375034331568951,-0.0013656800479237554],"position_m":[0.1500375034331569,0.27793431995207624,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028474535826484605,0.0010303350922046582],"position_m":[0.3399525464173515,0.21413033509220467,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001788064068270979,-0.001655054251108773],"position_m":[0.26048806406827096,-0.3633550542511088,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8d75ed759fa7b01a69f8da8fb25a5ac3a21756b0ce0f2904535163f423970c13","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7773/tex_ceiling_textures_8313/tex_floor_textures_5462/tex_table_textures_6559/tex_wall_textures_6362","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8727224483152711759,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8727224483152711759,"visual_seed":8727224483152711759,"scene_id":"lab_003","finished_at":"2026-09-03T10:34:36"} +{"episode_id":"ep_000052","started_at":"2026-09-03T10:34:39","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.5616766357776948,-0.9613860789495723,0.71338606911949],"aabb_xy":[[0.4966766331399013,-1.0128656776490192],[0.6266766384154883,-0.9099064802501253]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.20991278904063349,0.40424232080403577,0.71338606911949],"aabb_xy":[[-0.2739127909529758,0.3483311715460254],[-0.14591278712829117,0.46015347006204627]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.08772187762701855,0.26132511265262526,0.71338606911949],"aabb_xy":[[-0.10526857254313748,0.223825111088374],[-0.07017518271089962,0.2988251142168765]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.6931666446267821,-0.3793758455707068,0.71338606911949],"aabb_xy":[[0.6851726560490786,-0.3873759256657971],[0.7011606332044854,-0.3713757654756164]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.294087257079308,-0.23594052237180252,0.71338606911949],"aabb_xy":[[-0.3640872604708699,-0.2712562960752333],[-0.22408725368774599,-0.20062474866837163]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.3255703650246442,-1.4880612366722108,0.71338606911949],"aabb_xy":[[0.31685639597470966,-1.5105612373313988],[0.33428433407457864,-1.4655612360130224]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.26921697404851086,-0.7871021618691085,0.71338606911949],"aabb_xy":[[0.25253983805541536,-0.8038020858430387],[0.28589411004160636,-0.7704022378951781]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[-0.13944897132620293,-1.140861599772738,0.71338606911949],"aabb_xy":[[-0.20444897136050566,-1.1875622764530651],[-0.0744489712919002,-1.0941609230924105]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.6361474648397505,-1.656803292163338,0.71338606911949],"aabb_xy":[[0.6210451633787321,-1.6719048137943995],[0.6512497663007683,-1.6417017705322756]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.3670144873372292,-2.440198408849253,0.71338606911949],"aabb_xy":[[-0.4220144865138187,-2.4951880836242104],[-0.3120144881606397,-2.385208734074295]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.059378410133311244,1.4360057628997587,0.71338606911949],"aabb_xy":[[-0.06483635577033131,1.3560057595920993],[-0.05392046449629117,1.5160057662074176]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.6170064237745941,-1.6736969810771334,0.71338606911949],"aabb_xy":[[-0.681006420201916,-1.7208666048992298],[-0.5530064273472722,-1.626527357255037]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.44702945826487506,1.0775700466940124,0.71338606911949],"aabb_xy":[[0.39705204139962147,1.0275700452047638],[0.49700687513012864,1.127570048183261]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.46845218879220085,-0.48895803559144246,0.71338606911949],"aabb_xy":[[-0.5184521882323965,-0.5389259600757588],[-0.41845218935200523,-0.4389901111071261]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.3296934968989831,1.781392569838189,0.71338606911949],"aabb_xy":[[0.3071934973752756,1.7588966223875677],[0.35219349642269043,1.8038885172888093]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.30060924954857626,-0.8767795935454132,0.71338606911949],"aabb_xy":[[-0.3086455842498611,-0.8848177128498299],[-0.2925729148472914,-0.8687414742409963]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.4438138969064119,-2.0068090634001567,0.71338606911949],"aabb_xy":[[-0.5338138955008818,-2.023059649713578],[-0.353813898311942,-1.9905584770867357]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.16847156993707524,0.9191888054882553,0.71338606911949],"aabb_xy":[[0.15977360764635995,0.9070638311807807],[0.17716953222779053,0.9313137797957302]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.6363955637129576,-0.34009501487674365,0.71338606911949],"aabb_xy":[[-0.6588955642249982,-0.36258687324214195],[-0.613895563200917,-0.31760315651134524]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.6331055124616922,-1.2480545911606131,0.71338606911949],"aabb_xy":[[0.5531055138743728,-1.327370193098774],[0.7131055110490117,-1.1687389892224522]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[0.35233790732167547,-1.3072700036649463,0.71338606911949],"aabb_xy":[[0.3446347166475984,-1.3149793743636842],[0.3600410979957525,-1.2995606329662084]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[-0.34539530992553513,-0.6520689930757282,0.71338606911949],"aabb_xy":[[-0.3488359861655923,-0.6559304260500928],[-0.34195463368547796,-0.6482075601013638]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.027280499609869557,0.8827043480105758,0.71338606911949],"aabb_xy":[[-0.03212409437109953,0.8778526955315917],[-0.022436904848639583,0.88755600048956]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.19912024791124194,-2.265398393839605,0.71338606911949],"aabb_xy":[[0.1491202469607091,-2.2969475408431266],[0.24912024886177472,-2.2338492468360838]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.682611149075913,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5287.png","name":"5287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5287.png","name":"5287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1294.png","name":"1294"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9471.png","name":"9471"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8780.png","name":"8780"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4825.png","name":"4825"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.9307673008202,"rotation_z_degrees":343.7034350705122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016504143842579297,-0.012653703875686352,0.003992781189541099]},{"name":"camera_2","offset_m":[0.004453067921075481,-0.012500622243301139,-0.012526298234396039]},{"name":"camera_3","offset_m":[-0.01701100960229066,-0.012273311785906169,-0.014470928844894208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-3.980300613591918e-05,0.00036922184222038055,-0.0005680074290525133],"end_effector_yaw_offset_degrees":-0.600148202735441},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005278427621000724,0.001893620852762179,0.0011714093210236655],"end_effector_yaw_offset_degrees":-0.16655907689442606},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017964402625966094,-0.0018668295751399207,0.001314665420136917],"end_effector_yaw_offset_degrees":0.3734331011968681}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003183551712555464,0.0014088178351061584],"position_m":[0.31091835517125554,-0.018991182164893844,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004897226222590824,-0.0005030913623688292],"position_m":[0.15429722622259082,0.2787969086376312,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004975133997563836,-0.0011691013282923747],"position_m":[0.3477751339975638,0.21193089867170764,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018242700943474168,0.0016698267299320212],"position_m":[0.25687572990565255,-0.360030173270068,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"05bd10c24f3b02d2f643fd083afa45c0eb18116ebcfe11cde10acb7a01332183","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5287/tex_ceiling_textures_4825/tex_floor_textures_8780/tex_table_textures_1294/tex_wall_textures_9471","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7318680646945133989,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7318680646945133989,"visual_seed":7318680646945133989,"scene_id":"lab_003","finished_at":"2026-09-03T10:37:04"} +{"episode_id":"ep_000053","started_at":"2026-09-03T10:37:06","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.5108569948597921,-1.4977750848365243,0.71338606911949],"aabb_xy":[[-0.5608344117250457,-1.5477750863257727],[-0.46087957799453855,-1.4477750833472756]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.507709410728689,1.7764382819054965,0.71338606911949],"aabb_xy":[[0.47020941006411027,1.760751223905274],[0.5452094113932676,1.7921253399057184]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.6322180287179391,0.17214532146302597,0.71338606911949],"aabb_xy":[[0.5682180314155927,0.1277788944951692],[0.6962180260202855,0.2165117484308827]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.5080662554211453,-2.5036399434293886,0.71338606911949],"aabb_xy":[[0.4986487808512825,-2.513056120567107],[0.517483729991008,-2.494223766291669]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.628867322034957,1.4446870962666591,0.71338606911949],"aabb_xy":[[-0.6513637434688211,1.422187096459912],[-0.6063709006010929,1.4671870960734068]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.44432036615629117,0.11946007241927203,0.71338606911949],"aabb_xy":[[-0.48556917718620585,0.06446007290705456],[-0.4030715551263764,0.17446007193148946]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.5617083045939438,-0.5332492811394758,0.71338606911949],"aabb_xy":[[-0.6117031375218854,-0.5832492800347193],[-0.5117134716660022,-0.48324928224423225]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.6410712009176459,-2.312177654885421,0.71338606911949],"aabb_xy":[[-0.6613555036410445,-2.3324602800281293],[-0.6207868981942469,-2.291895029742712]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.2858038156863287,1.1364564041261436,0.71338606911949],"aabb_xy":[[-0.3336099833000973,1.0714564014190846],[-0.23799764807255996,1.2014564068332025]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.46004768829512144,0.6743445377318955,0.71338606911949],"aabb_xy":[[0.4050544769579847,0.6193445373931019],[0.5150408996322582,0.7293445380706891]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.4454180226084483,0.37137853083653605,0.71338606911949],"aabb_xy":[[-0.530418021300523,0.33939266744165714],[-0.3604180239163737,0.40336439423141485]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.4651885235022063,-2.145115523961186,0.71338606911949],"aabb_xy":[[-0.46910239669762877,-2.153864539367743],[-0.4612746503067837,-2.1363665085546293]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.18072458914688894,1.392702859693678,0.71338606911949],"aabb_xy":[[-0.21822458772250974,1.37996656403012],[-0.14322459057126813,1.4054391553572358]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.48092533536158544,0.5273852084887829,0.71338606911949],"aabb_xy":[[0.45842533484954484,0.5048933501233844],[0.503425335873626,0.5498770668541811]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.5901229188706412,-1.654365405521434,0.71338606911949],"aabb_xy":[[-0.5950789390555224,-1.6768654057235564],[-0.5851668986857601,-1.6318654053193131]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.3110273071714911,-0.29737126719608753,0.71338606911949],"aabb_xy":[[-0.3396766395319073,-0.32601682647316327],[-0.28237797481107485,-0.2687257079190117]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.15276257182616637,-1.8149611530075287,0.71338606911949],"aabb_xy":[[0.1419109655772908,-1.82582044373518],[0.163614178075042,-1.804101862279878]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.047641291810112674,0.38804610311476795,0.71338606911949],"aabb_xy":[[-0.05633925410082797,0.37592112880729334],[-0.038943329519397385,0.4001710774222428]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.016599243159868826,-1.0233749807067352,0.71338606911949],"aabb_xy":[[-0.022636256160533552,-1.0294016817756837],[-0.010562230159204098,-1.017348279637787]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.6201170754669222,0.8417074494113397,0.71338606911949],"aabb_xy":[[-0.6535572506629416,0.8082638235804095],[-0.5866769002709024,0.8751510752422696]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.19264030372692043,0.2618028490206341,0.71338606911949],"aabb_xy":[[-0.2566403001224935,0.1978395606019005],[-0.12864030733134735,0.3257661374393676]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.1322881607465397,-0.07808623300759443,0.71338606911949],"aabb_xy":[[-0.15680178484354557,-0.10235082630963088],[-0.10777453664953385,-0.05382163970555798]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.6384016161500937,-0.8306320111968617,0.71338606911949],"aabb_xy":[[-0.6510284034372901,-0.8401780848984346],[-0.6257748288628974,-0.8210859374952888]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.4115807638882538,-2.1884638368108176,0.71338606911949],"aabb_xy":[[0.36158076293772096,-2.2200129838143385],[0.4615807648387866,-2.1569146898072957]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.4180747464867136,1.5506265259562846,0.71338606911949],"aabb_xy":[[-0.44855899661374365,1.5006265261747886],[-0.38759049635968335,1.6006265257377805]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.04948054750490061,-0.9043996548973459,0.71338606911949],"aabb_xy":[[-0.08379682467951854,-0.9543996548705236],[-0.01516427033028267,-0.8543996549241681]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[0.26768965511000176,-1.3066841977287775,0.71338606911949],"aabb_xy":[[0.24948383144875408,-1.3177095983107694],[0.28589547877124943,-1.2956587971467861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876843062709983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4847.png","name":"4847"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4847.png","name":"4847"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4942.png","name":"4942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1581.png","name":"1581"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6661.png","name":"6661"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9107.png","name":"9107"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":612.4712809728096,"rotation_z_degrees":253.82788249803573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01711657483546642,-0.019438532303317584,-0.006528395865472714]},{"name":"camera_2","offset_m":[0.007478830880381492,0.016669697761477056,0.010053562625699668]},{"name":"camera_3","offset_m":[0.019417421402609752,-0.011004155306485477,-0.010713573491113211]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009224844785752793,0.0005809470822426338,-0.001654041294363248],"end_effector_yaw_offset_degrees":-0.046270561421975165},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015491030223117172,-0.001894531654309173,0.0011539699822920614],"end_effector_yaw_offset_degrees":-0.46186971764961915},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014267299833592467,0.0011821357949465972,0.0004568532044752433],"end_effector_yaw_offset_degrees":0.15297561628119904}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002826111788644261,0.0031851660460585777],"position_m":[0.3077738882113557,-0.017214833953941425,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003107023779019036,-0.0028889525165600115],"position_m":[0.14629297622098097,0.27641104748344,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004691771879465477,0.002707092292303674],"position_m":[0.33810822812053454,0.2158070922923037,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032238141109229143,0.00018545022861390578],"position_m":[0.2619238141109229,-0.36151454977138614,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d9d929d83b138fd5bc4df2fc49a8b8edc47599e8d316ea3472587abf8bad330c","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4847/tex_ceiling_textures_9107/tex_floor_textures_6661/tex_table_textures_4942/tex_wall_textures_1581","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8733104862828006397,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8733104862828006397,"visual_seed":8733104862828006397,"scene_id":"lab_003","finished_at":"2026-09-03T10:39:34"} +{"episode_id":"ep_000054","started_at":"2026-09-03T10:43:42","dimensions":{"distractor":{"count":26,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.23946731400765808,1.093670182567703,0.71338606911949],"aabb_xy":[[0.15946731074364495,1.0801101502587898],[0.3194673172716712,1.1072302148766164]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.5886581975616623,-0.2922374532558689,0.71338606911949],"aabb_xy":[[0.5086581989743427,-0.37155305519402976],[0.6686581961489816,-0.212921851317708]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[-0.30961762938742954,-2.0343537810031154,0.71338606911949],"aabb_xy":[[-0.316878876957837,-2.047140791266625],[-0.3023563818170222,-2.021566770739606]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.6040440685415365,-2.327056398438911,0.71338606911949],"aabb_xy":[[0.596631613000148,-2.332907608860539],[0.611456524082925,-2.321205188017283]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.5285703714381574,1.1544147792632304,0.71338606911949],"aabb_xy":[[-0.5410377295478931,1.141949454629907],[-0.5161030133284218,1.166880103896554]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.4987284992819548,1.0064232457303186,0.71338606911949],"aabb_xy":[[-0.5587285001427674,0.9549968157238319],[-0.4387284984211419,1.0578496757368046]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.35147396056336405,1.5368733083013102,0.71338606911949],"aabb_xy":[[-0.41547396224136135,1.4883559168219958],[-0.28747395888536664,1.5853906997806242]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.059441456425076034,0.8967482553160577,0.71338606911949],"aabb_xy":[[0.05132780175169893,0.8886424388620285],[0.06755511109845314,0.9048540717700867]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.1647259552846384,-0.4720691695856223,0.71338606911949],"aabb_xy":[[-0.22972595531894113,-0.5187698462659496],[-0.09972595525033567,-0.425368492905295]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[0.06886514966585544,-0.8727692635576396,0.71338606911949],"aabb_xy":[[0.051365150387768566,-0.8901073636239856],[0.08636514894394232,-0.8554311634912937]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[-0.31043225790686463,0.9875640923870099,0.71338606911949],"aabb_xy":[[-0.3604315330753008,0.9375640911110629],[-0.26043298273842846,1.037564093662957]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.6200765575815534,1.2964693186121488,0.71338606911949],"aabb_xy":[[0.5400765605673055,1.2763347669387375],[0.7000765545958014,1.31660387028556]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.4060649138813579,-0.6379567180348211,0.71338606911949],"aabb_xy":[[0.372585746620317,-0.6714358314059281],[0.4395440811423989,-0.6044776046637141]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[-0.045854227641920486,1.5783174376446092,0.71338606911949],"aabb_xy":[[-0.07584589037579081,1.5483174383078087],[-0.01586256490805016,1.6083174369814097]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.42915273692865785,-2.319335559039397,0.71338606911949],"aabb_xy":[[0.41831225870214295,-2.3365218403300454],[0.43999321515517276,-2.302149277748748]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.18644517498829882,1.559788053832475,0.71338606911949],"aabb_xy":[[0.162860051524404,1.4947880515870433],[0.2100302984521937,1.6247880560779069]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.6411702359368052,-1.1617235571262903,0.71338606911949],"aabb_xy":[[-0.6797159287620063,-1.200269328182479],[-0.6026245431116042,-1.1231777860701015]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.16018190782512642,-2.0574888549080432,0.71338606911949],"aabb_xy":[[0.09018190443356443,-2.0928046286114736],[0.23018191121668838,-2.022173081204612]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.0007276971107558206,-2.3665122596957793,0.71338606911949],"aabb_xy":[[-0.017638429547097597,-2.3799844652883935],[0.016183035325585956,-2.353040054103164]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.39744949160653587,0.9073459553524215,0.71338606911949],"aabb_xy":[[0.3858805108595993,0.8823459552354899],[0.40901847235347244,0.9323459554693533]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.6463337068966746,-0.6384286515138606,0.71338606911949],"aabb_xy":[[0.5823337083101021,-0.6854356149133694],[0.710333705483247,-0.5914216881143519]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.19284226572555951,-1.728147650313151,0.71338606911949],"aabb_xy":[[-0.23414680878929547,-1.7921476498812678],[-0.1515377226618235,-1.6641476507450337]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.5514780953287599,1.5777009425610644,0.71338606911949],"aabb_xy":[[-0.5839397962106871,1.5475681104461614],[-0.5190163944468322,1.6078337746759666]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.42928989705865805,-0.4928918307186465,0.71338606911949],"aabb_xy":[[0.4251739469465854,-0.497007385751492],[0.4334058471707307,-0.488776275685801]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_24","position":[0.18433238910993888,0.7088527508734508,0.71338606911949],"aabb_xy":[[0.11933238647214536,0.6573731521740038],[0.24933239174773233,0.7603323495728977]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[-0.18786539647708567,1.7706538717899805,0.71338606911949],"aabb_xy":[[-0.22536539642085207,1.7623607817551437],[-0.15036539653331926,1.7789469618248168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6852277723231918,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7687.png","name":"7687"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8782.png","name":"8782"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2551.png","name":"2551"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":543.0321920685948,"rotation_z_degrees":16.8761368444491,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013100444675953261,0.009430299771693438,0.0013994305978551128]},{"name":"camera_2","offset_m":[0.008448473807383977,-0.019583662477642393,-0.01978076161713203]},{"name":"camera_3","offset_m":[0.015592238947594952,0.006266404661754595,-0.006138458615623264]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-1.9342974211065e-05,-0.001451331474312859,0.0019019290917042168],"end_effector_yaw_offset_degrees":-0.14941080593212064},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008861848940396699,0.0018836441732298813,6.125115026051281e-05],"end_effector_yaw_offset_degrees":-0.5877770196032517},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015519408618409694,-0.0007042491889434838,-0.0001533993483803426],"end_effector_yaw_offset_degrees":-0.4456967570367476}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004532899619016069,0.0008022560096114604],"position_m":[0.3101467100380984,-0.019597743990388543,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005810546064526504,-0.00484388888279647],"position_m":[0.14998105460645267,0.2744561111172035,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029115489800374595,-0.0016300286858420845],"position_m":[0.3398884510199625,0.21146997131415793,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009180134198174313,0.0011274063050766663],"position_m":[0.25961801341981744,-0.36057259369492334,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6278bca1f7f13691257e2e454610e9e6f4be2204090f82b32d4e607c469d440b","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3538/tex_ceiling_textures_2551/tex_floor_textures_8782/tex_table_textures_7687/tex_wall_textures_1822","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7546381531157555756,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7546381531157555756,"visual_seed":7546381531157555756,"scene_id":"lab_003","finished_at":"2026-09-03T10:46:13"} +{"episode_id":"ep_000055","started_at":"2026-09-03T10:47:37","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.6342057699727922,-0.9237384393136541,0.71338606911949],"aabb_xy":[[-0.6473570159440816,-0.9487384390703408],[-0.6210545240015029,-0.8987384395569677]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.6775693655514861,1.6373393457775909,0.71338606911949],"aabb_xy":[[0.6550693653079707,1.625134711117819],[0.7000693657950015,1.6495439804373628]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.3544413824182566,-2.3589798729564926,0.71338606911949],"aabb_xy":[[0.26444138382378674,-2.375230459269914],[0.4444413810127266,-2.3427292866430713]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.035203987893930866,0.7815587030888351,0.71338606911949],"aabb_xy":[[-0.08508668477162708,0.7315587038425604],[0.014678708983765335,0.83155870233511]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[-0.6005538381417737,1.6992237350414938,0.71338606911949],"aabb_xy":[[-0.6505312550070271,1.649223733552245],[-0.55057642127652,1.7492237365307421]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.6324065018163345,-1.8670983855128935,0.71338606911949],"aabb_xy":[[0.562406500214055,-1.8805311787145509],[0.702406503418614,-1.8536655923112357]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.6465790393682929,-1.0479272628842478,0.71338606911949],"aabb_xy":[[0.6090790394245265,-1.0562203529190843],[0.6840790393120593,-1.0396341728494112]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.6002174621883074,-2.3184249318772694,0.71338606911949],"aabb_xy":[[0.5763812445477025,-2.408424932685756],[0.6240536798289126,-2.228424931068783]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.35757255132703825,-2.218187228833139,0.71338606911949],"aabb_xy":[[-0.4375725482900774,-2.295262870476912],[-0.2775725543639991,-2.141111587189365]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.3061952126404913,0.1862842840186718,0.71338606911949],"aabb_xy":[[-0.3561685066437517,0.13628428346412444],[-0.2562219186372308,0.23628428457321912]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.2466036505552126,-0.8780504970796223,0.71338606911949],"aabb_xy":[[0.17660364874646717,-0.8994042658438096],[0.31660365236395804,-0.8566967283154349]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.5030677131934953,-0.3888330679236933,0.71338606911949],"aabb_xy":[[-0.5146366939404319,-0.41383306804062503],[-0.49149873244655873,-0.3638330678067616]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[0.041525513726748176,-1.7405979664431745,0.71338606911949],"aabb_xy":[[0.004730880601841896,-1.777503841539757],[0.07832014685165445,-1.7036920913465925]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.1928799890042221,-2.136947386307622,0.71338606911949],"aabb_xy":[[0.1428799894278874,-2.186927965259728],[0.24287998858055684,-2.086966807355516]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.6718342737073781,-1.5587967152894004,0.71338606911949],"aabb_xy":[[0.6593669155976426,-1.5712620399227242],[0.6843016318171139,-1.5463313906560772]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.6573776278958261,0.8374924262347521,0.71338606911949],"aabb_xy":[[0.6073776262343312,0.7874939839790492],[0.7073776295573208,0.8874908684904547]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.06911223442297532,1.335437862931942,0.71338606911949],"aabb_xy":[[0.031612233758396606,1.3197508049317197],[0.106612235087554,1.351124920932164]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.29594555165219216,-1.4031601735167554,0.71338606911949],"aabb_xy":[[0.27072471479235244,-1.428383924369642],[0.3211663885120318,-1.3779364226638684]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.5626253955241056,-2.026519168610277,0.71338606911949],"aabb_xy":[[0.4986253948206363,-2.0725375510831983],[0.626625396227575,-1.9805007861373563]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.4654289471045774,1.0431479067147045,0.71338606911949],"aabb_xy":[[-0.5029289476019356,1.039179223166586],[-0.42792894660721914,1.047116590262823]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.4387720388739338,-1.4593665963195095,0.71338606911949],"aabb_xy":[[0.38867457489286017,-1.5233665968293213],[0.4888695028550074,-1.3953665958096977]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[-0.4229196875311763,0.8110650422551737,0.71338606911949],"aabb_xy":[[-0.47291452045911797,0.7610650433599303],[-0.37292485460323477,0.8610650411504174]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.08379600006552568,1.6290833566867184,0.71338606911949],"aabb_xy":[[-0.08937767169965442,1.616583356868943],[-0.0782143284313969,1.641583356504494]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[-0.32261470362721223,-2.0139558837808034,0.71338606911949],"aabb_xy":[[-0.35639026281790515,-2.0279943789939683],[-0.2888391444365192,-1.9999173885676385]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.04993493362015933,-2.161019851080583,0.71338606911949],"aabb_xy":[[-0.058149478735843294,-2.1696964413782234],[-0.041720388504475334,-2.1523432607829407]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6848219444226239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1267.png","name":"1267"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1267.png","name":"1267"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5005.png","name":"5005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3504.png","name":"3504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4190.png","name":"4190"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":529.775923474773,"rotation_z_degrees":89.96177783149403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011041960856562612,-0.009754768087718243,0.0019192860453691903]},{"name":"camera_2","offset_m":[0.01966939207558469,-0.015967348029275782,-0.003652170612349185]},{"name":"camera_3","offset_m":[0.019881408127194324,-0.0007394005418144174,-0.0144259896974275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001473938092202002,0.0016066805267327153,-0.00013659901955488554],"end_effector_yaw_offset_degrees":-0.6343400661274494},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003069683110744747,0.0017680390870641089,0.000913407054606533],"end_effector_yaw_offset_degrees":0.9422327974064673},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002367383329724593,-0.0013425984524255976,0.0007756648804816565],"end_effector_yaw_offset_degrees":0.5618159202482418}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022129740668603514,-0.0011853128616586607],"position_m":[0.30838702593313966,-0.021585312861658663,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036051717809388257,-0.00130754898251105],"position_m":[0.15300517178093884,0.27799245101748893,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042706255741592,0.0007299095206920181],"position_m":[0.3470706255741592,0.21382990952069203,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009611256695193741,0.0019690439874136875],"position_m":[0.2596611256695194,-0.3597309560125863,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd499fc97340598908e0f4e17440bc918f47b1545a5774d9d0d0d65b31356298","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1267/tex_ceiling_textures_4190/tex_floor_textures_6985/tex_table_textures_5005/tex_wall_textures_3504","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7731624899281995966,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7731624899281995966,"visual_seed":7731624899281995966,"scene_id":"lab_003","finished_at":"2026-09-03T10:50:06"} +{"episode_id":"ep_000056","started_at":"2026-09-03T10:50:10","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.372817979253465,-0.7981111472089293,0.71338606911949],"aabb_xy":[[-0.43681797653911364,-0.8396178661617733],[-0.30881798196781635,-0.7566044282560853]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.12399463520709031,0.19756056492008423,0.71338606911949],"aabb_xy":[[-0.20399463628021064,0.18778251858269981],[-0.043994634133969965,0.2073386112574687]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.4200279283726265,-1.2535070775542152,0.71338606911949],"aabb_xy":[[-0.42872589066334177,-1.26563205186169],[-0.4113299660819112,-1.2413821032467405]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.607208335865266,-1.3958284182115406,0.71338606911949],"aabb_xy":[[0.568662643040065,-1.4343741892677293],[0.645754028690467,-1.3572826471553519]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.1601035026784703,1.0463242198906038,0.71338606911949],"aabb_xy":[[-0.1976035028503422,1.0136234845076961],[-0.12260350250659832,1.0790249552735105]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.08184917316094609,0.9046339450611574,0.71338606911949],"aabb_xy":[[-0.09160516267011996,0.8948714110019229],[-0.07209318365177218,0.9143964791203918]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[0.16220189859284095,0.9402826802886417,0.71338606911949],"aabb_xy":[[0.07220190209196918,0.8943710378701833],[0.25220189509371266,0.9861943227070998]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.2434863518880831,1.4504625401990672,0.71338606911949],"aabb_xy":[[-0.2886576697362521,1.386462543054529],[-0.19831503403991418,1.514462537343606]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.43125657963348574,1.118149996687524,0.71338606911949],"aabb_xy":[[-0.5112565810636129,1.0386328416749142],[-0.3512565782033585,1.1976671517001332]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[0.6378987735951285,-0.7463703215947417,0.71338606911949],"aabb_xy":[[0.5900926059813598,-0.8113703243018006],[0.6857049412088971,-0.6813703188876827]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.466911499050239,-0.12684385419878286,0.71338606911949],"aabb_xy":[[0.444412363324012,-0.14934385497704583],[0.48941063477646596,-0.10434385342051988]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.18365694285473777,-1.805420327351473,0.71338606911949],"aabb_xy":[[-0.23865242067539713,-1.86042032878538],[-0.12866146503407835,-1.7504203259175661]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.44168228946553934,0.712363320589398,0.71338606911949],"aabb_xy":[[-0.44872374041628693,0.7053365688516035],[-0.43464083851479174,0.7193900723271925]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.4875788408531811,1.5934028580086497,0.71338606911949],"aabb_xy":[[-0.5250788423688129,1.5821760849925042],[-0.45007883933754933,1.6046296310247943]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[-0.19089001705167608,-0.11046218639142369,0.71338606911949],"aabb_xy":[[-0.20349271618875256,-0.1230575826162892],[-0.17828731791459965,-0.0978667901665582]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.480544031324333,-1.8961115146528464,0.71338606911949],"aabb_xy":[[-0.5173945792613206,-1.93361151547588],[-0.4436934833873454,-1.8586115138298125]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.4701956203063131,-2.2178457947668075,0.71338606911949],"aabb_xy":[[0.39019562003270614,-2.290795342592524],[0.5501956205799201,-2.1448962469410904]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.5303757931889483,-0.7943998682664568,0.71338606911949],"aabb_xy":[[0.5152129202120114,-0.8095653255615757],[0.5455386661658855,-0.7792344109713382]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.5028957604037239,-0.08900378594387615,0.71338606911949],"aabb_xy":[[-0.5678957630415173,-0.1404833846433231],[-0.43789575776593037,-0.0375241872444292]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.34540413693872973,-2.042662935132095,0.71338606911949],"aabb_xy":[[0.3277713013452021,-2.060285881147718],[0.36303697253225725,-2.025039989116472]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.2525323749727015,-1.632835519581858,0.71338606911949],"aabb_xy":[[-0.2696344529310696,-1.6499423251131278],[-0.23543029701433327,-1.6157287140505883]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.5312790151252533,0.21351552097200344,0.71338606911949],"aabb_xy":[[0.5242387051917163,0.13351552157233204],[0.5383193250587903,0.29351552037167483]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[-0.5961809967330246,-1.153886073118519,0.71338606911949],"aabb_xy":[[-0.6136809960111115,-1.1712241731848647],[-0.5786809974549377,-1.1365479730521728]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.44783374652812014,-1.0837190649567034,0.71338606911949],"aabb_xy":[[0.3828337486464724,-1.1348427286632443],[0.5128337444097679,-1.0325954012501626]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[0.6380857804260525,0.8305788826356899,0.71338606911949],"aabb_xy":[[0.55436355492597,0.7405788791009938],[0.7218080059261349,0.9205788861703857]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.45670566266768375,0.39849023632338865,0.71338606911949],"aabb_xy":[[-0.5467056623908578,0.37541688378820876],[-0.3667056629445095,0.4215635888585684]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[-0.14686037951605524,1.2457564056597041,0.71338606911949],"aabb_xy":[[-0.15485436809375863,1.2377563255646136],[-0.13886639093835185,1.2537564857547943]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[0.13021183787044277,-2.037068559881467,0.71338606911949],"aabb_xy":[[0.12218556723981677,-2.04582005485882],[0.13823810850106877,-2.028317064904115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890304875728863,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6793.png","name":"6793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6793.png","name":"6793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9955.png","name":"9955"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6030.png","name":"6030"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4939.png","name":"4939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9286.png","name":"9286"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":749.4283806869951,"rotation_z_degrees":355.3888632550903,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011424220182488082,-0.015579586668036743,0.011802401127616349]},{"name":"camera_2","offset_m":[-0.018743247013948198,-0.01824137631776912,-0.006451027733650628]},{"name":"camera_3","offset_m":[0.01569726228513876,0.012723806986677844,0.01692577467860867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006765890435085477,0.000983708931509144,-0.0019375796661695891],"end_effector_yaw_offset_degrees":-0.09613534390394807},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000507556422028611,0.001451422603521717,-0.00048587748165817364],"end_effector_yaw_offset_degrees":0.30523962307940744},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001332183833746127,0.0014458829969607964,-0.0019675357454278877],"end_effector_yaw_offset_degrees":0.3924089925658836}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005922860400700992,0.00043230436216918147],"position_m":[0.3100077139599299,-0.01996769563783082,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005237274341511377,0.004061336274715141],"position_m":[0.14887627256584887,0.28336133627471516,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00353183206551393,-0.0016486856907627512],"position_m":[0.33926816793448605,0.21145131430923725,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004712567764964345,3.4337007235997995e-05],"position_m":[0.26341256776496436,-0.36166566299276404,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"61222e07b001cbe6c9bb3649a6a65f161b4ccaf347de503481c226f94e665429","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6793/tex_ceiling_textures_9286/tex_floor_textures_4939/tex_table_textures_9955/tex_wall_textures_6030","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2295574267017080498,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2295574267017080498,"visual_seed":2295574267017080498,"scene_id":"lab_003","finished_at":"2026-09-03T10:52:38"} +{"episode_id":"ep_000057","started_at":"2026-09-03T10:52:43","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.3699757864541542,1.2887196815234607,0.71338606911949],"aabb_xy":[[0.3470600735691043,1.2658153843870374],[0.39289149933920414,1.3116239786598844]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.6369572232319785,-1.685042478967413,0.71338606911949],"aabb_xy":[[0.5719572222314778,-1.735828844122088],[0.7019572242324789,-1.634256113812738]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.6273740744891327,-1.1443738834436854,0.71338606911949],"aabb_xy":[[-0.6773690854485849,-1.1943738824792773],[-0.5773790635296808,-1.094373884408094]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.3680333942813684,1.2134135837701905,0.71338606911949],"aabb_xy":[[-0.3784449529618521,1.2080678504342919],[-0.3576218356008847,1.2187593171060886]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.09663463097606573,0.7446994825896134,0.71338606911949],"aabb_xy":[[0.026634628339479383,0.7245946175937478],[0.16663463361265207,0.7648043475854788]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.46661834750176456,-2.372248446091798,0.71338606911949],"aabb_xy":[[-0.5088027616625952,-2.4362484463690097],[-0.42443393334093377,-2.3082484458145873]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[0.007840003713637467,1.2025722794605187,0.71338606911949],"aabb_xy":[[-0.03346453935009852,1.1385722798924016],[0.049144546777373455,1.2665722790286358]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.2327279566726086,0.6731324442570825,0.71338606911949],"aabb_xy":[[-0.29672795395825724,0.6316257253042385],[-0.16872795938695995,0.7146391632099265]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[-0.07183420517740335,0.7806455382892463,0.71338606911949],"aabb_xy":[[-0.12182903810534497,0.7306455393940028],[-0.021839372249461766,0.8306455371844899]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.015503192506551633,-0.882316358470397,0.71338606911949],"aabb_xy":[[-0.06550319194674725,-0.9322842829547132],[0.034496806933643986,-0.8323484339860806]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.2323757382119493,-2.1326162603516403,0.71338606911949],"aabb_xy":[[-0.2963757398899466,-2.1811336518309545],[-0.1683757365339519,-2.084098868872326]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[0.5968323270464331,0.7082303943012178,0.71338606911949],"aabb_xy":[[0.5593323284708122,0.6954940986376598],[0.6343323256220538,0.7209666899647756]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.2098005745538356,-1.7559317933641383,0.71338606911949],"aabb_xy":[[0.1997188674752621,-1.835931791256253],[0.21988228163240905,-1.6759317954720236]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.6134696873055265,1.6997618079820263,0.71338606911949],"aabb_xy":[[0.5909696874916242,1.6952871916115457],[0.6359696871194289,1.7042364243525072]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.29952673079279857,-0.7603033184984771,0.71338606911949],"aabb_xy":[[0.23452673291115084,-0.8114269822050182],[0.3645267286744464,-0.7091796547919363]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.5191252803448175,1.53136048504795,0.71338606911949],"aabb_xy":[[-0.589125281947097,1.5179276918462927],[-0.44912527874253805,1.5447932782496079]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.12482066917281631,0.013656583941143996,0.71338606911949],"aabb_xy":[[-0.1848206700336291,-0.03776984606534239],[-0.06482066831200349,0.06508301394763037]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.19574956006521094,1.208050638279417,0.71338606911949],"aabb_xy":[[0.1317495593617416,1.162032255806496],[0.2597495607686803,1.254069020752338]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.297944257025676,-0.872699514207171,0.71338606911949],"aabb_xy":[[-0.32044425726919146,-0.8849041488669429],[-0.27544425678216067,-0.860494879547399]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.32432001156059703,1.544934157737123,0.71338606911949],"aabb_xy":[[-0.3282804953303315,1.5372662931516026],[-0.3203595277908627,1.5526020223226438]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.6364509363616073,-2.517380979543708,0.71338606911949],"aabb_xy":[[0.5664509342301777,-2.540142945169403],[0.7064509384930368,-2.494619013918012]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[0.5599576596149438,0.9901438212010345,0.71338606911949],"aabb_xy":[[0.5224576592667161,0.9783524256199508],[0.5974576599631716,1.001935216782118]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.35647055914365106,-0.2795715825265819,0.71338606911949],"aabb_xy":[[-0.3677156147142689,-0.29081338025067716],[-0.3452255035730332,-0.2683297848024866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859566302619174,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3177.png","name":"3177"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3177.png","name":"3177"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5775.png","name":"5775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6330.png","name":"6330"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":521.1026914820599,"rotation_z_degrees":41.27762127315639,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007336679522868903,-0.01779493742337411,0.00805128153998333]},{"name":"camera_2","offset_m":[-0.011255899890250607,0.009611119206448901,-0.005058310808328147]},{"name":"camera_3","offset_m":[-0.01708092979811156,0.008767271823572204,-0.008341393398782832]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004186736179993657,-0.0010071605192885165,0.0007436221998562741],"end_effector_yaw_offset_degrees":0.6730775568878262},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004376186717357214,0.001262648807361457,0.0013137262933047055],"end_effector_yaw_offset_degrees":0.9634294515448878},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018242447954210784,-0.0015825769190054495,-0.0019164837024439661],"end_effector_yaw_offset_degrees":-0.026693409834008586}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030995153384396614,0.00489672190049957],"position_m":[0.31369951533843965,-0.015503278099500431,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034452484932165637,0.0006087121919912128],"position_m":[0.14595475150678344,0.2799087121919912,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00320818328908993,0.0027010289231515815],"position_m":[0.33959181671091004,0.2158010289231516,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013561017730922328,-0.0019463829254088862],"position_m":[0.25856438982269075,-0.3636463829254089,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e91a860ee8cbab473559a72e4c602b9f5bdf0c63a6fe63ac672cf80e6e4f63dd","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3177/tex_ceiling_textures_6330/tex_floor_textures_5775/tex_table_textures_8319/tex_wall_textures_9679","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":929057769612707023,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":929057769612707023,"visual_seed":929057769612707023,"scene_id":"lab_003","finished_at":"2026-09-03T10:55:07"} +{"episode_id":"ep_000058","started_at":"2026-09-03T10:57:49","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.4261041852598269,0.6263712960819321,0.71338606911949],"aabb_xy":[[-0.49010418847846476,0.5796481841829237],[-0.36210418204118905,0.6730944079809404]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.6415929187804288,1.7570048373657898,0.71338606911949],"aabb_xy":[[0.5865929196038392,1.702015162590832],[0.6965929179570182,1.8119945121407472]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.5292819035139386,-2.541315187410916,0.71338606911949],"aabb_xy":[[-0.5374964486296223,-2.5499917777085566],[-0.5210673583982544,-2.532638597113274]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.1709471947282345,-0.7458003218492084,0.71338606911949],"aabb_xy":[[-0.18559060028226745,-0.7604590415059926],[-0.15630378917420149,-0.7311416021924242]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[-0.6430369681854788,-2.429986741044981,0.71338606911949],"aabb_xy":[[-0.651080328111434,-2.5149867421403473],[-0.6349936082595237,-2.3449867399496145]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.481351011758846,1.4060894280401008,0.71338606911949],"aabb_xy":[[-0.4873175506995817,1.4001282833807365],[-0.47538447281811014,1.4120505726994648]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.5687374272402247,-1.2174790318007636,0.71338606911949],"aabb_xy":[[-0.6327374305299327,-1.260813950804681],[-0.5047374239505165,-1.1741441127968457]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.10802011018786961,0.6187251805692568,0.71338606911949],"aabb_xy":[[-0.12552011043291897,0.6012253927296899],[-0.09052010994282021,0.6362249684088236]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[-0.25794605210033167,-1.8699048422093156,0.71338606911949],"aabb_xy":[[-0.3219460506869042,-1.9169118056088243],[-0.19394605351375926,-1.822897878809807]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.45644816152488343,-0.3318117169554511,0.71338606911949],"aabb_xy":[[0.4064693530145675,-0.3818117169611699],[0.5064269700351993,-0.2818117169497323]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.23059680751405937,-2.0695323529875624,0.71338606911949],"aabb_xy":[[-0.31059680610137874,-2.148847954925723],[-0.15059680892673993,-1.9902167510494013]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.5275452410420267,0.816905011321206,0.71338606911949],"aabb_xy":[[-0.5620075884401683,0.7824111289233832],[-0.49308289364388475,0.8513988937190285]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.24912753353871353,-0.2332075056865639,0.71338606911949],"aabb_xy":[[-0.29912753489960076,-0.28318541026197946],[-0.19912753217782633,-0.18322960111114825]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.15562154612226486,0.029464627457554737,0.71338606911949],"aabb_xy":[[-0.20550424299996112,-0.020535371788720013],[-0.1057388492445687,0.07946462670382948]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.3344955901002159,-1.6641839446346705,0.71338606911949],"aabb_xy":[[-0.36949558837033575,-1.6712580723296584],[-0.29949559183009594,-1.657109816939682]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.42650700944905323,1.6542944183233872,0.71338606911949],"aabb_xy":[[-0.4369185681295369,1.6489486849874888],[-0.41609545076856946,1.6596401516592856]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.600322883555561,-1.0278833902533362,0.71338606911949],"aabb_xy":[[0.5753228840038225,-1.038025874118471],[0.6253228831072994,-1.0177409063882015]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.5396884679052127,-2.5223448281844667,0.71338606911949],"aabb_xy":[[0.5284434123345949,-2.533586625908562],[0.5509335234758306,-2.5111030304603714]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.6104187307481114,1.7468482305985114,0.71338606911949],"aabb_xy":[[-0.6904187340121244,1.7332881982895978],[-0.5304187274840981,1.7604082629074245]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.5895309297774934,-2.242632516105606,0.71338606911949],"aabb_xy":[[-0.6545309308834367,-2.2675978891737345],[-0.5245309286715502,-2.217667143037478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858672290078368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5196.png","name":"5196"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/583.png","name":"583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9567.png","name":"9567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3519.png","name":"3519"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":554.0831676432712,"rotation_z_degrees":113.54591974611891,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005267681563771175,-0.018144386113602296,-0.0029525083642375632]},{"name":"camera_2","offset_m":[-0.01736415325135733,0.007668267325838706,-0.012059093908110814]},{"name":"camera_3","offset_m":[0.005647251762375304,-0.012458128740176289,-0.013127603875920726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00011400777221659813,-0.0006644957798676834,-0.0016577877669485322],"end_effector_yaw_offset_degrees":0.5202198849929329},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000786336186274657,-0.0010557272876556155,-0.0009999859338218591],"end_effector_yaw_offset_degrees":0.7974656949769494},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00026796068307813553,0.0002581137384414481,0.0012727115722063797],"end_effector_yaw_offset_degrees":0.10581076043304027}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019736825495182807,-0.0009643577519479578],"position_m":[0.3125736825495183,-0.02136435775194796,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0002503082730965431,0.00017443423797374857],"position_m":[0.14914969172690346,0.27947443423797375,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004350342089281663,0.0028691298288010354],"position_m":[0.34715034208928164,0.21596912982880104,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007715255517310214,-0.00032212487998162925],"position_m":[0.25947152555173103,-0.36202212487998164,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"76ab6f4e14046caf9fca616747b16a79140aa9b273309964a84ebc83fff44436","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1822/tex_ceiling_textures_3519/tex_floor_textures_9567/tex_table_textures_5196/tex_wall_textures_583","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1506324540824083892,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1506324540824083892,"visual_seed":1506324540824083892,"scene_id":"lab_003","finished_at":"2026-09-03T11:00:11"} +{"episode_id":"ep_000059","started_at":"2026-09-03T11:01:30","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.4425199235988826,0.7871404467438294,0.71338606911949],"aabb_xy":[[0.40660641917389284,0.7512269385270747],[0.47843342802387223,0.823053954960584]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.6595359431895915,1.61706866302888,0.71338606911949],"aabb_xy":[[0.6095628776570762,1.567068663216347],[0.7095090087221071,1.6670686628414129]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.2915573845271931,1.6660263015294645,0.71338606911949],"aabb_xy":[[-0.34103780574115183,1.602026303616613],[-0.24207696331323425,1.7300262994423166]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.25543485002037847,-1.624398092293116,0.71338606911949],"aabb_xy":[[0.1954348497689773,-1.6786794173295805],[0.31543485027177964,-1.5701167672566512]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.11731341008134732,-0.602657689662971,0.71338606911949],"aabb_xy":[[-0.18131340738369373,-0.6470241166308276],[-0.053313412779000924,-0.5582912626951141]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.6416015406000366,1.3226835310791145,0.71338606911949],"aabb_xy":[[0.5616015401298208,1.3143728234647662],[0.7216015410702527,1.3309942386934628]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.03570017221464161,-2.43450889063719,0.71338606911949],"aabb_xy":[[-0.054299830119377446,-2.511991245222302],[0.12570017454866067,-2.357026536052077]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[-0.5479086913354456,-1.8769507309801186,0.71338606911949],"aabb_xy":[[-0.561355217969489,-1.89042058263321],[-0.5344621647014023,-1.8634808793270272]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.32409841780012694,0.2144346624299911,0.71338606911949],"aabb_xy":[[-0.3575775850611679,0.18095554905888409],[-0.290619250539086,0.2479137758010981]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[0.5452776538330366,0.14420233619297562,0.71338606911949],"aabb_xy":[[0.5102776546402182,0.13323529019531294],[0.5802776530258548,0.1551693821906382]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.27239515871743186,-0.1935569701972586,0.71338606911949],"aabb_xy":[[-0.3363951609378389,-0.23793005432254688],[-0.20839515649702484,-0.1491838860719703]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.09762200622004558,0.9593585725200695,0.71338606911949],"aabb_xy":[[-0.14760081473036146,0.9093585725143507],[-0.04764319770972969,1.0093585725257883]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.18447928580987383,1.4362036811594154,0.71338606911949],"aabb_xy":[[0.1803633356978011,1.4320881261265697],[0.18859523592194644,1.4403192361922608]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.001671266489143286,-1.281107112972936,0.71338606911949],"aabb_xy":[[-0.012238746147242296,-1.2916521430859447],[0.008896213168955724,-1.2705620828599276]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.4940015427255319,-1.0754145153063355,0.71338606911949],"aabb_xy":[[-0.5740015459833747,-1.1554110230983194],[-0.4140015394676888,-0.9954180075143515]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.13603426379128392,-1.6399527857482443,0.71338606911949],"aabb_xy":[[-0.1531363417496521,-1.6570595912795143],[-0.11893218583291579,-1.6228459802169748]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.5269662299052924,-0.3227262972674696,0.71338606911949],"aabb_xy":[[0.48946622940793405,-0.32669498081558807],[0.5644662304026505,-0.31875761371935124]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.22348706814041214,0.8075450863574107,0.71338606911949],"aabb_xy":[[-0.28848706914091266,0.7567587212027357],[-0.15848706713991162,0.8583314515120856]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.10123636281461135,-0.2416681282342048,0.71338606911949],"aabb_xy":[[-0.12251437095808358,-0.30666813056027786],[-0.07995835467113908,-0.17666812590813175]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[0.2651248756105431,1.646032094271828,0.71338606911949],"aabb_xy":[[0.20112487369820076,1.5901209450138178],[0.32912487752288544,1.7019432435298387]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.1830883438207035,0.8159582944373378,0.71338606911949],"aabb_xy":[[0.1130883404291415,0.7806425207339069],[0.2530883472122654,0.8512740681407687]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.4401274068055454,-1.235854636126802,0.71338606911949],"aabb_xy":[[0.3761274096934398,-1.2848870059212127],[0.5041274039176511,-1.1868222663323915]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.6353550125004781,-0.850229081860332,0.71338606911949],"aabb_xy":[[0.6241099569298603,-0.8614708795844273],[0.6466000680710959,-0.8389872841362367]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.008723058177846021,-1.6303162628236376,0.71338606911949],"aabb_xy":[[-0.05872305682376722,-1.6802358064831],[0.041276940468075174,-1.5803967191641752]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.5029562238255216,-1.844521918334014,0.71338606911949],"aabb_xy":[[0.4529613908975799,-1.8945219172292578],[0.5529510567534631,-1.7945219194387707]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.33906948149703364,-2.0961720986026187,0.71338606911949],"aabb_xy":[[0.3015694807050382,-2.102539939560809],[0.3765694822890291,-2.0898042576444285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6813348835331478,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2067.png","name":"2067"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2067.png","name":"2067"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2539.png","name":"2539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8031.png","name":"8031"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1037.png","name":"1037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2829.png","name":"2829"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":789.6291221179893,"rotation_z_degrees":150.45429595284344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005438211719590634,-0.018106219508471,0.013602287788162738]},{"name":"camera_2","offset_m":[0.006973815862710682,-0.018358564918032824,0.004244619279743976]},{"name":"camera_3","offset_m":[-0.0028699956773794895,0.00662772025208945,0.01326572912479224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004081874984170038,0.0015403668840072173,0.00020727346547735372],"end_effector_yaw_offset_degrees":0.9018142810490621},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013749713013468487,0.0006905391579470664,-0.0016852101272756591],"end_effector_yaw_offset_degrees":-0.35679296362377966},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001560265179413837,-0.001993958842223608,0.00030542147846405847],"end_effector_yaw_offset_degrees":0.5023545785703054}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001275700636113505,-0.0003509387745159421],"position_m":[0.3118757006361135,-0.020750938774515944,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004372162047238914,-0.0032805538074388886],"position_m":[0.15377216204723893,0.2760194461925611,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009768211704095035,-0.003792930792799344],"position_m":[0.3418231788295905,0.20930706920720066,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036650521127019843,0.0011273189148178408],"position_m":[0.255034947887298,-0.3605726810851822,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"67a4f344d941fe739e63d4d1a0a46923f7eed2f45e659a4e9b3503280a3dce2c","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0074.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2067/tex_ceiling_textures_2829/tex_floor_textures_1037/tex_table_textures_2539/tex_wall_textures_8031","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4371081781144956377,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4371081781144956377,"visual_seed":4371081781144956377,"scene_id":"lab_003","finished_at":"2026-09-03T11:04:05"} +{"episode_id":"ep_000060","started_at":"2026-09-03T11:06:57","dimensions":{"distractor":{"count":20,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.5659455320559797,-2.355392132325865,0.71338606911949],"aabb_xy":[[-0.6559455314743506,-2.388767629170055],[-0.47594553263760886,-2.3220166354816754]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.0730516638464015,0.12024205707168267,0.71338606911949],"aabb_xy":[[-0.09432967198987374,0.05524205474560959],[-0.051773655702929244,0.1852420593977557]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.6521860162064712,0.15870841158672988,0.71338606911949],"aabb_xy":[[0.6441496815051864,0.15067029228231307],[0.660222350907756,0.16674653089114663]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.43397138205737557,-1.461587462530945,0.71338606911949],"aabb_xy":[[-0.4585175976801263,-1.4918363590799821],[-0.40942516643462484,-1.431338565981908]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.10116101556926937,1.624058216133069,0.71338606911949],"aabb_xy":[[-0.16616101820706286,1.572578617433622],[-0.03616101293147589,1.675537814832516]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.5145134154913613,-0.892028912487278,0.71338606911949],"aabb_xy":[[-0.523673294435238,-0.898560130530815],[-0.5053535365474848,-0.8854976944437408]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.26666129902469604,1.1087338507781785,0.71338606911949],"aabb_xy":[[0.24337945682656467,1.0237338494809503],[0.2899431412228273,1.1937338520754064]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.06283587107307498,-2.488546643872765,0.71338606911949],"aabb_xy":[[0.05341839650321223,-2.4979628210104843],[0.07225334564293773,-2.4791304667350462]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.37436490819331314,-2.339679732719633,0.71338606911949],"aabb_xy":[[0.3568649089152263,-2.3570178327859788],[0.39186490747140007,-2.322341632653287]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.4665198847726447,1.7354725682561285,0.71338606911949],"aabb_xy":[[-0.47210155640677354,1.722972568438353],[-0.460938213138516,1.747972568073904]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.1271964168811578,-0.21046417921882732,0.71338606911949],"aabb_xy":[[-0.1342367268146948,-0.2904641786184987],[-0.12015610694762083,-0.13046417981915592]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.18687117073216797,-1.737162914738826,0.71338606911949],"aabb_xy":[[-0.2368541209196473,-1.7871629143813863],[-0.13688822054468863,-1.6871629150962655]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.14476080585601003,-2.2336577307167307,0.71338606911949],"aabb_xy":[[0.09867571460127857,-2.297657727969286],[0.1908458971107415,-2.1696577334641756]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.5141384451608864,0.20068902318594573,0.71338606911949],"aabb_xy":[[-0.5391384450934043,0.19380635496502244],[-0.48913844522836847,0.20757169140686907]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.6163583964593868,-0.18212328695997693,0.71338606911949],"aabb_xy":[[0.5817673136053416,-0.24712328724500796],[0.6509494793134321,-0.11712328667494586]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.6259615465621176,-2.0614947398595915,0.71338606911949],"aabb_xy":[[-0.6604240245752053,-2.068158417042514],[-0.5914990685490298,-2.0548310626766684]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.6499519262782298,-0.9514588037520892,0.71338606911949],"aabb_xy":[[0.584951926243927,-0.9981594804324166],[0.7149519263125325,-0.9047581270717621]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.30055030588163634,1.3440249115255098,0.71338606911949],"aabb_xy":[[0.2755503063298978,1.3338824276603753],[0.32555030543337476,1.3541673953906448]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.5319769937103398,-0.520390819529656,0.71338606911949],"aabb_xy":[[0.4769769955085949,-0.5609127861560936],[0.5869769919120845,-0.4798688529032185]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.14236203092445232,-2.3873379581999674,0.71338606911949],"aabb_xy":[[0.11944631803940245,-2.410242255336391],[0.16527774380950225,-2.364433661063544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6795795546029834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1756.png","name":"1756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1756.png","name":"1756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/940.png","name":"940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2397.png","name":"2397"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6644.png","name":"6644"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8461.png","name":"8461"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":508.03771408120593,"rotation_z_degrees":357.6958048222909,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018653292523114647,-0.018161015182864435,-0.008945205702398016]},{"name":"camera_2","offset_m":[-0.006772564219124644,0.019295089534288375,-0.0008670458303617276]},{"name":"camera_3","offset_m":[0.004521115273082299,-0.007829723339783672,0.011707561670018043]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006144793094054611,0.00015605023960519725,0.001579203481226723],"end_effector_yaw_offset_degrees":0.030969528075237562},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014335589869963648,-0.0009239705943365325,0.0013379198607900928],"end_effector_yaw_offset_degrees":0.3033740824318587},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008327804971831419,0.0015341614351571707,-0.0018742610927382191],"end_effector_yaw_offset_degrees":0.6672933257626239}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026535612525467505,-0.00469662182247365],"position_m":[0.3132535612525467,-0.02509662182247365,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002997266486220107,-0.0038716121841068816],"position_m":[0.15239726648622012,0.2754283878158931,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010980982388523906,-0.0010541270330440868],"position_m":[0.34389809823885237,0.21204587296695593,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035450590660208005,0.004649428388298298],"position_m":[0.25515494093397917,-0.35705057161170173,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a8f3a5b858308230468242d9ad34c00e6abe9ec00436d93dadb042ecd2ceab58","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1756/tex_ceiling_textures_8461/tex_floor_textures_6644/tex_table_textures_940/tex_wall_textures_2397","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1349947556827659883,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1349947556827659883,"visual_seed":1349947556827659883,"scene_id":"lab_003","finished_at":"2026-09-03T11:09:24"} +{"episode_id":"ep_000061","started_at":"2026-09-03T11:12:16","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.4232891843697001,0.8254831622964334,0.71338606911949],"aabb_xy":[[-0.5132891880466182,0.7640507557193288],[-0.33328918069278185,0.8869155688735375]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.16850499790542617,0.3389640246407173,0.71338606911949],"aabb_xy":[[-0.20600499942105788,0.32773725162457223],[-0.13100499638979446,0.35019079765686234]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.5622686242533539,-0.08988294822783738,0.71338606911949],"aabb_xy":[[-0.6262686235475221,-0.15386908859669157],[-0.49826862495918567,-0.02589680785898317]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[0.2574922297548766,-1.2841662172130348,0.71338606911949],"aabb_xy":[[0.20249675193421723,-1.3391662186469415],[0.312487707575536,-1.2291662157791277]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.5798258106163885,-1.3056211718185624,0.71338606911949],"aabb_xy":[[0.5573293891825245,-1.3281211716253098],[0.6023222320502527,-1.283121172011815]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.19511957729642165,1.493550982228626,0.71338606911949],"aabb_xy":[[-0.2601195782535488,1.4416027702949203],[-0.1301195763392944,1.5454991941623315]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.10687067144506746,0.6160033815622747,0.71338606911949],"aabb_xy":[[-0.1293706709687748,0.5935074341116539],[-0.08437067192136002,0.6384993290128954]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.47243140231867997,1.540094117040709,0.71338606911949],"aabb_xy":[[0.4461425779982393,1.5138226833860575],[0.49872022663912063,1.56636555069536]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.5941128699219398,0.7996621374563269,0.71338606911949],"aabb_xy":[[0.5041128701987655,0.7765887849211469],[0.6841128696451139,0.8227354899915066]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.42097947825531284,0.3666363973733513,0.71338606911949],"aabb_xy":[[-0.4552957554299307,0.3166363974001736],[-0.38666320108069485,0.416636397346529]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.6031653189055582,0.9340149023059814,0.71338606911949],"aabb_xy":[[-0.6183281918824952,0.9188494450108627],[-0.588002445928621,0.9491803596011003]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.11957378211865244,-0.9630772080200327,0.71338606911949],"aabb_xy":[[-0.12661523306940003,-0.9701039597578273],[-0.11253233116790483,-0.9560504562822382]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.48640567120041944,0.5733348942820498,0.71338606911949],"aabb_xy":[[0.4489056710948265,0.5665127324290685],[0.5239056713060124,0.5801570561350308]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.4159074706868777,-1.659108029288825,0.71338606911949],"aabb_xy":[[0.3459074690845983,-1.6725408224904825],[0.48590747228915726,-1.6456752360871674]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.29364398596753155,0.697151171634764,0.71338606911949],"aabb_xy":[[-0.3736439839483166,0.6895496306729122],[-0.21364398798674653,0.7047527125966161]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.14121969759790398,-1.4899800262857583,0.71338606911949],"aabb_xy":[[-0.22494192309798644,-1.5799800298204543],[-0.05749747209782152,-1.3999800227510624]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.3282348427087354,-2.309666642703274,0.71338606911949],"aabb_xy":[[-0.3632348409788552,-2.316740770398262],[-0.2932348444386154,-2.3025925150082855]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.3901926756198447,-0.8911588674384792,0.71338606911949],"aabb_xy":[[-0.4314414866497594,-0.9461588669506965],[-0.34894386458992993,-0.8361588679262616]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.4476407876060131,-1.3903867051106247,0.71338606911949],"aabb_xy":[[0.3836407855562811,-1.4304811881999326],[0.5116407896557451,-1.3502922220213167]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.32803316589382114,-0.9908021775985605,0.71338606911949],"aabb_xy":[[0.3204088978036429,-0.9984354011351044],[0.3356574339839994,-0.983168954062017]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.5618783518107271,-2.539183942300066,0.71338606911949],"aabb_xy":[[-0.5695815424848041,-2.546893312998804],[-0.5541751611366501,-2.531474571601328]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.08125748848230052,-1.0342873599705322,0.71338606911949],"aabb_xy":[[0.0312574890421049,-1.0842552844548485],[0.13125748792249614,-0.9843194354862159]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[-0.04578861250764821,0.850621602612593,0.71338606911949],"aabb_xy":[[-0.1007886116842377,0.7956319278376353],[0.00921138666894128,0.9056112773875505]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.2271464224970574,-0.6491578893716432,0.71338606911949],"aabb_xy":[[0.16314641920734926,-0.6924928083755608],[0.2911464257867655,-0.6058229703677256]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.06840262655722196,-1.5824055497995693,0.71338606911949],"aabb_xy":[[0.050533518802766464,-1.59623845777678],[0.08627173431167745,-1.5685726418223584]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.4548768153703735,-2.515132178563054,0.71338606911949],"aabb_xy":[[0.41633112254517246,-2.553677949619243],[0.49342250819557454,-2.4765864075068658]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[0.6171050349145228,1.6596411177651391,0.71338606911949],"aabb_xy":[[0.5471050331057774,1.6382873490009517],[0.6871050367232683,1.6809948865293265]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[0.6756324167147783,0.5091204450632043,0.71338606911949],"aabb_xy":[[0.6604602474331449,0.49395158813500106],[0.6908045859964116,0.5242893019914078]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[-0.09888839608487887,-1.6688897150578401,0.71338606911949],"aabb_xy":[[-0.13538421671215758,-1.7053736574845975],[-0.0623925754576001,-1.6324057726310823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6802932912045696,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5975.png","name":"5975"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5975.png","name":"5975"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1801.png","name":"1801"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1079.png","name":"1079"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7561.png","name":"7561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":505.0202873398896,"rotation_z_degrees":287.9387167478053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009855935716499006,0.006199450069306518,0.0163651152645805]},{"name":"camera_2","offset_m":[-0.005751277756691108,-0.01136069223505305,0.01397046028538319]},{"name":"camera_3","offset_m":[-0.001506525342896567,0.008155779956579168,-0.018368519213461575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002504071978854446,-0.0005280682303596663,-0.0014464998294632277],"end_effector_yaw_offset_degrees":-0.04503414065295486},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015198093106257647,-0.0009444556102845413,-0.0008558122189603057],"end_effector_yaw_offset_degrees":0.7767634234894338},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017998411102009074,-0.0001888519287237705,0.0016250273294873114],"end_effector_yaw_offset_degrees":-0.7504882557494723}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004911436104382682,0.0014625311956804835],"position_m":[0.31551143610438265,-0.01893746880431952,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027323428848290334,0.0027989422545456515],"position_m":[0.15213234288482905,0.2820989422545456,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034487168365042297,-0.002023186941128655],"position_m":[0.3393512831634958,0.21107681305887135,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026990180434351397,0.0046613586181046525],"position_m":[0.25600098195656484,-0.3570386413818954,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7867ccadd2980abb8d1874b1da4d3d0420d7f5177c50863797f9761aee96355d","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5975/tex_ceiling_textures_9727/tex_floor_textures_7561/tex_table_textures_1801/tex_wall_textures_1079","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8783453562998622430,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8783453562998622430,"visual_seed":8783453562998622430,"scene_id":"lab_003","finished_at":"2026-09-03T11:14:40"} +{"episode_id":"ep_000062","started_at":"2026-09-03T11:14:43","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.5285147363793061,0.13580904725003418,0.71338606911949],"aabb_xy":[[0.5167465495846487,0.05080904734481263],[0.5402829231739638,0.2208090471552558]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[-0.42852920887046125,-2.5560069497448152,0.71338606911949],"aabb_xy":[[-0.4660292093678195,-2.5599756332929338],[-0.391029208373103,-2.5520382661966967]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.3780391474117398,-0.7257737598442755,0.71338606911949],"aabb_xy":[[-0.388192162965889,-0.7618433014170156],[-0.3678861318575903,-0.689704218271535]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.15432057864203375,-1.2731128160930343,0.71338606911949],"aabb_xy":[[-0.17682057915407434,-1.2956046744584324],[-0.13182057812999315,-1.2506209577276357]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.29465119508044696,-1.1271822528038797,0.71338606911949],"aabb_xy":[[-0.2990818244352872,-1.1326306245385624],[-0.29022056572560684,-1.121733881069197]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.31754139509043033,-2.016788981639139,0.71338606911949],"aabb_xy":[[-0.3775413967333522,-2.068789130931083],[-0.2575413934475085,-1.9647888323471947]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.22407646134447368,-2.44209638984406,0.71338606911949],"aabb_xy":[[-0.2940764634759032,-2.4648583554697545],[-0.1540764592130441,-2.4193344242183636]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.20015037775791267,0.6633685742468836,0.71338606911949],"aabb_xy":[[0.17631416011730763,0.5733685734383972],[0.22398659539851778,0.7533685750553702]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.5869527140374615,0.47177182110511806,0.71338606911949],"aabb_xy":[[0.5718504125764432,0.45667029947405613],[0.6020550154984794,0.48687334273617977]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.5575734671360804,-1.3741106124810525,0.71338606911949],"aabb_xy":[[-0.6425734655535036,-1.4589849079433375],[-0.47257346871865713,-1.2892363170187675]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.11631976092894025,-1.0235680143806782,0.71338606911949],"aabb_xy":[[-0.12453430604462423,-1.0322446046783194],[-0.10810521581325627,-1.0148914240830367]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.6371760348476404,-1.0106704760921028,0.71338606911949],"aabb_xy":[[-0.6432130478483051,-1.016697177161051],[-0.6311390218469757,-1.0046437750231547]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.2531909476435181,-2.1222909827305996,0.71338606911949],"aabb_xy":[[-0.2730819875238584,-2.134946794015297],[-0.23329990776317794,-2.109635171445903]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.08492219439737758,0.2890501286786358,0.71338606911949],"aabb_xy":[[-0.1349221939737123,0.23906954972652988],[-0.034922194821042876,0.3390307076307418]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.41673593145566823,-1.4543248312487427,0.71338606911949],"aabb_xy":[[0.39222230735866237,-1.478589424550779],[0.4412495555526741,-1.430060237946706]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.614564222686427,-1.6273585623590985,0.71338606911949],"aabb_xy":[[0.5505642240998544,-1.6743655257586072],[0.6785642212729993,-1.5803515989595898]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.5631950223883226,0.5939168502397263,0.71338606911949],"aabb_xy":[[0.5552010338106192,0.585916770144636],[0.571189010966026,0.6019169303348166]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[-0.5940025474063482,-1.6670732519492084,0.71338606911949],"aabb_xy":[[-0.6012848637830117,-1.7570732555587167],[-0.5867202310296844,-1.5770732483396988]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[-0.21649648793728815,-0.36539806529512786,0.71338606911949],"aabb_xy":[[-0.2280654686842247,-0.3903980654120596],[-0.20492750719035155,-0.3403980651781962]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.5878247837745052,1.1782378749209146,0.71338606911949],"aabb_xy":[[0.5328325331389943,1.123237873177602],[0.6428170344100161,1.2332378766642276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857864286293743,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3128.png","name":"3128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3128.png","name":"3128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1518.png","name":"1518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9931.png","name":"9931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8362.png","name":"8362"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2282.png","name":"2282"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":646.8266424380433,"rotation_z_degrees":27.526486513132173,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015395139273974474,-0.004104921557599145,-0.0021350952234110952]},{"name":"camera_2","offset_m":[-0.009119548347900493,0.018670720399148927,-0.002058093914597107]},{"name":"camera_3","offset_m":[-0.01358907639129936,-0.006679337056403422,0.008806492833136666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005936439603539878,5.1786244060401075e-05,0.0017690190243641697],"end_effector_yaw_offset_degrees":-0.28434076054105994},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012877849371866115,0.0006452077304866725,-0.0006043871905986066],"end_effector_yaw_offset_degrees":-0.6262320808514634},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[5.3296838215420236e-05,0.0010408750007162289,0.0011398492280222535],"end_effector_yaw_offset_degrees":0.5922145329456598}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026773351433605885,0.001361280704729008],"position_m":[0.3132773351433606,-0.019038719295270994,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003407898945028713,-0.0011505826322253075],"position_m":[0.14905921010549714,0.2781494173677747,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017966135267209428,-0.0002031371864396189],"position_m":[0.34459661352672094,0.2128968628135604,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003702866566498858,0.004592943857202505],"position_m":[0.26240286656649886,-0.35710705614279753,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"816f58e038529bd7a5d238962179f836fa45d0e30b06d3b5d49873ee81d8d665","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3128/tex_ceiling_textures_2282/tex_floor_textures_8362/tex_table_textures_1518/tex_wall_textures_9931","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8636198464748235403,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8636198464748235403,"visual_seed":8636198464748235403,"scene_id":"lab_003","finished_at":"2026-09-03T11:17:06"} +{"episode_id":"ep_000063","started_at":"2026-09-03T11:17:10","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[0.27654414896764234,1.7077763680594429,0.71338606911949],"aabb_xy":[[0.23904414915060873,1.7031381567483008],[0.31404414878467585,1.7124145793705845]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.23101152595225338,-2.3704372258319593,0.71338606911949],"aabb_xy":[[0.16701152866660474,-2.4119439447848032],[0.29501152323790203,-2.3289305068791153]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.6670383928774342,-0.514914755239213,0.71338606911949],"aabb_xy":[[0.639193356096827,-0.5456992539775247],[0.6948834296580413,-0.48413025650090136]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.3713214635833827,-0.7825624568195844,0.71338606911949],"aabb_xy":[[-0.37528194735311704,-0.7902303214051049],[-0.36736097981364835,-0.7748945922340637]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.09027015123697057,-1.382721100951713,0.71338606911949],"aabb_xy":[[-0.12777015158519833,-1.3945124965327964],[-0.0527701508887428,-1.3709297053706293]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.1485792209900092,-1.6753908118781369,0.71338606911949],"aabb_xy":[[-0.15873223654415855,-1.7114603534508768],[-0.1384262054358598,-1.639321270305396]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.23097786311148727,1.4510702474891244,0.71338606911949],"aabb_xy":[[-0.24765499910458275,1.4343703235151943],[-0.21430072711839174,1.4677701714630549]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.20563300636107784,0.8785536191264876,0.71338606911949],"aabb_xy":[[0.15563300507723785,0.8285747647358653],[0.25563300764491775,0.9285324735171095]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.6018426022538537,-2.0242085747862872,0.71338606911949],"aabb_xy":[[0.5318426004451082,-2.0455623435504746],[0.6718426040625991,-2.0028548060221]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.5166256058835523,0.3162985582880773,0.71338606911949],"aabb_xy":[[0.4526256044755617,0.2645096067641525],[0.580625607291543,0.36808750981200195]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.5130526985772437,-1.2269367940788254,0.71338606911949],"aabb_xy":[[-0.5629353954549399,-1.2769367933251003],[-0.4631700016995475,-1.1769367948325509]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.4857087957852444,-0.3317604582050864,0.71338606911949],"aabb_xy":[[0.47060649432422624,-0.3468619798361481],[0.5008110972462624,-0.31665893657402444]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.35072233947886483,0.43945501864825864,0.71338606911949],"aabb_xy":[[-0.3616281155664276,0.35945502224942943],[-0.3398165633913022,0.5194550150470878]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.4388775765577122,0.7469442169663254,0.71338606911949],"aabb_xy":[[0.43163381051146693,0.6669442187627229],[0.4461213426039576,0.8269442151699277]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.11625491751967465,1.6668313780868371,0.71338606911949],"aabb_xy":[[-0.1337549177790113,1.6527398358980652],[-0.09875491726033805,1.6809229202756104]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.3271436462366004,-1.747193040060273,0.71338606911949],"aabb_xy":[[0.31738765672742647,-1.7569555741195075],[0.33689963574577425,-1.7374305060010387]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[-0.4150371168401508,-0.6723798213593986,0.71338606911949],"aabb_xy":[[-0.42438412442244605,-0.6866834435770426],[-0.4056901092578556,-0.6580761991417545]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.4391556854110225,-0.488384992555269,0.71338606911949],"aabb_xy":[[-0.48432700325919154,-0.5523849896998074],[-0.3939843675628536,-0.42438499541073066]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.6091073954230191,-1.6528295737053007,0.71338606911949],"aabb_xy":[[0.5766456945410914,-1.682962405820203],[0.6415690963049463,-1.622696741590398]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.38340059208827576,-2.2107580099449633,0.71338606911949],"aabb_xy":[[-0.41204992444869193,-2.239403569222039],[-0.3547512597278595,-2.1821124506678875]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.19896127510529882,-2.0071335851734364,0.71338606911949],"aabb_xy":[[0.19484532499322615,-2.0112491402062815],[0.20307722521737148,-2.0030180301405904]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.013115075749954186,-0.8288367617690713,0.71338606911949],"aabb_xy":[[-0.07811507578425692,-0.8755374384493986],[0.051884924284348544,-0.782136085088744]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.3247590872463738,0.28458066204472887,0.71338606911949],"aabb_xy":[[-0.35515719834551734,0.25417376004305936],[-0.29436097614723017,0.3149875640463984]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[-0.633452131811853,0.8596787611743109,0.71338606911949],"aabb_xy":[[-0.6703026797488406,0.8221787603512771],[-0.5966015838748654,0.8971787619973446]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.017156964999339608,-1.6268105748709423,0.71338606911949],"aabb_xy":[[0.003926019464658308,-1.6400379938929415],[0.030387910534020894,-1.6135831558489426]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_25","position":[-0.3877584260967849,1.8101532630898576,0.71338606911949],"aabb_xy":[[-0.3940705256331234,1.8043863238366389],[-0.3814463265604465,1.8159202023430767]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[0.5211154374347218,0.9337057493975953,0.71338606911949],"aabb_xy":[[0.5157778617687172,0.9087057484684556],[0.5264530131007263,0.9587057503267352]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.25417150198278526,-1.4159067903269147,0.71338606911949],"aabb_xy":[[0.24871355634576514,-1.4959067936345736],[0.2596294476198053,-1.3359067870192554]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[-0.1973601611452479,-2.314648557759007,0.71338606911949],"aabb_xy":[[-0.24235274786369831,-2.3596485570334558],[-0.1523675744267975,-2.2696485584845583]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[0.4525205626666018,-2.448445025510255,0.71338606911949],"aabb_xy":[[0.43907403603255846,-2.4619148771633457],[0.4659670893006451,-2.434975173857163]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[0.22801128463949882,-0.5969702049003061,0.71338606911949],"aabb_xy":[[0.21367685951333534,-0.6090304204548448],[0.24234570976566225,-0.5849099893457671]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867860486600667,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1120.png","name":"1120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1835.png","name":"1835"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7594.png","name":"7594"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1173.png","name":"1173"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":594.6020399159461,"rotation_z_degrees":324.2526661603316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012346697754606686,-0.0012708110987634524,-0.018281140092931573]},{"name":"camera_2","offset_m":[-0.0037360836395556977,0.0005708191715713788,-0.011946313028357079]},{"name":"camera_3","offset_m":[-0.018677939801119602,0.018123219899399783,0.0050842811974488936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-5.817236189516271e-05,0.0018909049658234777,-0.001738168169844199],"end_effector_yaw_offset_degrees":0.47135581766135237},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009175726921941117,9.858667372995887e-05,0.0017328181358059833],"end_effector_yaw_offset_degrees":0.440682766108736},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00042248036293657883,-0.0013958867365741817,-0.0002164486014083046],"end_effector_yaw_offset_degrees":0.6188823987178036}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004191954023594607,-0.0019013804964309999],"position_m":[0.30640804597640536,-0.022301380496431003,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004353009767232862,0.0029770930428724097],"position_m":[0.14504699023276715,0.2822770930428724,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004977715596638433,0.003950303287356121],"position_m":[0.34777771559663845,0.21705030328735614,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019930295732971644,-9.636683985591709e-05],"position_m":[0.26069302957329715,-0.36179636683985594,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac40184c7e3529d027537e6be87aeae62122fb329c122d83f334d87ca1301bd1","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1725/tex_ceiling_textures_1173/tex_floor_textures_7594/tex_table_textures_1120/tex_wall_textures_1835","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6047986728089286617,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6047986728089286617,"visual_seed":6047986728089286617,"scene_id":"lab_003","finished_at":"2026-09-03T11:19:33"} +{"episode_id":"ep_000064","started_at":"2026-09-03T11:19:36","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.07344453352395719,-2.240337104780223,0.71338606911949],"aabb_xy":[[0.06409752594166196,-2.254640726997867],[0.08279154110625242,-2.226033482562579]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.6199445180824585,0.858489292069458,0.71338606911949],"aabb_xy":[[0.603267382089363,0.8417893680955277],[0.636621654075554,0.8751892160433883]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.6003637777309592,0.15580393654434044,0.71338606911949],"aabb_xy":[[-0.6172745101673008,0.14233173095172588],[-0.5834530452946173,0.16927614213695494]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.21234021070873593,-1.3096413998438314,0.71338606911949],"aabb_xy":[[-0.24282446083576606,-1.3596413996253274],[-0.18185596058170575,-1.2596414000623355]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.5614679002421572,0.3195078365371815,0.71338606911949],"aabb_xy":[[-0.5655460581492069,0.3154268562889182],[-0.5573897423351075,0.3235888167854448]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.30570714483827177,1.1193089526246585,0.71338606911949],"aabb_xy":[[0.2557071452619371,1.0693283736725527],[0.35570714441460655,1.1692895315767646]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.0006042283932382597,0.7011747144322977,0.71338606911949],"aabb_xy":[[-0.0806042263740233,0.6935731734704457],[0.07939576958754678,0.7087762553941496]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.2961041139937691,-2.3598303626284887,0.71338606911949],"aabb_xy":[[0.274195431854418,-2.3817310294485794],[0.3180127961331201,-2.337929695808398]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.4700722412516851,0.13704577411362262,0.71338606911949],"aabb_xy":[[0.4651729489451215,0.10936885481105385],[0.4749715335582485,0.1647226934161914]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.5561619342227694,-0.4631914371745043,0.71338606911949],"aabb_xy":[[-0.5813827710826089,-0.4884151880273909],[-0.5309410973629296,-0.4379676863216174]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.11210778149298395,-2.3927403206923183,0.71338606911949],"aabb_xy":[[0.07710778322286405,-2.399814448387306],[0.14710777976310385,-2.3856661929973297]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.3930306767351246,-1.0355362647767177,0.71338606911949],"aabb_xy":[[0.35803067675862876,-1.0450008808243343],[0.42803067671162043,-1.026071648729101]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.32234943242442093,-1.364351216649321,0.71338606911949],"aabb_xy":[[0.2998846624530158,-1.3868512175281815],[0.34481420239582605,-1.3418512157704605]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.5116500153112249,-0.04406386914977256,0.71338606911949],"aabb_xy":[[-0.5209436335483754,-0.08156386763790645],[-0.5023563970740742,-0.006563870661638646]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.6789724561561608,-1.955712948910603,0.71338606911949],"aabb_xy":[[0.6478255373125775,-2.0257129475974103],[0.7101193749997438,-1.885712950223796]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.24793509991202467,-2.1161039472610916,0.71338606911949],"aabb_xy":[[0.18793509826910282,-2.168104096553036],[0.3079351015549465,-2.0641037979691474]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.16459501371942542,0.30668300861849573,0.71338606911949],"aabb_xy":[[-0.19959501284938105,0.30093778754283157],[-0.12959501458946973,0.3124282296941598]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.3586240184492522,1.4383299818714899,0.71338606911949],"aabb_xy":[[0.29362401989217934,1.408577448457607],[0.423624017006325,1.4680825152853723]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.5928569868247078,-1.9022515309589587,0.71338606911949],"aabb_xy":[[-0.6568569839368135,-1.9512839007533695],[-0.5288569897126021,-1.8532191611645483]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.46770253991566135,0.48843753534961554,0.71338606911949],"aabb_xy":[[0.4177094278064695,0.43843753467542],[0.5176956520248532,0.5384375360238113]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.6035735324275198,-1.3815279498700122,0.71338606911949],"aabb_xy":[[-0.6735735342362652,-1.4028817186341995],[-0.5335735306187743,-1.3601741811058248]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.5142500298057233,-1.530535790881403,0.71338606911949],"aabb_xy":[[0.5062560412280198,-1.5385358709764931],[0.5222440183834266,-1.5225357107863124]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[-0.561925985348867,1.3021327745072737,0.71338606911949],"aabb_xy":[[-0.5793567004278732,1.2848606598434227],[-0.5444952702698602,1.3194048891711243]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.5708506306353553,-2.129808507987367,0.71338606911949],"aabb_xy":[[0.5158506310136096,-2.18479220077484],[0.6258506302571013,-2.0748248151998947]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[0.28466396383818937,-0.6316129697605068,0.71338606911949],"aabb_xy":[[0.22066396243019873,-0.6834019212844316],[0.34866396524618004,-0.5798240182365821]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_25","position":[-0.04349680796534161,1.7128347227139709,0.71338606911949],"aabb_xy":[[-0.055065788712278185,1.6878347225970391],[-0.031927827218405036,1.7378347228309026]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.3633192669119237,1.756777740606664,0.71338606911949],"aabb_xy":[[-0.3858156883457878,1.7342777407999168],[-0.3408228454780596,1.7792777404134117]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[-0.35016029102620017,0.45419128268907416,0.71338606911949],"aabb_xy":[[-0.3536009672662574,0.4503298497147097],[-0.34671961478614305,0.45805271566343864]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[0.17648728815493342,1.24366317893013,0.71338606911949],"aabb_xy":[[0.1676852328459607,1.235851852775201],[0.18528934346390613,1.251474505085059]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[0.6102993465654021,-0.6261608872646791,0.71338606911949],"aabb_xy":[[0.5840105222449614,-0.6524323209193302],[0.6365881708858427,-0.5998894536100278]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[-0.3889584693445954,0.8746615151488699,0.71338606911949],"aabb_xy":[[-0.4529584666469418,0.8302950881810129],[-0.324958472042249,0.9190279421167264]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[-0.33794055328702877,-0.7501361233756323,0.71338606911949],"aabb_xy":[[-0.3754405533926217,-0.7569582852286134],[-0.3004405531814358,-0.7433139615226512]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_32","position":[0.6937994230926869,-1.1414054760730674,0.71338606911949],"aabb_xy":[[0.6843819485228242,-1.1508216532107864],[0.7032168976625497,-1.1319892989353484]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842936695580859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/698.png","name":"698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/698.png","name":"698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9113.png","name":"9113"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/759.png","name":"759"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8381.png","name":"8381"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3620.png","name":"3620"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":844.6749136509557,"rotation_z_degrees":264.21286743269815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009150019637225632,0.009973231619818983,-0.006426258139293957]},{"name":"camera_2","offset_m":[-0.012104082227851275,-0.014129555813164094,-0.016766654150273844]},{"name":"camera_3","offset_m":[0.010562702051786436,-0.014240723518149081,-0.001311708783395437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012197536575143646,0.0005201094131673514,0.0018722402727945476],"end_effector_yaw_offset_degrees":0.2853916100667184},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018176874063105305,-0.001001704560830083,-0.001980758059281163],"end_effector_yaw_offset_degrees":-0.37882034245140495},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002162077681703747,-0.0010133631555457989,0.0008060606264579974],"end_effector_yaw_offset_degrees":-0.021264176277749458}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009381663775976492,0.0001990430173762622],"position_m":[0.30966183362240235,-0.02020095698262374,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00018447940475460958,0.0004466653430592127],"position_m":[0.1492155205952454,0.2797466653430592,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00260066980516664,0.0019811699961787997],"position_m":[0.34540066980516665,0.21508116999617882,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004073778450431609,0.002077764222451546],"position_m":[0.2591073778450431,-0.3596222357775485,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01d9cfc15ec773002312ac123ab5f0b599d6d87939b309e7a5a53d922f48859e","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_698/tex_ceiling_textures_3620/tex_floor_textures_8381/tex_table_textures_9113/tex_wall_textures_759","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6464813838973756542,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6464813838973756542,"visual_seed":6464813838973756542,"scene_id":"lab_003","finished_at":"2026-09-03T11:22:02"} +{"episode_id":"ep_000065","started_at":"2026-09-03T11:22:04","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.35830693561547206,-0.22977225827962844,0.71338606911949],"aabb_xy":[[-0.3687184942959557,-0.23511799161552688],[-0.3478953769349883,-0.22442652494372994]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.10457800678088947,-1.553639846594473,0.71338606911949],"aabb_xy":[[0.04957800715914365,-1.6086235393819457],[0.15957800640263534,-1.4986561538070002]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.5264680312987444,0.9320655654377497,0.71338606911949],"aabb_xy":[[0.4614680312644417,0.8853648887574223],[0.5914680313330472,0.9787662421180768]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.18741881424807028,-0.4398789804855281,0.71338606911949],"aabb_xy":[[-0.25141451164316686,-0.5038789787862368],[-0.12342311685297366,-0.37587898218481935]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.5582252630537026,0.5258880901780167,0.71338606911949],"aabb_xy":[[0.48822526124495713,0.5045343214138294],[0.628225264862448,0.5472418589422041]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[-0.5886039685700416,-0.707322612699917,0.71338606911949],"aabb_xy":[[-0.6261039671456623,-0.720058908363475],[-0.5511039699944207,-0.6945863170363591]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[0.11295378986255422,-1.0542576029289188,0.71338606911949],"aabb_xy":[[0.09045465413632726,-1.0767576037071818],[0.1354529255887812,-1.0317576021506558]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.13462435433497855,-2.4142129158312255,0.71338606911949],"aabb_xy":[[-0.21462435231576357,-2.4218144567930775],[-0.054624356354193486,-2.4066113748693736]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.22404155468130937,-2.136760017365814,0.71338606911949],"aabb_xy":[[0.1890415555513537,-2.142505238441478],[0.25904155381126504,-2.13101479629015]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.0750101569706838,1.1507016105757462,0.71338606911949],"aabb_xy":[[0.05751015672563443,1.133201822736179],[0.09251015721573319,1.1682013984153128]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.628676612983835,0.24601823148944968,0.71338606911949],"aabb_xy":[[-0.6661766144994667,0.2347914584733046],[-0.5911766114682033,0.25724500450559473]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.40097750748576866,-0.5399349818018315,0.71338606911949],"aabb_xy":[[0.3644816868584899,-0.576418924228589],[0.4374733281130474,-0.5034510393750738]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.16632011603452368,1.211949231684886,0.71338606911949],"aabb_xy":[[-0.18342219399289184,1.1948424261536164],[-0.14921803807615552,1.2290560372161559]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.470650612133688,-1.3364355280191007,0.71338606911949],"aabb_xy":[[0.40665061175615436,-1.3861807948699127],[0.5346506125112216,-1.2866902611682882]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.341634690115886,1.1169488370775897,0.71338606911949],"aabb_xy":[[0.32986650332122847,1.0319488371723684],[0.3534028769105435,1.2019488369828115]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.577364829829831,-0.5716598718123218,0.71338606911949],"aabb_xy":[[-0.5948648291079178,-0.5889979718786678],[-0.5598648305517441,-0.5543217717459759]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.4656002474056131,0.018161521825741378,0.71338606911949],"aabb_xy":[[-0.4826103446956638,0.0020270333274674535],[-0.44859015011556247,0.0342960103240153]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.4500901621641471,-1.0046781169525976,0.71338606911949],"aabb_xy":[[0.386090158874439,-1.048013035956515],[0.5140901654538552,-0.9613431979486798]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.49547268761209184,-1.0846758167924149,0.71338606911949],"aabb_xy":[[-0.5554726892550137,-1.1366759660843588],[-0.43547268596917,-1.0326756675004705]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.1369211884526833,-0.02193139974344982,0.71338606911949],"aabb_xy":[[-0.18191377517113372,-0.06693139901789857],[-0.0919286017342329,0.023068599530998938]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.1126966714504345,1.0419645757882,0.71338606911949],"aabb_xy":[[-0.1232641511085335,1.0314195456751913],[-0.10212919179233548,1.0525096059012085]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.29417998255404354,0.13304827705006872,0.71338606911949],"aabb_xy":[[-0.33009348697903323,0.09713476883331407],[-0.25826647812905384,0.16896178526682332]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.15859977716840068,-1.0673417798616953,0.71338606911949],"aabb_xy":[[-0.20859977852928788,-1.117319684437111],[-0.10859977580751344,-1.0173638752862797]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.005368740624471791,1.0037306631017802,0.71338606911949],"aabb_xy":[[-0.0020437149169166844,0.997879452680152],[0.012781196165860265,1.009581873523408]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.4021261678189558,1.6872504339902092,0.71338606911949],"aabb_xy":[[0.3942028875802075,1.664750433752206],[0.41004944805770416,1.7097504342282128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828008150676175,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5985.png","name":"5985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5985.png","name":"5985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1501.png","name":"1501"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8848.png","name":"8848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6352.png","name":"6352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6675.png","name":"6675"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":745.988425683485,"rotation_z_degrees":320.2139120403153,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012564843732347928,-0.004165267670258023,-0.014911950101703996]},{"name":"camera_2","offset_m":[0.006050621033634091,-0.0060662412065037325,-0.01180769680725747]},{"name":"camera_3","offset_m":[0.003965301528364648,-0.010070379076444516,-0.011020568250545959]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019937701585936536,0.001533314420770236,0.0008191851249141507],"end_effector_yaw_offset_degrees":0.2278171992720277},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009003700550340769,0.0010214177138464912,0.0009098127945141548],"end_effector_yaw_offset_degrees":0.9949708189270505},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00026253696562544924,0.0016070038025416344,0.0007934463857357881],"end_effector_yaw_offset_degrees":-0.22576615366787478}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016882875033194722,-0.0037530350916723356],"position_m":[0.30891171249668054,-0.024153035091672336,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023125093413963885,0.0020250268468677635],"position_m":[0.1517125093413964,0.2813250268468678,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003821842114080092,0.0024790294510450075],"position_m":[0.3389781578859199,0.215579029451045,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008427090804089899,0.00289467647396516],"position_m":[0.257857290919591,-0.35880532352603484,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"834e2e63ba3e97de79e11aaf120600215924894860267046983acac9191e0d75","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5985/tex_ceiling_textures_6675/tex_floor_textures_6352/tex_table_textures_1501/tex_wall_textures_8848","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6295754000046667787,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6295754000046667787,"visual_seed":6295754000046667787,"scene_id":"lab_003","finished_at":"2026-09-03T11:24:33"} +{"episode_id":"ep_000066","started_at":"2026-09-03T11:24:37","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.2522001403574169,-1.9541720243164176,0.71338606911949],"aabb_xy":[[-0.26983297595094446,-1.9717949703320405],[-0.23456730476388934,-1.9365490783007946]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.6717228188970663,-0.18270995592636163,0.71338606911949],"aabb_xy":[[0.6526105115390874,-0.20184473480360365],[0.6908351262550452,-0.1635751770491196]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.15556525945583255,-0.7786774976656627,0.71338606911949],"aabb_xy":[[-0.20504568066979134,-0.8426774955785146],[-0.10608483824187376,-0.7146774997528109]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.025627801461413302,-1.9377597678637943,0.71338606911949],"aabb_xy":[[-0.005519117382169814,-2.0077597665506017],[0.05677472030499642,-1.8677597691769872]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.36660234966079797,1.1229491888027794,0.71338606911949],"aabb_xy":[[-0.44660234662383713,1.0458735471590057],[-0.2866023526977588,1.2000248304465526]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.21806755636369024,1.8001822768575724,0.71338606911949],"aabb_xy":[[-0.24056669208991718,1.7776822760793094],[-0.19556842063746324,1.8226822776358353]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[0.3681525350865702,-1.3118245162672673,0.71338606911949],"aabb_xy":[[0.30415253186793234,-1.3585476281662756],[0.43215253830520806,-1.265101404368259]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.31939263072628465,-2.074572054999642,0.71338606911949],"aabb_xy":[[-0.37438810854694404,-2.1295720564335485],[-0.26439715290562527,-2.0195720535657347]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.3153844781382542,0.6043552973638588,0.71338606911949],"aabb_xy":[[0.2653896452103126,0.5543552984686152],[0.3653793110661958,0.6543552962591023]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.587880308452035,1.5531431150486914,0.71338606911949],"aabb_xy":[[-0.5975119446724647,1.5435058022689825],[-0.5782486722316055,1.5627804278284003]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.5979100553510424,-1.3984643339939093,0.71338606911949],"aabb_xy":[[0.586141868556385,-1.483464333899131],[0.6096782421457,-1.3134643340886878]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.3268469155447735,0.45236064264510567,0.71338606911949],"aabb_xy":[[-0.34240268495503884,0.43681020940069853],[-0.3112911461345083,0.4679110758895129]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.10886114221546328,-2.1968396554522367,0.71338606911949],"aabb_xy":[[0.04486114080747262,-2.2486286069761614],[0.17286114362345395,-2.145050703928312]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.534107702413126,-1.743561875054414,0.71338606911949],"aabb_xy":[[-0.5991077034136264,-1.794348240209089],[-0.46910770141262537,-1.692775509899739]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.12151986117141511,-1.3002030577016561,0.71338606911949],"aabb_xy":[[-0.1855198644611232,-1.3435379767055737],[-0.057519857881706986,-1.2568681386977385]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.42383401158060807,-0.6696447932957397,0.71338606911949],"aabb_xy":[[0.37884142486215766,-0.7146447925701884],[0.4688265982990585,-0.6246447940212909]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.5506066103511512,-1.906379738314085,0.71338606911949],"aabb_xy":[[-0.6146066122634937,-1.9622908875720955],[-0.486606608438809,-1.8504685890560746]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.4225330086597583,-2.462251608072446,0.71338606911949],"aabb_xy":[[-0.43133506396873095,-2.4700629342273746],[-0.4137309533507855,-2.4544402819175164]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.4658482827948084,-0.8933031912977492,0.71338606911949],"aabb_xy":[[-0.48943340625870324,-0.9583031935431809],[-0.44226315933091354,-0.8283031890523174]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.621709132580998,0.4500165858865648,0.71338606911949],"aabb_xy":[[-0.65920913275287,0.4173158505036576],[-0.5842091324091261,0.482717321269472]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.08987048479744064,1.3241868657576417,0.71338606911949],"aabb_xy":[[-0.09916410303459122,1.2866868672695075],[-0.08057686656029006,1.3616868642457753]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.5598035721248078,0.2246171538339401,0.71338606911949],"aabb_xy":[[0.509810460015616,0.17461715315974446],[0.6097966842339998,0.27461715450813573]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.08656017216142498,-0.8390217968876217,0.71338606911949],"aabb_xy":[[0.006560169998662491,-0.9189769805137652],[0.16656017432418746,-0.759066613261478]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.28227669053563476,-2.5332303274462222,0.71338606911949],"aabb_xy":[[-0.3122442474454604,-2.563230327744108],[-0.2523091336258091,-2.5032303271483363]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[-0.514462891614746,-2.02559300036593,0.71338606911949],"aabb_xy":[[-0.5494628915912418,-2.035057616413547],[-0.4794628916382502,-2.0161283843183133]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[0.052883338837070304,-2.5323956496229645,0.71338606911949],"aabb_xy":[[-0.0071166614143308785,-2.58667697465943],[0.11288333908847148,-2.4781143245865]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.45750865606431834,0.567573241008303,0.71338606911949],"aabb_xy":[[-0.4912842152550113,0.553534745795138],[-0.42373309687362537,0.581611736221468]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[-0.26584953327847977,-2.200296696452553,0.71338606911949],"aabb_xy":[[-0.2752670078483425,-2.209712873590272],[-0.256432058708617,-2.1908805193148337]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_28","position":[0.5590083018643714,0.5068011868464044,0.71338606911949],"aabb_xy":[[0.5431238085990463,0.49244824654758035],[0.5748927951296966,0.5211541271452285]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[0.5880702131953526,-0.700484420534051,0.71338606911949],"aabb_xy":[[0.5380859774871753,-0.7504844193475466],[0.6380544489035298,-0.6504844217205554]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.3512202774710481,0.7442546332644371,0.71338606911949],"aabb_xy":[[-0.3737202774811964,0.7301584136248338],[-0.3287202774608998,0.7583508529040404]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[-0.04494390281901317,0.8103568040287201,0.71338606911949],"aabb_xy":[[-0.12494390147589918,0.7958519451044573],[0.035056095837872836,0.8248616629529829]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833328796630719,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6153.png","name":"6153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6153.png","name":"6153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6922.png","name":"6922"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6212.png","name":"6212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8934.png","name":"8934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8878.png","name":"8878"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":630.5038142631042,"rotation_z_degrees":179.70815786807427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000532302455626351,0.0060110627518104795,-0.005392832992143423]},{"name":"camera_2","offset_m":[0.004365045179932574,-0.0009502327441139359,-0.00705998890277784]},{"name":"camera_3","offset_m":[0.016505790851113495,-0.007467584554657222,-0.002582600112676966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006359176616330888,-0.0006317569874042248,0.00038247776990197593],"end_effector_yaw_offset_degrees":-0.06800929350894669},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00027187729298164156,-0.0018143182048986901,-0.0017991023083267486],"end_effector_yaw_offset_degrees":0.8772592876190641},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001312875524227533,-0.0006165345479909625,0.0004922143455907031],"end_effector_yaw_offset_degrees":0.8048615227151572}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0045239916254691225,0.003056006817949943],"position_m":[0.30607600837453086,-0.017343993182050058,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021208765663311945,0.0021391165054552175],"position_m":[0.1515208765663312,0.2814391165054552,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00042608915898241853,-0.0003197901659927182],"position_m":[0.3432260891589824,0.2127802098340073,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006916948199078852,0.002127139757493123],"position_m":[0.2580083051800921,-0.3595728602425069,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cb8bcaa17f1c32ce48a83e7bf469d2764f273538ddaa6f61473b31d6f93de851","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6153/tex_ceiling_textures_8878/tex_floor_textures_8934/tex_table_textures_6922/tex_wall_textures_6212","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2775210116962306110,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2775210116962306110,"visual_seed":2775210116962306110,"scene_id":"lab_003","finished_at":"2026-09-03T11:27:11"} +{"episode_id":"ep_000067","started_at":"2026-09-03T11:27:14","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[0.6731703953327666,-1.8613323898740786,0.71338606911949],"aabb_xy":[[0.6270853040780352,-1.925332387126634],[0.7192554865874982,-1.7973323926215237]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.24315285706752315,1.537140218598943,0.71338606911949],"aabb_xy":[[-0.26078569266105067,1.5195172725833197],[-0.22552002147399555,1.5547631646145657]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.37028204396292375,-0.7898812301110549,0.71338606911949],"aabb_xy":[[0.345061207103084,-0.8151049809639416],[0.39550288082276336,-0.7646574792581681]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.5204785089600932,0.059799274397315916,0.71338606911949],"aabb_xy":[[-0.6054785073775164,-0.025075021064969068],[-0.43547851054266995,0.1446735698596009]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.5651903527129467,-0.2950397347020868,0.71338606911949],"aabb_xy":[[-0.6062082960993176,-0.3450397353330441],[-0.5241724093265758,-0.24503973407112944]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.41928373568078986,-1.1362081715266399,0.71338606911949],"aabb_xy":[[-0.4393421472940302,-1.1562732584357973],[-0.3992253240675496,-1.1161430846174825]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.3923004090073763,0.44171865380759723,0.71338606911949],"aabb_xy":[[0.34230557607943474,0.39171865491235375],[0.44229524193531794,0.4917186527028408]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.08593743935990328,0.6667221783807649,0.71338606911949],"aabb_xy":[[0.07270649382522197,0.6534947593587654],[0.09916838489458456,0.6799495974027643]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.26091185152279195,-1.1406918218652298,0.71338606911949],"aabb_xy":[[0.2234118510254337,-1.144660505413348],[0.2984118520201502,-1.1367231383171115]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[0.633264972139673,-0.11787788223932605,0.71338606911949],"aabb_xy":[[0.5957649709548802,-0.12229610493538656],[0.6707649733244658,-0.11345965954326548]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.5346315685319127,1.3869347119873296,0.71338606911949],"aabb_xy":[[0.45463157156887357,1.309859070343556],[0.6146315654949519,1.4640103536311029]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.3540094148369626,-1.4274237849435598,0.71338606911949],"aabb_xy":[[0.34804287589622684,-1.4333849296029235],[0.3599759537776984,-1.4214626402841957]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.03966908001342995,-2.274135028462978,0.71338606911949],"aabb_xy":[[0.03622840377337277,-2.2779964614373425],[0.04310975625348711,-2.2702735954886135]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.6244540846114741,1.4165433133667231,0.71338606911949],"aabb_xy":[[-0.6884540869542756,1.3716024621225904],[-0.5604540822686724,1.4614841646108554]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.6513901027966014,0.4060982413254317,0.71338606911949],"aabb_xy":[[0.601390101435714,0.3561203367500161],[0.7013901041574885,0.45607614590084733]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.039666655953517926,0.2643862559169179,0.71338606911949],"aabb_xy":[[-0.0470791114949064,0.25853504549528994],[-0.03225420041212945,0.27023746633854584]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.5745435293292751,-1.726364615119103,0.71338606911949],"aabb_xy":[[-0.6056904481728582,-1.79636461380591],[-0.543396610485692,-1.6563646164322956]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.5466912322372364,-1.5858571842547977,0.71338606911949],"aabb_xy":[[0.5091912336616154,-1.5985934799183559],[0.5841912308128571,-1.57312088859124]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.3885551543587431,-1.6975143195130555,0.71338606911949],"aabb_xy":[[0.32355515580167027,-1.7272668529269382],[0.45355515291581594,-1.667761786099173]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.5001162688511183,-0.4313611192198836,0.71338606911949],"aabb_xy":[[0.4930759589175814,-0.511361118619555],[0.5071565787846554,-0.35136111982021223]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.5800039499814866,-0.3407830944435233,0.71338606911949],"aabb_xy":[[0.5550039508158535,-0.3477353401488799],[0.6050039491471197,-0.33383084873816676]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.490131107832283,-0.5674474208791582,0.71338606911949],"aabb_xy":[[-0.5401311088514182,-0.6039136366169863],[-0.44013110681314777,-0.5309812051413304]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.34323808206374157,-2.437659799610459,0.71338606911949],"aabb_xy":[[-0.4032380826597578,-2.4924722721556827],[-0.28323808146772544,-2.3828473270652357]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.3612717731460297,-0.23695474829448315,0.71338606911949],"aabb_xy":[[-0.38038408050400857,-0.2560895271717252],[-0.34215946578805084,-0.2178199694172411]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.2462746981061804,-1.6010713247132127,0.71338606911949],"aabb_xy":[[-0.28377469827805235,-1.6337720600961196],[-0.20877469793430845,-1.5683705893303053]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[0.46239051153095323,-2.4093270027706124,0.71338606911949],"aabb_xy":[[0.4286149523402602,-2.4233654979837773],[0.49616607072164615,-2.3952885075574475]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[0.20678646505299847,-1.835831636903337,0.71338606911949],"aabb_xy":[[0.19715482883256888,-1.845468949683046],[0.21641810127342812,-1.8261943241236283]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833730723338756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7433.png","name":"7433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7433.png","name":"7433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5008.png","name":"5008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4858.png","name":"4858"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1540.png","name":"1540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":612.1391668679851,"rotation_z_degrees":198.49613381499367,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01379214756499415,-0.01041383647364194,-0.019884380375458338]},{"name":"camera_2","offset_m":[-0.0007491490827802802,-0.011933318437593328,0.01379044659280906]},{"name":"camera_3","offset_m":[0.0020244631687268005,0.016683264596385295,0.005973528185308226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018398937500776606,0.0005061467862607257,0.00035636800589063924],"end_effector_yaw_offset_degrees":-0.3131231993188852},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001743816525329618,0.0010386239800707722,-0.0018335331136081594],"end_effector_yaw_offset_degrees":0.6608404966330124},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0001265508791875123,-0.0008563547010581175,-0.0013760736410506724],"end_effector_yaw_offset_degrees":-0.8617123155226512}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004256941755726964,0.004847740686669959],"position_m":[0.30634305824427305,-0.015552259313330041,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004153071402816083,0.003877905272055406],"position_m":[0.1535530714028161,0.2831779052720554,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002412699720580458,0.0003170260869538909],"position_m":[0.34038730027941955,0.2134170260869539,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028550891808783573,-0.0014212149654434414],"position_m":[0.25584491081912164,-0.3631212149654435,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"07b25e6164d07b2b8bb4f8785ae72501e6af437a42ae9c430e35f9e7e1439424","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7433/tex_ceiling_textures_1000/tex_floor_textures_1540/tex_table_textures_5008/tex_wall_textures_4858","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":765887810187957750,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":765887810187957750,"visual_seed":765887810187957750,"scene_id":"lab_003","finished_at":"2026-09-03T11:29:43"} +{"episode_id":"ep_000068","started_at":"2026-09-03T11:29:49","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.546979277699697,-0.4849542648443732,0.71338606911949],"aabb_xy":[[-0.5563262852819922,-0.49925788706201735],[-0.5376322701174018,-0.4706506426267293]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.5128248440646794,-0.8323094306385994,0.71338606911949],"aabb_xy":[[-0.5487383484896691,-0.8682229388553541],[-0.47691133963968974,-0.7963959224218448]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.04446491567528088,-0.9451423209110816,0.71338606911949],"aabb_xy":[[-0.05623310246993841,-1.0301423208163034],[-0.03269672888062336,-0.8601423210058603]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[0.398557225740646,1.0992457574297854,0.71338606911949],"aabb_xy":[[0.3435835037043132,1.0442457578655522],[0.45353094777697894,1.1542457569940185]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.40476658284275824,-1.826573620864075,0.71338606911949],"aabb_xy":[[-0.4129811279584421,-1.8352502111617164],[-0.39655203772707415,-1.8178970305664337]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.24182831215186873,1.4727322474437892,0.71338606911949],"aabb_xy":[[0.18683510081473198,1.4177322471049956],[0.2968215234890055,1.527732247782583]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[-0.017076887896357973,-1.2185942463987198,0.71338606911949],"aabb_xy":[[-0.034945995650813466,-1.2324271543759306],[0.0007922198580975204,-1.204761338421509]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.15756412191085767,1.0223187102158766,0.71338606911949],"aabb_xy":[[0.12006412209382411,1.0176804989047348],[0.19506412172789123,1.0269569215270185]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.473888587247425,1.5480260034648778,0.71338606911949],"aabb_xy":[[0.4388885881174693,1.5422807823892137],[0.5088885863773807,1.553771224540542]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[-0.44174401603209157,-2.3853878450400723,0.71338606911949],"aabb_xy":[[-0.44915647157348004,-2.3912390554617007],[-0.4343315604907031,-2.379536634618445]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.25593654567755186,0.22278874238853907,0.71338606911949],"aabb_xy":[[-0.26127412134355643,0.1977887414593993],[-0.2505989700115473,0.24778874331767886]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.32288447573938167,1.2834233754359397,0.71338606911949],"aabb_xy":[[-0.3447931578787327,1.2615227086158487],[-0.30097579360003063,1.3053240422560302]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.1987605764954996,-1.3894490077441277,0.71338606911949],"aabb_xy":[[-0.25376057469724445,-1.4299709743705653],[-0.14376057829375477,-1.3489270411176901]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.40744443295738075,-1.4953533932507321,0.71338606911949],"aabb_xy":[[0.31744443622177054,-1.5485368565680266],[0.49744442969299096,-1.4421699299334376]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.24238322297006087,-1.739241457421231,0.71338606911949],"aabb_xy":[[-0.30638322531286244,-1.7841823086653634],[-0.17838322062725934,-1.6943006061770984]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.37449045319839613,-0.8208653217179018,0.71338606911949],"aabb_xy":[[0.31049045608629045,-0.8698976915123123],[0.4384904503105018,-0.7718329519234911]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.05634508220941059,-2.5096773297184702,0.71338606911949],"aabb_xy":[[0.05003298267307216,-2.515444268971689],[0.06265718174574902,-2.5039103904652515]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.5184296121179777,-0.8372775892165518,0.71338606911949],"aabb_xy":[[0.5111683645475702,-0.8500645994800613],[0.5256908596883851,-0.8244905789530423]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.3072141022783923,0.8123045796179262,0.71338606911949],"aabb_xy":[[0.2833778846377873,0.7223045788094398],[0.3310503199189974,0.9023045804264128]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.23390967062829227,0.388630383316789,0.71338606911949],"aabb_xy":[[-0.28339009184225106,0.3246303854039372],[-0.18442924941433347,0.45263038122964083]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[-0.4702906474925751,-2.1000851060351295,0.71338606911949],"aabb_xy":[[-0.48796627808117343,-2.117765322314532],[-0.45261501690397676,-2.0824048897557264]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.04262870339220426,1.5539739831863373,0.71338606911949],"aabb_xy":[[-0.007354246795275083,1.5039739835437766],[0.09261165357968357,1.6039739828288975]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.576778244132462,1.15148414745715,0.71338606911949],"aabb_xy":[[0.5542791084062351,1.128984146678887],[0.599277379858689,1.173984148235413]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.08153856830063755,-2.0821502248527346,0.71338606911949],"aabb_xy":[[0.05653856836811966,-2.089032893073658],[0.10653856823315544,-2.075267556631811]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[0.16649784280823543,-0.6272493060765161,0.71338606911949],"aabb_xy":[[0.08649783954422227,-0.6408093383854293],[0.24649784607224853,-0.6136892737676026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904032285889435,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1985.png","name":"1985"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2597.png","name":"2597"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3525.png","name":"3525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3629.png","name":"3629"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":540.5105288062282,"rotation_z_degrees":78.95505334659097,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013973539427035286,0.017304241652887648,-0.004920501957536065]},{"name":"camera_2","offset_m":[0.019576759499053912,-0.005961395239940806,-0.01640950882146019]},{"name":"camera_3","offset_m":[-0.017626204240903554,0.006486992517598739,-0.0062010179376880675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014152358144176626,0.0013064236238990177,0.0013140070814654076],"end_effector_yaw_offset_degrees":0.8464869172134297},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010634404497117888,-0.0018356271237029156,0.0004933626301801925],"end_effector_yaw_offset_degrees":0.8919475965857633},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001362977954198651,0.0011738180978004232,0.0014493837404550127],"end_effector_yaw_offset_degrees":-0.5906127712543061}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017328574658705665,-0.004039547768653747],"position_m":[0.30886714253412945,-0.024439547768653747,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00418211822820079,0.0007312936277059871],"position_m":[0.14521788177179923,0.28003129362770596,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003013615510648273,-0.004401611817204953],"position_m":[0.3397863844893517,0.20869838818279507,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004757363613080194,-0.002501965825867318],"position_m":[0.2634573636130802,-0.36420196582586734,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1f85f7b0fc405bed78a52e5d539b5ca2841d96784883930d0904286cde24fa78","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3881/tex_ceiling_textures_3629/tex_floor_textures_3525/tex_table_textures_1985/tex_wall_textures_2597","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4965165285810757375,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4965165285810757375,"visual_seed":4965165285810757375,"scene_id":"lab_003","finished_at":"2026-09-03T11:32:33"} +{"episode_id":"ep_000069","started_at":"2026-09-03T11:32:35","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.5806325553618602,1.3550478378901554,0.71338606911949],"aabb_xy":[[-0.6277619343636957,1.291047836845753],[-0.5335031763600243,1.4190478389345569]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.6743784336161103,-0.33792277354861966,0.71338606911949],"aabb_xy":[[0.6243836006881686,-0.3879227724438632],[0.7243732665440518,-0.2879227746533761]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.5545477364816627,0.15553343342208903,0.71338606911949],"aabb_xy":[[0.5447917469724888,0.1457708993628546],[0.5643037259908366,0.16529596748132347]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.6280337727248074,-1.3739350102785441,0.71338606911949],"aabb_xy":[[-0.6758399403385761,-1.4389350129856031],[-0.5802276051110388,-1.3089350075714852]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.3945376151307614,-1.4354105526736542,0.71338606911949],"aabb_xy":[[-0.44453689029919763,-1.4854105539496016],[-0.3445383399623253,-1.3854105513977073]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.482954367713414,-1.8086714542370332,0.71338606911949],"aabb_xy":[[-0.5469543662999865,-1.8556784176365417],[-0.4189543691268415,-1.7616644908375243]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.2862981191988714,-1.07708196895011,0.71338606911949],"aabb_xy":[[0.2062981170361089,-1.1570371525762537],[0.36629812136163387,-0.9971267853239665]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.19186923468712647,-1.9095757219128218,0.71338606911949],"aabb_xy":[[-0.22534840194816744,-1.943054835283929],[-0.15839006742608555,-1.876096608541715]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.4916844001596037,0.6064568492737439,0.71338606911949],"aabb_xy":[[-0.5416844015204909,0.5564789446983283],[-0.44168439879871646,0.6564347538491595]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.3538509917246131,-2.4232327106966913,0.71338606911949],"aabb_xy":[[0.341978908713112,-2.5082327103903417],[0.3657230747361142,-2.338232711003041]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.36578068251308227,0.6278994879175399,0.71338606911949],"aabb_xy":[[0.3601990108789535,0.6153994880997644],[0.371362354147211,0.6403994877353154]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.6596049068663511,-0.4909023206572347,0.71338606911949],"aabb_xy":[[-0.6846049067988691,-0.4977849888781581],[-0.6346049069338333,-0.48401965243631145]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.34384802854472185,-2.1073918309059225,0.71338606911949],"aabb_xy":[[-0.41384803067615133,-2.1301537965316175],[-0.27384802641329226,-2.0846298652802258]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.421199977702547,-1.796228998946546,0.71338606911949],"aabb_xy":[[0.3847041570752683,-1.8327129413733037],[0.45769579832982576,-1.7597450565197885]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.0996907726941979,-1.0890134599198993,0.71338606911949],"aabb_xy":[[-0.10731504078437618,-1.096646683456443],[-0.09206650460401967,-1.0813802363833556]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.030643233133470393,-1.4059682011207137,0.71338606911949],"aabb_xy":[[-0.04580610611040748,-1.4211336584158327],[-0.015480360156533316,-1.3908027438255952]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[0.22501400329664523,-0.7229141009304696,0.71338606911949],"aabb_xy":[[0.20142887983275037,-0.7879141031759014],[0.24859912676054008,-0.6579140986850378]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.4780943582133146,-0.9497683618687416,0.71338606911949],"aabb_xy":[[0.4673213842919468,-0.9847683600877806],[0.48886733213468236,-0.9147683636497026]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.4614657554715613,-2.0549227532887193,0.71338606911949],"aabb_xy":[[0.44713133034539787,-2.066982968843258],[0.4758001805977248,-2.04286253773418]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.22351013395890068,-2.258265270879032,0.71338606911949],"aabb_xy":[[-0.23597749206863636,-2.2707305955123553],[-0.21104277584916506,-2.2457999462457083]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.26482427519031954,-1.347854183077006,0.71338606911949],"aabb_xy":[[-0.2998242750863384,-1.356228418588946],[-0.2298242752943007,-1.3394799475650663]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.48193807897740326,-0.7369641352025489,0.71338606911949],"aabb_xy":[[0.4732401166866879,-0.7490891095100236],[0.4906360412681185,-0.7248391608950742]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.6109042350024065,-0.787137396857631,0.71338606911949],"aabb_xy":[[0.5734042346541787,-0.7989287924387144],[0.6484042353506342,-0.7753460012765473]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[0.060217147046467634,-2.011444767268212,0.71338606911949],"aabb_xy":[[0.05229386680771931,-2.0339447675062154],[0.06814042728521597,-1.9889447670302087]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[0.5230369008176587,1.1304910550386729,0.71338606911949],"aabb_xy":[[0.46803690261591396,1.089969088412235],[0.5780368990194036,1.1710130216651102]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.5087277642385176,1.0221123302431692,0.71338606911949],"aabb_xy":[[-0.5587277659000124,0.9721138879874666],[-0.4587277625770229,1.0721107724988719]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.023532668691699343,-1.8487353099773491,0.71338606911949],"aabb_xy":[[-0.08353266919955225,-1.9055820436632702],[0.03646733181615357,-1.7918885762914276]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.3362488480356545,0.6160531465233863,0.71338606911949],"aabb_xy":[[-0.3439520387097315,0.6083437758246483],[-0.3285456573615774,0.6237625172221243]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[0.6810889026904325,0.8190570223011808,0.71338606911949],"aabb_xy":[[0.6586241327190273,0.7965570214223203],[0.7035536726618375,0.8415570231800413]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[-0.36317496868300264,-0.2750501979197506,0.71338606911949],"aabb_xy":[[-0.4171905649649026,-0.3390502008120077],[-0.3091593724011026,-0.2110501950274934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6813746202810043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6980.png","name":"6980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2030.png","name":"2030"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1930.png","name":"1930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5062.png","name":"5062"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":659.7734127471643,"rotation_z_degrees":298.0545340564685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0181549545012949,0.013251400943783628,0.01393637516893367]},{"name":"camera_2","offset_m":[0.01545926292529325,0.01293406255921634,-0.01402455628283836]},{"name":"camera_3","offset_m":[-0.016111227626831304,-0.008954387772257384,0.01732075314540264]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001682844916324432,0.0012702252844964037,-0.0011406851617994057],"end_effector_yaw_offset_degrees":-0.026824891211074897},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00038401527836764526,-0.0017159851066814275,-0.0009411075400206541],"end_effector_yaw_offset_degrees":0.7631808365292547},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019155087533137514,0.0017878447946529175,0.001836027396549924],"end_effector_yaw_offset_degrees":-0.8434680964005807}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038091021821059405,-0.0025444869927721513],"position_m":[0.31440910218210594,-0.022944486992772153,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004889235260251964,0.004905270614810675],"position_m":[0.15428923526025196,0.28420527061481066,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020276527865843684,-0.004049754135456945],"position_m":[0.34482765278658434,0.20905024586454307,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028863745752688076,0.0023034029402376963],"position_m":[0.2558136254247312,-0.35939659705976235,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"116f84745b1fa1ad116a30b73100665ca548f9593e9039a4f5c4e9b941ee01a0","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6596/tex_ceiling_textures_5062/tex_floor_textures_1930/tex_table_textures_6980/tex_wall_textures_2030","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":684791282247905774,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":684791282247905774,"visual_seed":684791282247905774,"scene_id":"lab_003","finished_at":"2026-09-03T11:35:04"} +{"episode_id":"ep_000070","started_at":"2026-09-03T11:35:07","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.5151466593003324,-1.676837128662866,0.71338606911949],"aabb_xy":[[0.4786508386730537,-1.7133210710896234],[0.5516424799276112,-1.6403531862361083]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.6984554472469942,-2.2250943622550134,0.71338606911949],"aabb_xy":[[0.6823935197884765,-2.3100943640676053],[0.7145173747055118,-2.1400943604424216]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5040973103836544,-0.36863078621044654,0.71338606911949],"aabb_xy":[[0.4390973118265814,-0.39838331962432916],[0.5690973089407271,-0.3388782527965639]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.298055751841918,1.4830003310007371,0.71338606911949],"aabb_xy":[[0.2340557554145961,1.435830707178641],[0.3620557482692399,1.5301699548228338]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.3040638929856271,0.9232183932477738,0.71338606911949],"aabb_xy":[[0.22406389155549988,0.8437012382351642],[0.3840638944157543,1.0027355482603832]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.15672425040474225,-1.429508458692749,0.71338606911949],"aabb_xy":[[-0.17373434769479287,-1.4456429471910226],[-0.13971415311469157,-1.4133739701944747]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.30196679855077513,1.1533560989141027,0.71338606911949],"aabb_xy":[[-0.35196163147871673,1.103356100018859],[-0.2519719656228335,1.203356097809346]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.4926243369688992,-1.1486714479692033,0.71338606911949],"aabb_xy":[[0.4681107128718933,-1.1729360412712395],[0.517137961065905,-1.1244068546671666]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.5582187470893584,1.1511600480008561,0.71338606911949],"aabb_xy":[[-0.6222187463835266,1.087173907632002],[-0.49421874779519015,1.2151461883697103]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.021467549058712176,-1.5810040979060063,0.71338606911949],"aabb_xy":[[-0.08146754956656509,-1.6378508315919276],[0.03853245144914074,-1.524157364220085]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.2460559788969956,-1.0067836759479558,0.71338606911949],"aabb_xy":[[0.24209549512726125,-1.0144515405334764],[0.25001646266672994,-0.9991158113624352]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.6083089117093292,-0.18597107443780914,0.71338606911949],"aabb_xy":[[0.5233089130172546,-0.217956937832688],[0.6933089104014039,-0.15398521104293028]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.03740786131944751,1.4413407593052363,0.71338606911949],"aabb_xy":[[-0.048976842066384085,1.4163407591883046],[-0.025838880572510936,1.466340759422168]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.42865212371694006,-2.2903725896631904,0.71338606911949],"aabb_xy":[[0.37865212205544524,-2.3403710319188926],[0.47865212537843477,-2.240374147407487]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.38190428702386414,-2.062643090237963,0.71338606911949],"aabb_xy":[[-0.44590428729784237,-2.112709190435251],[-0.3179042867498859,-2.012576990040675]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.5922223449810186,-2.206566073958121,0.71338606911949],"aabb_xy":[[-0.6246840458629459,-2.2366989060730234],[-0.559760644099091,-2.1764332418432177]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.5910400155322921,1.6078765171194322,0.71338606911949],"aabb_xy":[[-0.6710400187963051,1.594316484810519],[-0.5110400122682789,1.6214365494283456]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[-0.13735094077475407,0.41285022529226456,0.71338606911949],"aabb_xy":[[-0.1746822172999967,0.3781971704974122],[-0.10001966424951145,0.4475032800871168]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.46950036478343554,0.4826652876330959,0.71338606911949],"aabb_xy":[[-0.5108049078471715,0.4186652880649788],[-0.4281958217196996,0.546665287201213]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.028233685650851492,-1.0136224873805966,0.71338606911949],"aabb_xy":[[0.006061158674200656,-1.0357981545367194],[0.05040621262750233,-0.9914468202244732]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.2398848171415322,0.7227323529172289,0.71338606911949],"aabb_xy":[[0.15988481388368922,0.642735845125245],[0.31988482039937516,0.8027288607092129]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.11706117139739669,-1.8538748983419864,0.71338606911949],"aabb_xy":[[-0.12410262234814427,-1.8609016500797808],[-0.11001972044664908,-1.846848146604192]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.5434060843151691,0.8440957650050307,0.71338606911949],"aabb_xy":[[-0.6334060829096391,0.8278451786916097],[-0.4534060857206992,0.8603463513184517]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.09694858461682909,1.3430406575965042,0.71338606911949],"aabb_xy":[[0.07444858509312167,1.3205447101458831],[0.11944858414053648,1.3655366050471247]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.6497249982776985,-0.963435174943688,0.71338606911949],"aabb_xy":[[0.6019188306639298,-1.0284351776507468],[0.6975311658914671,-0.8984351722366288]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[-0.26520784710936735,-1.2089818969258732,0.71338606911949],"aabb_xy":[[-0.3292078444117138,-1.25334832389373],[-0.201207849807021,-1.1646154699580165]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[0.5536087152324094,1.5118788655339128,0.71338606911949],"aabb_xy":[[0.48860871707649034,1.4855826209840006],[0.6186087133883285,1.538175110083825]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.20944341090008906,-0.9201311225698796,0.71338606911949],"aabb_xy":[[-0.26444340910183384,-0.9606530891963172],[-0.15444341269834422,-0.879609155943442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837791746238723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3394.png","name":"3394"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4237.png","name":"4237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/447.png","name":"447"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":589.9222041821668,"rotation_z_degrees":320.0406235280474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015298195018754967,-0.0031303388645511666,0.01070820830559734]},{"name":"camera_2","offset_m":[-0.015143310981822582,-0.007833559364352064,0.010832408006633619]},{"name":"camera_3","offset_m":[0.01938604928397047,0.0015644022539401357,0.01792663520327593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002461762488179997,-0.0002909354678803039,-0.0009115681823880805],"end_effector_yaw_offset_degrees":0.6091214672661442},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00044859790381931997,-0.00036432086430277346,-0.00118550181577782],"end_effector_yaw_offset_degrees":-0.6227804621475281},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008198899258634231,-0.0009042489524888442,-0.0013690620855664583],"end_effector_yaw_offset_degrees":-0.22469224818019828}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001070500111467203,0.0004524825450043365],"position_m":[0.3116705001114672,-0.019947517454995664,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038994314725214725,0.003609827497667895],"position_m":[0.15329943147252148,0.2829098274976679,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036343659526720277,0.004597968740561421],"position_m":[0.346434365952672,0.21769796874056144,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037090724527275645,-0.0035399428591694005],"position_m":[0.25499092754727243,-0.36523994285916944,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1db37444ed5d7f06788d9d6174b7b9e4582651cfc21d80539207b3b486c6ad9f","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8454/tex_ceiling_textures_447/tex_floor_textures_4237/tex_table_textures_9252/tex_wall_textures_3394","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5273951586396681690,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5273951586396681690,"visual_seed":5273951586396681690,"scene_id":"lab_003","finished_at":"2026-09-03T11:37:36"} +{"episode_id":"ep_000071","started_at":"2026-09-03T11:39:01","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.47749399486997635,-1.0126604249325781,0.71338606911949],"aabb_xy":[[-0.4854879834476796,-1.0206605050276683],[-0.46950000629227284,-1.0046603448374876]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.37809591896393635,-0.5625987420044032,0.71338606911949],"aabb_xy":[[-0.3868098880138708,-0.5850987426635913],[-0.3693819499140018,-0.5400987413452149]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.29862687996662174,-0.37961729806139255,0.71338606911949],"aabb_xy":[[-0.30625114805680004,-0.3872505215979364],[-0.29100261187644355,-0.3719840745248489]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.17498957585602049,-0.9051854328671809,0.71338606911949],"aabb_xy":[[-0.19248957610106987,-0.9226852207067476],[-0.1574895756109711,-0.8876856450276139]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.24547945494933493,-0.3140167194049197,0.71338606911949],"aabb_xy":[[-0.32547945360622094,-0.3285215783291825],[-0.16547945629244892,-0.2995118604806569]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.510079017482386,0.13866236615103933,0.71338606911949],"aabb_xy":[[-0.5740790147680347,0.09715564719819536],[-0.4460790201967374,0.1801690851038833]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.3498546703038594,-1.5486365338033405,0.71338606911949],"aabb_xy":[[0.2698546698336435,-1.5569472414176895],[0.4298546707740754,-1.5403258261889925]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.16037714747018084,-1.0462273767687487,0.71338606911949],"aabb_xy":[[0.12791544658825332,-1.0763602088836508],[0.19283884835210824,-1.0160945446538456]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.1137287881476694,1.329479202314694,0.71338606911949],"aabb_xy":[[0.09484440437915921,1.3105932775343412],[0.1326131719161796,1.3483651270950467]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.35648163577298797,-2.5567894992099722,0.71338606911949],"aabb_xy":[[-0.3817024726328275,-2.5820132500628583],[-0.3312607989131482,-2.5315657483570844]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.4742010864085284,-1.2899885185741224,0.71338606911949],"aabb_xy":[[0.42920849969007807,-1.334988517848571],[0.5191936731269788,-1.2449885192996735]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.11163612890524521,-2.276557562911769,0.71338606911949],"aabb_xy":[[-0.14896740543048784,-2.3112106177066214],[-0.07430485238000259,-2.241904508116917]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.6767374827763111,1.2220034172461056,0.71338606911949],"aabb_xy":[[0.6592375493423276,1.204503417325871],[0.6942374162102943,1.2395034171663402]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.033311400602643704,0.7298231129383432,0.71338606911949],"aabb_xy":[[-0.06675157579866328,0.696379487107413],[0.00012877459337590905,0.7632667387692732]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[-0.13381051444401704,1.7542962005329383,0.71338606911949],"aabb_xy":[[-0.1446509926705319,1.7371099192422899],[-0.1229700362175021,1.7714824818235873]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.4518954213742885,1.2267826267118154,0.71338606911949],"aabb_xy":[[0.4294306514028834,1.2042826258329549],[0.4743601913456936,1.2492826275906759]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.3678318939114762,-0.4987655622344458,0.71338606911949],"aabb_xy":[[0.30783189331546,-0.5535780347796693],[0.42783189450749237,-0.4439530896892223]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.09698779520130718,-1.7099267794070039,0.71338606911949],"aabb_xy":[[-0.1281347140448903,-1.779926778093811],[-0.06584087635772407,-1.6399267807201967]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.05809744068885503,-1.4029222673140542,0.71338606911949],"aabb_xy":[[0.04108734339880439,-1.419056755812328],[0.0751075379789057,-1.38678777881578]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.43143057889355574,-1.7959687236114774,0.71338606911949],"aabb_xy":[[0.42414826251689197,-1.8859687272209862],[0.4387128952702193,-1.7059687200019682]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.5250961793976416,-0.7677420313973318,0.71338606911949],"aabb_xy":[[-0.6150961830745596,-0.8291744379744359],[-0.43509617572072323,-0.7063096248202273]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.16807972022727158,-1.9958181441465088,0.71338606911949],"aabb_xy":[[-0.23307972286506506,-2.047297742845956],[-0.10307971758947809,-1.9443385454470616]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.16472806339629686,1.0618600851455242,0.71338606911949],"aabb_xy":[[-0.21970178543262975,1.006860085581291],[-0.10975434135996398,1.1168600847097574]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[-0.5049531605623708,-1.2155779171956291,0.71338606911949],"aabb_xy":[[-0.5168252435738719,-1.3005779168892793],[-0.4930810775508697,-1.1305779175019786]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.1153259984886793,-1.5761788513639226,0.71338606911949],"aabb_xy":[[0.08032600017798384,-1.583893866287468],[0.15032599679937475,-1.5684638364403767]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.5263605196702426,0.22951689251714624,0.71338606911949],"aabb_xy":[[0.47136052049365307,0.17452721774218857],[0.581360518846832,0.2845065672921039]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[0.6499423182266801,-0.5273743334205854,0.71338606911949],"aabb_xy":[[0.5998448542456064,-0.5913743339303972],[0.7000397822077536,-0.46337433291077357]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[0.37826699197296554,0.8188580497508005,0.71338606911949],"aabb_xy":[[0.3579826892495667,0.7985754246080915],[0.39855129469636424,0.8391406748935092]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[0.5961362085060822,-0.8148655780012286,0.71338606911949],"aabb_xy":[[0.5321362092119138,-0.8788517183700827],[0.6601362078002503,-0.7508794376323743]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[-0.31357383415595197,-2.450913174952187,0.71338606911949],"aabb_xy":[[-0.3439719452550955,-2.481320076953856],[-0.2831757230568083,-2.420506272950517]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_30","position":[-0.3713749706946238,-1.2643572836921533,0.71338606911949],"aabb_xy":[[-0.4413749733312101,-1.2844621486880183],[-0.30137496805803743,-1.2442524186962873]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_31","position":[-0.5935419652584365,-1.2266900744556544,0.71338606911949],"aabb_xy":[[-0.6109726803374429,-1.2439621891195047],[-0.5761112501794299,-1.209417959791803]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[0.5176602734046336,-1.5844189954415615,0.71338606911949],"aabb_xy":[[0.4841811061435928,-1.6178981088126685],[0.5511394406656747,-1.5509398820704545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.684546154359788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4474.png","name":"4474"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3005.png","name":"3005"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5760.png","name":"5760"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1267.png","name":"1267"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":504.82505138849257,"rotation_z_degrees":242.31803020364612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007919003973378094,-0.011685482932998573,-0.018926826953040803]},{"name":"camera_2","offset_m":[0.01908886098981909,0.015198252871164521,0.012791464427685025]},{"name":"camera_3","offset_m":[0.0012526141056717864,0.01817190239810403,0.00021549079589296832]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012965032107062889,0.0008168553144291125,0.0008968335280491379],"end_effector_yaw_offset_degrees":-0.3368238387500164},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018529247118619075,0.00019304529863107753,0.0001700911858754971],"end_effector_yaw_offset_degrees":0.7495437800129294},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014049030725782168,-0.0015653283048441859,0.0008234167654959323],"end_effector_yaw_offset_degrees":0.6996744290859136}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003636424596739494,0.002499799531487013],"position_m":[0.30696357540326047,-0.01790020046851299,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014920610291243768,0.0021857752655636987],"position_m":[0.1508920610291244,0.2814857752655637,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034336512910177934,0.00198997034230644],"position_m":[0.3462336512910178,0.21508997034230645,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024000407902762624,-0.002901980858348869],"position_m":[0.2562999592097237,-0.3646019808583489,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37d1039a050b75056fb108c0ce2720fa47837878d899c1b1ef7fe03dfc8bb9c9","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8849/tex_ceiling_textures_1267/tex_floor_textures_5760/tex_table_textures_4474/tex_wall_textures_3005","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2122757145698891203,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2122757145698891203,"visual_seed":2122757145698891203,"scene_id":"lab_003","finished_at":"2026-09-03T11:41:24"} +{"episode_id":"ep_000072","started_at":"2026-09-03T11:41:27","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.22959429862232306,-2.4541384252871334,0.71338606911949],"aabb_xy":[[-0.30959429578189834,-2.4656860262449505],[-0.14959430146274777,-2.4425908243293164]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[0.4603758068189774,-1.7038383549253897,0.71338606911949],"aabb_xy":[[0.4495353285924624,-1.7210246362160382],[0.47121628504549223,-1.6866520736347408]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.322821871787335,-1.5266580754886305,0.71338606911949],"aabb_xy":[[-0.3603218718929279,-1.5334802373416117],[-0.285321871681742,-1.5198359136356494]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.1849762049876491,-0.7227218854147337,0.71338606911949],"aabb_xy":[[-0.26497620825166224,-0.736281917723647],[-0.10497620172363598,-0.7091618531058204]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.09828144637876834,-1.3804687203116863,0.71338606911949],"aabb_xy":[[0.034281449076421944,-1.424835147279543],[0.16228144368111475,-1.3361022933438296]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.5292891872010224,0.8906937244195925,0.71338606911949],"aabb_xy":[[0.46528919080544917,0.8267304360008589],[0.5932891835965953,0.954657012838326]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.45527057951419936,-1.8992847950847183,0.71338606911949],"aabb_xy":[[0.3912705803444294,-1.9460514822036807],[0.5192705786839693,-1.8525181079657558]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[-0.27713941549964277,-1.8903891411618519,0.71338606911949],"aabb_xy":[[-0.2948150460882411,-1.9080693574412544],[-0.25946378491104444,-1.8727089248824489]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.5159254455584066,-0.989412630419662,0.71338606911949],"aabb_xy":[[0.46593043459895467,-1.039412629455254],[0.5659204565178587,-0.9394126313840705]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.33305739320022004,-0.9174778451940884,0.71338606911949],"aabb_xy":[[-0.34894188646554514,-0.9318307854929124],[-0.31717289993489484,-0.9031249048952643]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.23462506968411956,-0.9493738059803232,0.71338606911949],"aabb_xy":[[-0.2463932564787771,-1.034373805885545],[-0.22285688288946207,-0.8643738060751017]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.14667879898801206,-1.3401644994707826,0.71338606911949],"aabb_xy":[[-0.2016787986097579,-1.3951481922582554],[-0.09167879936626622,-1.28518080668331]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.14844222953091302,-2.0413067049062406,0.71338606911949],"aabb_xy":[[0.1317650935378175,-2.058006628880171],[0.16511936552400852,-2.0246067809323103]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.525949120656497,0.6432388441769659,0.71338606911949],"aabb_xy":[[-0.5759224146597575,0.5932388436224184],[-0.47597582665323657,0.6932388447315131]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.44496673038642953,-0.3319248275151412,0.71338606911949],"aabb_xy":[[0.38999300835009665,-0.3869248270793744],[0.4999404524227624,-0.27692482795090806]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.4975328691138672,-1.8772676588397577,0.71338606911949],"aabb_xy":[[-0.5475171048220444,-1.9272676576532535],[-0.4475486334056899,-1.8272676600262623]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.44309403085985477,0.20643349749133755,0.71338606911949],"aabb_xy":[[0.4333380413506809,0.1966709634321031],[0.45285002036902866,0.216196031550572]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.09371178729028184,-1.1537727355753526,0.71338606911949],"aabb_xy":[[-0.1024930144375181,-1.162552482863883],[-0.08493056014304563,-1.1449929882868224]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.20555823861029887,1.4994298704684597,0.71338606911949],"aabb_xy":[[-0.2955582353459091,1.4462464071511651],[-0.11555824187468863,1.5526133337857542]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.3256196176286861,-1.4671141807865806,0.71338606911949],"aabb_xy":[[0.3200379459945573,-1.4796141806043561],[0.33120128926281484,-1.4546141809688051]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.2536363190852129,1.4079428689679339,0.71338606911949],"aabb_xy":[[0.16363632258434116,1.3620312265494756],[0.34363631558608465,1.453854511386392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6830960181929022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/699.png","name":"699"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/699.png","name":"699"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1394.png","name":"1394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5742.png","name":"5742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/966.png","name":"966"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8957.png","name":"8957"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":683.7379412302321,"rotation_z_degrees":126.28701947471,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015435363627959307,-0.0043298774252369075,0.0020911490003968636]},{"name":"camera_2","offset_m":[-0.015651239844802545,-0.008453363642058048,-0.009592582784419545]},{"name":"camera_3","offset_m":[0.010753845087956907,-0.0151083457725059,-0.013693458665563232]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014615026651630695,-0.001066686285043518,0.0006687059136751771],"end_effector_yaw_offset_degrees":-0.7280208085428297},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011559200270858491,0.001114591681250397,0.0010750115453313606],"end_effector_yaw_offset_degrees":-0.35304934552500034},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019355861548801222,-0.0005023772197686235,0.0016930671466239208],"end_effector_yaw_offset_degrees":0.9531949721444957}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0040855097861081215,0.0019471965510815467],"position_m":[0.3146855097861081,-0.018452803448918455,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003590825374147042,-0.002905377631339654],"position_m":[0.14580917462585297,0.27639462236866036,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003323878809893624,0.004238136997665359],"position_m":[0.3461238788098936,0.21733813699766538,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00010445288191290002,0.0035293647866866526],"position_m":[0.2585955471180871,-0.3581706352133134,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f4f296478ac320a166aaba498a43ffaa913d4ceedb8a2e377657b21f38515c2e","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_699/tex_ceiling_textures_8957/tex_floor_textures_966/tex_table_textures_1394/tex_wall_textures_5742","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4513683467321681330,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4513683467321681330,"visual_seed":4513683467321681330,"scene_id":"lab_003","finished_at":"2026-09-03T11:43:53"} +{"episode_id":"ep_000073","started_at":"2026-09-03T11:43:55","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.3178592804435305,-1.9583605360065346,0.71338606911949],"aabb_xy":[[0.26786616833433863,-2.0083605366807307],[0.3678523925527224,-1.9083605353323392]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.25478371832210434,-2.265972662957103,0.71338606911949],"aabb_xy":[[0.17478372091851088,-2.3459652341552855],[0.3347837157256977,-2.18598009175892]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.22232245480326607,-2.175164674859504,0.71338606911949],"aabb_xy":[[-0.23942453276163422,-2.1922714803907737],[-0.2052203768448979,-2.158057869328234]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.21836301646248807,0.6137684092365672,0.71338606911949],"aabb_xy":[[-0.241278729347538,0.5908641121001437],[-0.1954473035774382,0.6366727063729907]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.6315719736797403,-2.4042979729461256,0.71338606911949],"aabb_xy":[[0.5665719726792398,-2.4550843381008005],[0.6965719746802408,-2.3535116077914506]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.5727141437725194,1.3665560786080055,0.71338606911949],"aabb_xy":[[0.4927141451851999,1.2872404766698446],[0.6527141423598387,1.4458716805461664]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.15739757285402867,1.0124245980404964,0.71338606911949],"aabb_xy":[[0.13110874853358795,0.9861531643858451],[0.18368639717446927,1.0386960316951475]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.020887605920142605,-1.5518865694784223,0.71338606911949],"aabb_xy":[[-0.00161239432337279,-1.5640912041381942],[0.043387606163658,-1.5396819348186503]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[0.08010701250376162,-1.8135763773279754,0.71338606911949],"aabb_xy":[[-0.004892986188313034,-1.845562240722854],[0.16510701119583626,-1.7815905139330963]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.349969733141163,-0.22427740769647864,0.71338606911949],"aabb_xy":[[-0.39996973416029835,-0.2607436234343066],[-0.29996973212202777,-0.18781119195865076]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.3618960078975746,-2.3933939632581205,0.71338606911949],"aabb_xy":[[-0.3961929189153152,-2.4276908494680614],[-0.32759909687983396,-2.3590970770481787]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.348329659361438,0.893068273718046,0.71338606911949],"aabb_xy":[[0.34128934942790107,0.8130682743183747],[0.35536996929497505,0.9730682731177175]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[0.05460499994844947,1.218092935697852,0.71338606911949],"aabb_xy":[[0.029605000396710997,1.2079504518327173],[0.07960499950018796,1.2282354195629868]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.09086963029910666,-2.1772500869283995,0.71338606911949],"aabb_xy":[[0.08679147239205692,-2.1813310671766626],[0.0949477882061564,-2.1731691066801364]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.2689652496865501,-2.533083379150975,0.71338606911949],"aabb_xy":[[0.17896525318567827,-2.578995021569433],[0.35896524618742176,-2.4871717367325163]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.5135777909829904,-1.1548520987863429,0.71338606911949],"aabb_xy":[[-0.5176937410950629,-1.1589676538191882],[-0.5094618408709176,-1.150736543753497]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.5258914071244871,-2.0442576408641173,0.71338606911949],"aabb_xy":[[0.4358914103888769,-2.0974411041814114],[0.6158914038600973,-1.9910741775468224]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.4423204883995895,-1.0075437061640253,0.71338606911949],"aabb_xy":[[0.4350381720229257,-1.0975437097735339],[0.44960280477625303,-0.917543702554516]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.2693565378249646,-1.2254750763534739,0.71338606911949],"aabb_xy":[[0.1893565391680786,-1.2399799352777365],[0.3493565364818506,-1.2109702174292112]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.5282112892029247,-0.4497776814202292,0.71338606911949],"aabb_xy":[[0.4482112912221397,-0.45737922238208123],[0.6082112871837098,-0.44217614045837733]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.03073732292551068,1.5159891949166338,0.71338606911949],"aabb_xy":[[-0.09473732003761637,1.4669568251222231],[0.03326267418659501,1.5650215647110444]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[0.5877703532966552,1.0832039262674225,0.71338606911949],"aabb_xy":[[0.5707602560066044,1.0670694377691483],[0.6047804505867057,1.0993384147656962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847943654601549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6273.png","name":"6273"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6273.png","name":"6273"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1722.png","name":"1722"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1328.png","name":"1328"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8834.png","name":"8834"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":669.3295565630958,"rotation_z_degrees":164.70376091060703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0040444451065015236,0.0011119070906497573,0.012935933575073156]},{"name":"camera_2","offset_m":[0.014687846266914602,0.0001915775062468171,-0.001990619830400494]},{"name":"camera_3","offset_m":[0.00721458056932997,0.01352377681740011,-0.013553061786791842]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010103533826090103,-0.0006008766055017594,-0.0012970533245212955],"end_effector_yaw_offset_degrees":0.07708263742286525},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014877857808671035,6.364701863222555e-05,-0.000706515417293097],"end_effector_yaw_offset_degrees":0.6762933878042345},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016398300692886895,0.0013445148289898002,0.0006946101547268646],"end_effector_yaw_offset_degrees":-0.33131735100971427}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018329241494291762,0.00030494359002899464],"position_m":[0.30876707585057084,-0.02009505640997101,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032907332759015235,-0.0026381973580969133],"position_m":[0.15269073327590152,0.2766618026419031,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003475567946584244,-0.0015191418260698574],"position_m":[0.3393244320534157,0.21158085817393016,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017598658290326205,0.003318808298490453],"position_m":[0.26045986582903263,-0.35838119170150956,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"67ea15878532b93dbdb474b8340bb81970d35d9b71ec85d7bad29fe5eef69ace","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6273/tex_ceiling_textures_8834/tex_floor_textures_1938/tex_table_textures_1722/tex_wall_textures_1328","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":4091908326603714630,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":4091908326603714630,"visual_seed":4091908326603714630,"scene_id":"lab_003","finished_at":"2026-09-03T11:46:10"} +{"episode_id":"ep_000074","started_at":"2026-09-03T11:46:13","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.3303598101620706,-0.8454659924963148,0.71338606911949],"aabb_xy":[[-0.3802425070397668,-0.8954659917425899],[-0.28047711328437436,-0.7954659932500404]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.144055272890812,1.5874389117122276,0.71338606911949],"aabb_xy":[[0.13942015773857855,1.5835715766350789],[0.14869038804304532,1.5913062467893764]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.5252796860755551,0.39633751360726377,0.71338606911949],"aabb_xy":[[-0.5587198612715745,0.3628938877763336],[-0.4918395108795353,0.42978113943819374]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.14939163078530837,-1.422443558205022,0.71338606911949],"aabb_xy":[[0.11439163165535271,-1.428188779280686],[0.18439162991526403,-1.4166983371293578]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[-0.1432683831390411,1.6400145498014802,0.71338606911949],"aabb_xy":[[-0.1584312561159782,1.624849092506362],[-0.12810551016210403,1.6551800070965994]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.40049532162888335,-0.8654011528927619,0.71338606911949],"aabb_xy":[[0.320495324469308,-0.8769487538505788],[0.4804953187884586,-0.8538535519349447]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.2859750763164705,1.2053606199168745,0.71338606911949],"aabb_xy":[[-0.3475658355404634,1.1413606218078276],[-0.22438431709247775,1.2693606180259214]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.5484981905260288,-0.09332382127014727,0.71338606911949],"aabb_xy":[[-0.5984981914765615,-0.12487296827366866],[-0.49849818957549585,-0.06177467426662585]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.6417906826305014,-1.7971578222494524,0.71338606911949],"aabb_xy":[[-0.6481027821668399,-1.8029247615026716],[-0.6354785830941629,-1.7913908829962337]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.5637911639056483,-0.5574307104092218,0.71338606911949],"aabb_xy":[[-0.6012911640112413,-0.5642528722622029],[-0.5262911638000554,-0.5506085485562406]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.2192278626592803,-1.9586954288811698,0.71338606911949],"aabb_xy":[[0.1392278623856733,-2.031644976706886],[0.2992278629328873,-1.885745881055453]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.10323947192121108,1.36313963490602,0.71338606911949],"aabb_xy":[[-0.1672394721951893,1.3130735347087323],[-0.03923947164723285,1.4132057351033083]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[0.4013527577903595,-0.29464623413002844,0.71338606911949],"aabb_xy":[[0.39331642308907466,-0.3026843534344452],[0.40938909249164435,-0.28660811482561166]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.5131209210437768,0.17910572824837967,0.71338606911949],"aabb_xy":[[-0.5196225575517814,0.1693379062220699],[-0.5066192845357722,0.18887355027468947]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.08938509996168553,-2.4123151191011707,0.71338606911949],"aabb_xy":[[0.08380342832755677,-2.424815118918946],[0.09496677159581429,-2.3998151192833945]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.28011010828705196,-2.309226995933134,0.71338606911949],"aabb_xy":[[-0.3441101115056899,-2.3559501078321428],[-0.21611010506841416,-2.262503884034126]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.15381049111023748,-1.723390327538226,0.71338606911949],"aabb_xy":[[-0.16185385103619263,-1.8083903286335925],[-0.14576713118428228,-1.6383903264428596]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.10697437227393436,-2.487547816600746,0.71338606911949],"aabb_xy":[[-0.13737248337307792,-2.517954718602415],[-0.07657626117479076,-2.457140914599076]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.4929230072209314,0.6657518564070113,0.71338606911949],"aabb_xy":[[0.4289230050005243,0.621378772281723],[0.5569230094413384,0.7101249405322996]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.6187628174845188,0.9331108719885317,0.71338606911949],"aabb_xy":[[-0.6291743761650024,0.927765138652633],[-0.608351258804035,0.93845660532443]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.31573497712914717,-0.4714469663018126,0.71338606911949],"aabb_xy":[[-0.36573497670548194,-0.5214275452539185],[-0.2657349775528125,-0.42146638734970665]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.5618644439275415,1.5842624759433384,0.71338606911949],"aabb_xy":[[-0.6169896495571322,1.524262474502051],[-0.5067392382979506,1.6442624773846253]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.049818907185715466,0.6204135047267729,0.71338606911949],"aabb_xy":[[-0.08428138519880324,0.61374982754385],[-0.015356429172627688,0.6270771819096956]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[0.7050017356468758,0.4370047854415744,0.71338606911949],"aabb_xy":[[0.697719419270212,0.3470047818320653],[0.7122840520235393,0.5270047890510832]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.05860861453346666,0.2805651885248759,0.71338606911949],"aabb_xy":[[-0.08725794689388289,0.25191962924780004],[-0.029959282173050432,0.3092107478019516]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.4143879623968452,-2.093169677699379,0.71338606911949],"aabb_xy":[[-0.42685532050658087,-2.1056350023327024],[-0.4019206042871096,-2.0807043530660554]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[0.3194425687397504,0.5458246606804411,0.71338606911949],"aabb_xy":[[0.28444257042905496,0.5381096457568955],[0.35444256705044586,0.5535396756039868]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6830388862066991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1511.png","name":"1511"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1511.png","name":"1511"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6264.png","name":"6264"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2349.png","name":"2349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1519.png","name":"1519"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1654.png","name":"1654"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":598.3582801986904,"rotation_z_degrees":303.5610175733135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006648130042339636,-0.000121288304361266,0.013193706459689324]},{"name":"camera_2","offset_m":[-0.01660917994580292,-0.011964976179367736,-0.015404376006895596]},{"name":"camera_3","offset_m":[0.012345387470965256,-0.009697732420924697,0.004334409028589174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.224682542549882e-05,0.0009257533676809413,0.001117243656657075],"end_effector_yaw_offset_degrees":0.5938570585655965},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009715558956067225,-0.0002089616600360405,-0.0017952364989284667],"end_effector_yaw_offset_degrees":0.0683311555777899},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013368062560226508,0.0004829756852793403,-0.0011266778296039098],"end_effector_yaw_offset_degrees":0.6094430014963532}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046328496517881,-0.0008208687533837059],"position_m":[0.3152328496517881,-0.021220868753383706,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017395421584626833,-0.00303659176834574],"position_m":[0.15113954215846268,0.27626340823165424,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030591859384053463,0.004451326167972222],"position_m":[0.34585918593840537,0.21755132616797224,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025498184725453853,-0.0003039460542850446],"position_m":[0.2561501815274546,-0.36200394605428504,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2274211db0d4dc156ca4445e60dff5395940800284459bf9783dcba026bcc64","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1511/tex_ceiling_textures_1654/tex_floor_textures_1519/tex_table_textures_6264/tex_wall_textures_2349","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3452745439313603742,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3452745439313603742,"visual_seed":3452745439313603742,"scene_id":"lab_003","finished_at":"2026-09-03T11:48:38"} +{"episode_id":"ep_000075","started_at":"2026-09-03T11:51:26","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.19746223961118703,0.8931789327543274,0.71338606911949],"aabb_xy":[[0.14746223859205176,0.8567127170164995],[0.24746224063032232,0.9296451484921554]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.6082817994395671,-0.911365808933088,0.71338606911949],"aabb_xy":[[0.5783142425297413,-0.9413658092309737],[0.6382493563493926,-0.8813658086352022]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.6545481249931466,-1.6608801428059858,0.71338606911949],"aabb_xy":[[-0.6657931805637645,-1.6721219405300811],[-0.6433030694225288,-1.6496383450818906]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.22473686014097194,-1.070207144141893,0.71338606911949],"aabb_xy":[[-0.30473686121409227,-1.0799851904792777],[-0.14473685906785164,-1.0604290978045088]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.5201848519639505,-0.14678137637850464,0.71338606911949],"aabb_xy":[[0.503507715970855,-0.1634813003524349],[0.536861987957046,-0.13008145240457436]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.48785786136502973,1.5004639627925322,0.71338606911949],"aabb_xy":[[0.4704271462860231,1.483191848128681],[0.505288576444036,1.5177360774563826]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.6926726704130262,1.1091444269426245,0.71338606911949],"aabb_xy":[[0.677570368952008,1.094042905311562],[0.7077749718740441,1.1242459485736858]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.22174458366399513,-1.7253833774376162,0.71338606911949],"aabb_xy":[[-0.2563356665180403,-1.790383377722647],[-0.18715350080994989,-1.6603833771525849]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.3773197780740534,-2.500433602019263,0.71338606911949],"aabb_xy":[[-0.4148197785714116,-2.5044022855673815],[-0.3398197775766951,-2.4964649184711445]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.5438522778530896,-0.33680151091042676,0.71338606911949],"aabb_xy":[[0.5237938662398494,-0.3568665978195843],[0.5639106894663299,-0.3167364240012692]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.17542111312213293,0.6659395827343064,0.71338606911949],"aabb_xy":[[-0.18557412867628229,0.629870041161566],[-0.16526809756798352,0.7020091243070467]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[-0.2033433115721091,-0.10199705740148302,0.71338606911949],"aabb_xy":[[-0.22044538953047726,-0.11910386293275275],[-0.18624123361374095,-0.08489025187021325]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.5402779196375305,-1.9351585613580724,0.71338606911949],"aabb_xy":[[-0.5902727525654721,-1.985158560253316],[-0.49028308670958887,-1.8851585624628289]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[-0.4170087405594307,-2.2500996096111745,0.71338606911949],"aabb_xy":[[-0.4395224323828879,-2.320099610212182],[-0.3944950487359735,-2.180099609010167]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.6159138323964526,-1.8020078185828419,0.71338606911949],"aabb_xy":[[0.6062821961760229,-1.8116451313625506],[0.6255454686168821,-1.7923705058031327]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.4663712276927723,-1.2067973032823136,0.71338606911949],"aabb_xy":[[0.4113712294910274,-1.247319269908751],[0.521371225894517,-1.1662753366558758]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.3436834080832407,-1.624440590122274,0.71338606911949],"aabb_xy":[[0.29368413291480455,-1.6744405913982214],[0.3936826832516769,-1.574440588846327]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.17549924615904278,1.7324813877640506,0.71338606911949],"aabb_xy":[[0.1379992463420092,1.7278431764529087],[0.2129992459760763,1.7371195990751924]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.2184116167641994,-2.0216389115015536,0.71338606911949],"aabb_xy":[[-0.255742893289442,-2.056291966296406],[-0.18108034023895678,-1.9869858567067014]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.5208234589477643,1.2785737616954367,0.71338606911949],"aabb_xy":[[-0.5583234590533571,1.2717515998424556],[-0.48332345884217126,1.2853959235484178]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.342823767066231,-1.5926015927282593,0.71338606911949],"aabb_xy":[[-0.34879030600696675,-1.5985627373876232],[-0.3368572281254952,-1.5866404480688954]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872291981592352,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6014.png","name":"6014"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6014.png","name":"6014"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7316.png","name":"7316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2489.png","name":"2489"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3229.png","name":"3229"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":586.3798616942256,"rotation_z_degrees":210.36699223096477,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013661254056999118,0.01146773327179446,-0.010774590086482476]},{"name":"camera_2","offset_m":[0.013360241643027546,-0.003616993602704694,0.016267427134218877]},{"name":"camera_3","offset_m":[-0.019142287478875534,-0.01264349342409235,-0.01953223285925191]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014863076305399485,0.0010993837780952252,0.0018452071206017813],"end_effector_yaw_offset_degrees":0.527628932498144},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[7.303586022059305e-05,0.0012878094821749501,-0.0007500997607196008],"end_effector_yaw_offset_degrees":-0.9364974940261497},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[8.522663660544445e-06,0.0007303857927883923,0.0008073585682836985],"end_effector_yaw_offset_degrees":-0.7207712679475191}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004809875648088832,0.0016503426320785032],"position_m":[0.3154098756480888,-0.018749657367921498,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023966040346906905,-0.0042878308036953736],"position_m":[0.1517966040346907,0.2750121691963046,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004395625100102558,-0.0027222656057835927],"position_m":[0.33840437489989744,0.21037773439421642,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028663857194883907,0.00047279313195052516],"position_m":[0.26156638571948837,-0.3612272068680495,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"506990d0dcacefaccfc9478e995dbd879ea9c4c17217355495d4425f8bd40bf9","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6014/tex_ceiling_textures_3229/tex_floor_textures_2489/tex_table_textures_1091/tex_wall_textures_7316","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5344747890433324521,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5344747890433324521,"visual_seed":5344747890433324521,"scene_id":"lab_003","finished_at":"2026-09-03T11:54:02"} +{"episode_id":"ep_000076","started_at":"2026-09-03T11:54:05","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[0.40576273741074376,1.2341655330610357,0.71338606911949],"aabb_xy":[[0.40091914264951384,1.2293138805820516],[0.4106063321719738,1.2390171855400198]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.25618143506558827,-1.1273357058720368,0.71338606911949],"aabb_xy":[[-0.2696279616996316,-1.1408055575251281],[-0.24273490843154494,-1.1138658542189455]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.07929791189729529,-2.3272577811445716,0.71338606911949],"aabb_xy":[[-0.08937961897586874,-2.407257779036686],[-0.06921620481872179,-2.2472577832524565]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.22214668963942658,1.0467285964712891,0.71338606911949],"aabb_xy":[[-0.3071466883315012,1.0147427330764103],[-0.13714669094735193,1.078714459866168]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.3013801148265349,1.6324802393798712,0.71338606911949],"aabb_xy":[[-0.3169358842368002,1.6169298061354642],[-0.28582434541626967,1.6480306726242786]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[0.2939845866235945,-1.4710052717819626,0.71338606911949],"aabb_xy":[[0.21398458922000105,-1.550997842980145],[0.37398458402718787,-1.3910127005837793]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.19136531208852015,-1.3051476959906705,0.71338606911949],"aabb_xy":[[0.1787385248013238,-1.3146937696922436],[0.2039920993757165,-1.2956016222890978]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.49092256806224244,1.4565979148664376,0.71338606911949],"aabb_xy":[[0.4534225677140146,1.444806519285354],[0.5284225684104702,1.4683893104475212]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.1781704709649511,-0.9637282142503267,0.71338606911949],"aabb_xy":[[0.12819305409969747,-1.013728215739575],[0.22814788783020465,-0.9137282127610781]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.6206988022453976,1.3532977145759184,0.71338606911949],"aabb_xy":[[0.5796808588590268,1.303297713944961],[0.6617167456317685,1.4032977152068757]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.24573866759551366,-2.3573546321887706,0.71338606911949],"aabb_xy":[[0.20823866917211328,-2.3705188461566014],[0.283238666018914,-2.34419041822094]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[0.46149054660416167,-0.30935988898315125,0.71338606911949],"aabb_xy":[[0.4331608366556215,-0.3138206311768683],[0.48982025655270195,-0.3048991467894342]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.11975473873518172,0.6205881510852054,0.71338606911949],"aabb_xy":[[-0.13863912250369193,0.6017022263048526],[-0.10087035496667152,0.6394740758655582]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.11237962121434797,0.8100418413872381,0.71338606911949],"aabb_xy":[[0.022379622619878026,0.793791255073817],[0.2023796198088179,0.826292427700659]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.030116736528612575,-1.908600049364383,0.71338606911949],"aabb_xy":[[-0.039883266107973776,-1.9287049143602482],[0.10011673916519892,-1.8884951843685172]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.5275686352993394,0.3449782640260879,0.71338606911949],"aabb_xy":[[0.44756863203532626,0.3314182317171745],[0.6075686385633525,0.35853829633500117]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.0047983211341138254,1.3741921571498619,0.71338606911949],"aabb_xy":[[-0.0011682178066219628,1.3682310124904977],[0.010764860074849614,1.380153301809226]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.4312768501270857,0.7211940422570748,0.71338606911949],"aabb_xy":[[-0.48127186108653786,0.6711940432214832],[-0.3812818391676338,0.7711940412926668]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.21511635931931083,1.4522442694720517,0.71338606911949],"aabb_xy":[[0.15511635947274405,1.395425647279013],[0.2751163591658776,1.5090628916650903]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.6190072420615731,0.17125374338241306,0.71338606911949],"aabb_xy":[[-0.6277212111115075,0.1487537427232248],[-0.6102932730116385,0.19375374404160126]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.4743577298046555,0.2802796178599549,0.71338606911949],"aabb_xy":[[-0.5243577308237908,0.24381340212212704],[-0.4243577287855203,0.3167458335977829]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.6855848618531515,1.1013562906075753,0.71338606911949],"aabb_xy":[[0.650584863542456,1.0936412756840297],[0.7205848601638469,1.109071305531121]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.07217390433177684,-0.17080298261997084,0.71338606911949],"aabb_xy":[[-0.07680901948401021,-0.17467031769711944],[-0.06753878917954344,-0.16693564754282214]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.5823098323447449,0.7036733316456272,0.71338606911949],"aabb_xy":[[0.5743158437670415,0.6956732515505367],[0.5903038209224483,0.7116734117407174]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[-0.5025632337699597,-1.3870715174673525,0.71338606911949],"aabb_xy":[[-0.5665632358196917,-1.4271660005566604],[-0.4385632317202277,-1.3469770343780445]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.18396243830678827,-2.513656595862402,0.71338606911949],"aabb_xy":[[0.1361562706930196,-2.5786565985694607],[0.2317686059205569,-2.448656593155343]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.03205621160962002,1.5250502371750954,0.71338606911949],"aabb_xy":[[-0.05656983570662588,1.500785643873059],[-0.007542587512614163,1.5493148304771318]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.3979845422755861,0.8678960551727735,0.71338606911949],"aabb_xy":[[-0.44786723915328236,0.8178960559264987],[-0.3481018453978899,0.9178960544190482]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[-0.05534725972045862,0.8179743925314802,0.71338606911949],"aabb_xy":[[-0.09238136914851833,0.7835971851977708],[-0.01831315029239891,0.8523515998651896]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[-0.023351889304913165,-0.8302609767722862,0.71338606911949],"aabb_xy":[[-0.02679256554497034,-0.8341224097466509],[-0.019911213064855993,-0.8263995437979219]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[0.11106594294293648,-2.1028798482522433,0.71338606911949],"aabb_xy":[[0.04706593965322837,-2.146214767256161],[0.1750659462326446,-2.0595449292483257]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_31","position":[0.463065621634968,1.2504281776239807,0.71338606911949],"aabb_xy":[[0.4511935386234669,1.1654281779303304],[0.4749377046464691,1.335428177317631]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_32","position":[-0.07082169617255973,-1.228567313216808,0.71338606911949],"aabb_xy":[[-0.13082169668041266,-1.285414046902729],[-0.010821695664706822,-1.1717205795308865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839860351379425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8162.png","name":"8162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8162.png","name":"8162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9342.png","name":"9342"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2418.png","name":"2418"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7719.png","name":"7719"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5228.png","name":"5228"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":571.5496039447831,"rotation_z_degrees":278.92467656362635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016077942126157332,-0.018031910401111642,0.005330687536150756]},{"name":"camera_2","offset_m":[-0.009351930568839078,0.013701497826192583,-0.01841808356894361]},{"name":"camera_3","offset_m":[-0.011012293250156256,0.015048697673423417,-0.015572595743825874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001784867173749483,0.0014110897392184186,0.00010993510423368486],"end_effector_yaw_offset_degrees":0.7588198359572174},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015565063631678413,-0.0005516521082104364,0.0018007611638902522],"end_effector_yaw_offset_degrees":0.8673954938698247},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014641642723218244,-0.0003916954782483479,-0.00014382847894671446],"end_effector_yaw_offset_degrees":-0.0885748759268361}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000922556091069884,0.00312469568713905],"position_m":[0.3096774439089301,-0.01727530431286095,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003760100738857541,0.004959725054490637],"position_m":[0.15316010073885755,0.28425972505449065,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009355771649894188,-0.0012391664770862198],"position_m":[0.34186442283501056,0.2118608335229138,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011017995735183705,0.00022784727123302366],"position_m":[0.2575982004264816,-0.361472152728767,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"79c6d7f17509101f2599c397ccbab9c38d564dfce56c0774e579f581348d4545","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8162/tex_ceiling_textures_5228/tex_floor_textures_7719/tex_table_textures_9342/tex_wall_textures_2418","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7883669928611206477,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7883669928611206477,"visual_seed":7883669928611206477,"scene_id":"lab_003","finished_at":"2026-09-03T11:56:31"} +{"episode_id":"ep_000077","started_at":"2026-09-03T11:59:30","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.5481617379572881,0.9645173117479868,0.71338606911949],"aabb_xy":[[-0.638161737375659,0.931141814903797],[-0.4581617385389172,0.9978928085921764]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.04405265421700599,1.813081374115645,0.71338606911949],"aabb_xy":[[0.026377023628407655,1.7954011578362423],[0.06172828480560432,1.8307615903950478]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.2137657456008092,1.7209336685579335,0.71338606911949],"aabb_xy":[[-0.24876574557730505,1.7114690525103171],[-0.17876574562431338,1.7303982846055503]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.3663381164800483,1.4951637042412034,0.71338606911949],"aabb_xy":[[-0.3837688315590547,1.4778915895773521],[-0.3489074014010417,1.5124358189050537]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.2777240975469018,1.3383280620276357,0.71338606911949],"aabb_xy":[[-0.34172409465900755,1.289295692233225],[-0.21372410043479617,1.3873604318220463]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.5896465428902695,-2.1862599437389854,0.71338606911949],"aabb_xy":[[-0.5936070266600039,-2.1939278083245064],[-0.5856860591205352,-2.178592079153465]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.006304649345047042,-2.045356835489171,0.71338606911949],"aabb_xy":[[-0.010705447945003612,-2.061491323987445],[0.023314746635097694,-2.029222346990897]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.4913172371791772,-0.15891445359829826,0.71338606911949],"aabb_xy":[[0.4413398203139235,-0.20891445508754677],[0.5412946540444306,-0.1089144521090497]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.42191896566512566,-2.4133460107294864,0.71338606911949],"aabb_xy":[[-0.4464651812878764,-2.443594907278523],[-0.39737275004237493,-2.383097114180449]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[-0.17409771943281804,-1.1970093442331229,0.71338606911949],"aabb_xy":[[-0.18500349552038076,-1.2770093406319518],[-0.16319194334525533,-1.1170093478342935]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.09648318821742596,1.1381839068864164,0.71338606911949],"aabb_xy":[[0.046483186856538745,1.0882060023110007],[0.1464831895783132,1.188161811461832]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.23633459699452142,-0.28342220479036095,0.71338606911949],"aabb_xy":[[-0.28643206097559504,-0.34742220530017276],[-0.1862371330134478,-0.21942220428054915]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[0.07009719681376891,-1.0959729930491304,0.71338606911949],"aabb_xy":[[0.010097196562367725,-1.150254318085595],[0.1300971970651701,-1.0416916680126658]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.5725386760482523,-0.47595239106855525,0.71338606911949],"aabb_xy":[[-0.6075386743589477,-0.4836674059921009],[-0.5375386777375568,-0.4682373761450096]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[0.5577786918804621,0.49902388694442834,0.71338606911949],"aabb_xy":[[0.5348629789954124,0.4761195898080049],[0.5806944047655122,0.5219281840808518]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.18975398420752976,-2.030012742113166,0.71338606911949],"aabb_xy":[[0.13975897324807776,-2.080012741148758],[0.23974899516698184,-1.9800127430775745]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.24386439563562756,-1.2200111648414356,0.71338606911949],"aabb_xy":[[0.22136439562547924,-1.2341073844810386],[0.26636439564577585,-1.205914945201832]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.0342641634625277,0.21310088951939132,0.71338606911949],"aabb_xy":[[-0.04942703643946479,0.1979354322242726],[-0.01910129048559062,0.2282663468145101]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.42408271774876133,1.233820711552438,0.71338606911949],"aabb_xy":[[-0.44791893538936645,1.1438207107439515],[-0.4002465001081563,1.3238207123609245]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.07507348505737643,-1.676593571480463,0.71338606911949],"aabb_xy":[[0.010073484100249218,-1.7285417834141688],[0.14007348601450362,-1.6246453595467576]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.38399414393020503,-2.2496543522898476,0.71338606911949],"aabb_xy":[[0.3189941460485573,-2.3007780159963884],[0.44899414181185293,-2.1985306885833067]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.07935392965743038,-0.4706383865217001,0.71338606911949],"aabb_xy":[[-0.11685392808083071,-0.4838026004895307],[-0.041853931234030015,-0.45747417255386946]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[-0.08107981532232289,0.7032418740470159,0.71338606911949],"aabb_xy":[[-0.1185798156144977,0.6992003986464121],[-0.04357981503014806,0.7072833494476194]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.5553660340812925,0.6821447688792714,0.71338606911949],"aabb_xy":[[-0.5728659675152759,0.6646447689590369],[-0.5378661006473091,0.699644768799506]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[0.2133091782498443,-1.0136318138745732,0.71338606911949],"aabb_xy":[[0.2039621706675491,-1.0279354360922173],[0.22265618583213956,-0.9993281916569292]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.4496956308182044,-0.28105674115248336,0.71338606911949],"aabb_xy":[[-0.5136956272137775,-0.3450200295712169],[-0.38569563442263133,-0.2170934527337498]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.5854671039810344,-1.2564053713851908,0.71338606911949],"aabb_xy":[[-0.6354671050001698,-1.2928715871230188],[-0.5354671029618993,-1.2199391556473629]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_27","position":[0.4458366895634862,-0.6505311931789697,0.71338606911949],"aabb_xy":[[0.36211446406340375,-0.7405311967136656],[0.5295589150635687,-0.5605311896442737]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_28","position":[-0.5391876480989275,-1.9193737887204236,0.71338606911949],"aabb_xy":[[-0.5691793108327978,-1.949373788057224],[-0.5091959853650572,-1.8893737893836229]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[-0.01196208420944389,1.3415954318860877,0.71338606911949],"aabb_xy":[[-0.026605489763476875,1.3269367122293032],[0.0026813213445890938,1.3562541515428717]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_30","position":[0.20872792309155086,1.273425624185454,0.71338606911949],"aabb_xy":[[0.191149620902604,1.2558511346113488],[0.2263062252804977,1.2910001137595588]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_31","position":[-0.3882986948075796,-1.98345544971784,0.71338606911949],"aabb_xy":[[-0.4381813916852759,-2.0334554489641157],[-0.33841599792988347,-1.933455450471566]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_32","position":[0.6251710592156277,-1.381134839273342,0.71338606911949],"aabb_xy":[[0.6203274644543977,-1.3859864917523261],[0.6300146539768576,-1.376283186794358]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_33","position":[0.16941684416494707,-2.341211436186516,0.71338606911949],"aabb_xy":[[0.10541684211521507,-2.381305919275824],[0.23341684621467906,-2.301116953097208]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_34","position":[-0.5193918829119885,-0.9926993352304556,0.71338606911949],"aabb_xy":[[-0.6093918815064585,-1.0089499215438766],[-0.4293918843175186,-0.9764487489170346]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853479876587973,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8644.png","name":"8644"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8644.png","name":"8644"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2891.png","name":"2891"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2734.png","name":"2734"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9329.png","name":"9329"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6268.png","name":"6268"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":710.9309446222679,"rotation_z_degrees":356.8377152477654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017882154363502,0.0071092924627293545,0.007083607388871545]},{"name":"camera_2","offset_m":[0.002480873884144693,0.016645095862749575,-0.01879928968837803]},{"name":"camera_3","offset_m":[0.0014802508416801169,0.0044096946704931875,-0.01886201765290152]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001282379476715267,-0.001183420316767245,-0.0013308947333409357],"end_effector_yaw_offset_degrees":0.354766986754663},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016995842479408598,-0.00013715069031450754,-0.0019062027488807507],"end_effector_yaw_offset_degrees":0.5805162021858272},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005586871729834524,-0.0016957510827411593,0.0016820006032931879],"end_effector_yaw_offset_degrees":-0.6694596281943332}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00413967881553734,0.0013238002428420702],"position_m":[0.30646032118446265,-0.019076199757157932,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012152176262206068,0.004928894029000691],"position_m":[0.1506152176262206,0.2842288940290007,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001819101255823079,0.0029806758399283277],"position_m":[0.34461910125582307,0.21608067583992835,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009424113309624916,-0.0020882927153397656],"position_m":[0.2577575886690375,-0.3637882927153398,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2949882addbcc04536b7755f8a9fea184442cf01c3fd2412c0d29c344457e140","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8644/tex_ceiling_textures_6268/tex_floor_textures_9329/tex_table_textures_2891/tex_wall_textures_2734","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8192108708520019837,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8192108708520019837,"visual_seed":8192108708520019837,"scene_id":"lab_003","finished_at":"2026-09-03T12:02:01"} +{"episode_id":"ep_000078","started_at":"2026-09-03T12:02:03","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.10354477271790175,0.7404435380576877,0.71338606911949],"aabb_xy":[[0.061360358557071004,0.6764435377804765],[0.1457291868787325,0.8044435383348989]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.5292092863463205,-0.06122565143981529,0.71338606911949],"aabb_xy":[[0.5221678353955729,-0.06825240317760983],[0.5362507372970681,-0.05419889970202075]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.5597178490943534,-1.7625489502105784,0.71338606911949],"aabb_xy":[[-0.5772178493394027,-1.780048738050145],[-0.5422178488493039,-1.7450491623710114]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.17743306612375853,1.3400338198267603,0.71338606911949],"aabb_xy":[[0.11243306501781528,1.315068446758632],[0.24243306722970184,1.3649991928948886]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.3298960097532053,-0.6628714756797354,0.71338606911949],"aabb_xy":[[0.23989601033483438,-0.6962469725239251],[0.41989600917157616,-0.6294959788355456]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[-0.3063625851341738,-0.9590590462368485,0.71338606911949],"aabb_xy":[[-0.3713625832900929,-0.9853552907867608],[-0.2413625869782548,-0.9327628016869364]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.11603640645194091,-0.17038050458253506,0.71338606911949],"aabb_xy":[[-0.12416409464525413,-0.1792941129932427],[-0.10790871825862769,-0.16146689617182738]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.5114139165049271,-0.7245898142260769,0.71338606911949],"aabb_xy":[[-0.5305262238629059,-0.743724593103319],[-0.4923016091469482,-0.7054550353488349]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.48849086893041616,-1.2991695215252033,0.71338606911949],"aabb_xy":[[0.4639772448334103,-1.32343411482724],[0.513004493027422,-1.274904928223167]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.2661076879910412,-2.470940475581962,0.71338606911949],"aabb_xy":[[-0.2837405235845687,-2.4885634215975845],[-0.24847485239751357,-2.4533175295663385]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.007601607123027709,-2.287163172730639,0.71338606911949],"aabb_xy":[[-0.07239839146429171,-2.3664787746688],[0.08760160571034713,-2.2078475707924783]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.3827880349936489,0.6904256638709008,0.71338606911949],"aabb_xy":[[-0.4002880342717357,0.6730875638045547],[-0.36528803571556195,0.7077637639372466]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.25443102689226854,-0.6824198512360966,0.71338606911949],"aabb_xy":[[-0.3044310282531557,-0.7323977558115122],[-0.2044310255313813,-0.632441946660681]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.517689714672306,-1.5930090019355776,0.71338606911949],"aabb_xy":[[-0.5826897173100994,-1.6444886006350246],[-0.45268971203451247,-1.5415294032361306]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.3984120121358248,-0.4583940326049287,0.71338606911949],"aabb_xy":[[-0.43404116803578446,-0.4940266993617817],[-0.362782856235865,-0.4227613658480758]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.11273616493036198,-2.093076896805581,0.71338606911949],"aabb_xy":[[-0.16273616621420192,-2.1430557511962025],[-0.062736163646522,-2.0430980424149583]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.5862267852951133,-2.0216199486652293,0.71338606911949],"aabb_xy":[[0.5062267866382273,-2.036124807589492],[0.6662267839519993,-2.0071150897409664]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.022959807433818757,0.9329373205050557,0.71338606911949],"aabb_xy":[[-0.014540192509947647,0.9246442304702192],[0.06045980737758516,0.9412304105398923]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.4843912005685236,-0.8793242473269138,0.71338606911949],"aabb_xy":[[0.40439120029491665,-0.9522737951526307],[0.5643912008421306,-0.8063746995011972]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.3177840123801019,-1.9685440544019221,0.71338606911949],"aabb_xy":[[0.3046327664088126,-1.993544054158609],[0.3309352583513913,-1.9435440546452358]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.5754457910513531,0.13855722116781966,0.71338606911949],"aabb_xy":[[-0.6129457912232249,0.10585648578491244],[-0.537945790879481,0.17125795655072681]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.6617969891307958,1.4595453845872464,0.71338606911949],"aabb_xy":[[0.6530990268400804,1.4474204102797716],[0.6704949514215109,1.471670358894721]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.6077765163802702,1.2636051434918123,0.71338606911949],"aabb_xy":[[-0.6124116315325033,1.2597378084146633],[-0.6031414012280366,1.2674724785689608]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.040596703246882915,-1.8984563298149393,0.71338606911949],"aabb_xy":[[0.019318695103410666,-1.9634563321410121],[0.061874711390355164,-1.833456327488866]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[0.4568256758115654,1.7518615056749147,0.71338606911949],"aabb_xy":[[0.44558062024094763,1.7406197079508192],[0.4680707313821833,1.7631033033990098]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[-0.1242961967281021,1.1247436891512215,0.71338606911949],"aabb_xy":[[-0.15929619670459796,1.1152790731036049],[-0.0892961967516063,1.134208305198838]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[0.007314335994062282,1.1901343503645219,0.71338606911949],"aabb_xy":[[-0.04767887534307448,1.1351343500257283],[0.062307547331199045,1.2451343507033155]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[-0.14433501237272206,0.4607399584871281,0.71338606911949],"aabb_xy":[[-0.16933501192446054,0.4505974746219934],[-0.11933501282098358,0.47088244235226284]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[-0.31452188149587207,-0.1360426092980802,0.71338606911949],"aabb_xy":[[-0.34898435950895984,-0.142706286481003],[-0.2800594034827843,-0.12937893211515736]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_29","position":[0.6108574521927523,0.8818277058209287,0.71338606911949],"aabb_xy":[[0.5558574539910074,0.8413057391944911],[0.6658574503944971,0.9223496724473663]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[0.11154257171317628,-1.481380423537044,0.71338606911949],"aabb_xy":[[0.10742662160110358,-1.4854959785698894],[0.11565852182524891,-1.4772648685041982]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_31","position":[0.11769867877680917,-1.629492829937739,0.71338606911949],"aabb_xy":[[0.06771572858932981,-1.679492829580299],[0.16768162896428845,-1.5794928302951783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841905553995156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7403.png","name":"7403"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7403.png","name":"7403"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6094.png","name":"6094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8159.png","name":"8159"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7067.png","name":"7067"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":827.7981333129464,"rotation_z_degrees":96.006159708088,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008605481540369525,-0.012982982755763685,-0.012528834057926628]},{"name":"camera_2","offset_m":[0.01623752117131357,-0.01789663659521605,-0.011870447574231502]},{"name":"camera_3","offset_m":[0.01436663175132014,-0.014160202575903447,-0.006125509855856564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011578503506246523,0.0015102150097505737,-0.00027129665320652844],"end_effector_yaw_offset_degrees":0.6433410543699769},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006101311836120135,-0.00023064949175939545,0.00025912811405352874],"end_effector_yaw_offset_degrees":-0.9263438122901178},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019221763238337318,0.0017888562296594509,4.649673050167698e-05],"end_effector_yaw_offset_degrees":-0.3869825518916816}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001851183989945741,6.053736728783843e-05],"position_m":[0.3107851183989946,-0.020339462632712163,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004454114258505848,-0.0011629602942816765],"position_m":[0.15385411425850584,0.2781370397057183,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026308028353727994,0.004761989376437836],"position_m":[0.3454308028353728,0.21786198937643786,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004625578094879035,0.0023633954877188765],"position_m":[0.2591625578094879,-0.35933660451228117,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f33606b71bd442a513d683bcf05f01d14d48bd0cb783a8e731597fb00d4c8a82","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7403/tex_ceiling_textures_7067/tex_floor_textures_8159/tex_table_textures_6094/tex_wall_textures_4206","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5405949664131138101,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5405949664131138101,"visual_seed":5405949664131138101,"scene_id":"lab_003","finished_at":"2026-09-03T12:04:37"} +{"episode_id":"ep_000079","started_at":"2026-09-03T12:06:05","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.5772149412578801,1.7432886187689562,0.71338606911949],"aabb_xy":[[-0.6322149394596248,1.7027666521425187],[-0.5222149430561351,1.7838105853953938]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[0.27430359769691404,-1.1273506596868943,0.71338606911949],"aabb_xy":[[0.22430359641307404,-1.1773295140775162],[0.32430359898075395,-1.077371805296272]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.33539054010563646,-2.217307608062156,0.71338606911949],"aabb_xy":[[-0.35789054034915185,-2.229512242721928],[-0.31289053986212106,-2.205102973402384]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[-0.04955546509816411,0.7516093059468303,0.71338606911949],"aabb_xy":[[-0.05835752040713681,0.7437979797919012],[-0.04075340978919139,0.7594206321017594]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[-0.22079492515930632,0.5526306915864221,0.71338606911949],"aabb_xy":[[-0.23900074882055403,0.5416052910044304],[-0.20258910149805867,0.5636560921684137]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.2709139278618315,-1.0005769748178348,0.71338606911949],"aabb_xy":[[-0.29956326022224766,-1.0292225340949106],[-0.24226459550141521,-0.971931415540759]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.10365153187662424,-0.6329842164573776,0.71338606911949],"aabb_xy":[[0.0910488327395478,-0.6455796126822431],[0.1162542310137007,-0.6203888202325121]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.3691058695985103,-2.5712629072200746,0.71338606911949],"aabb_xy":[[0.35786081402789255,-2.5825047049441694],[0.3803509251691282,-2.560021109495979]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.08549169956291036,-1.2985472391538353,0.71338606911949],"aabb_xy":[[0.027861230675639496,-1.3585472380805457],[0.1431221684501812,-1.2385472402271245]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.27078052236279626,-1.7191572787153642,0.71338606911949],"aabb_xy":[[-0.32577600018345565,-1.7741572801492709],[-0.21578504454213687,-1.664157277281457]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[0.32211268836574125,1.2811537020891244,0.71338606911949],"aabb_xy":[[0.31407635366445635,1.2731155827847074],[0.33014902306702604,1.289191821393541]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[0.07521953335533837,-1.6586082772706239,0.71338606911949],"aabb_xy":[[0.03667384053013734,-1.6971540483268126],[0.11376522618053941,-1.6200625062144351]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.5014895296590394,-0.23999153530157447,0.71338606911949],"aabb_xy":[[0.43148952626747733,-0.27530730900500533],[0.5714895330506012,-0.2046757615981436]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.36810872545936113,-0.7011861045704069,0.71338606911949],"aabb_xy":[[0.3583527359501872,-0.7109486386296413],[0.37786471496853496,-0.6914235705111724]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.23946835439258335,-1.4985214961505773,0.71338606911949],"aabb_xy":[[-0.2729475216536243,-1.5320006095216845],[-0.2059891871315424,-1.4650423827794705]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.4318332809117667,1.4805842307763437,0.71338606911949],"aabb_xy":[[-0.4398766408377218,1.395584229680977],[-0.4237899209858115,1.56558423187171]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.4561918252415511,-2.135119188871406,0.71338606911949],"aabb_xy":[[0.45207587512947833,-2.139234743904251],[0.46030777535362366,-2.13100363383856]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.3219233304563478,-2.3806194038215014,0.71338606911949],"aabb_xy":[[-0.3457595480969529,-2.4706194046299883],[-0.2980871128157428,-2.2906194030130154]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.29758410574565075,1.1918122383402712,0.71338606911949],"aabb_xy":[[-0.31886211388912294,1.126812236014198],[-0.27630609760217845,1.2568122406663442]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.5917491471983496,-0.19771449829305698,0.71338606911949],"aabb_xy":[[-0.5981629608415344,-0.2041243185407253],[-0.5853353335551645,-0.19130467804538862]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860116103302003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1874.png","name":"1874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1874.png","name":"1874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1904.png","name":"1904"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5093.png","name":"5093"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2624.png","name":"2624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7139.png","name":"7139"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":836.0149572398157,"rotation_z_degrees":23.851586749242053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019823582992391394,0.012708114953683677,-0.018347432922581897]},{"name":"camera_2","offset_m":[0.016680888959420794,-0.009752623482025413,0.011012422687272906]},{"name":"camera_3","offset_m":[-0.0005006585641924369,-0.01498254246754962,-0.013839118830010624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005724857709658768,-0.0007513771972695333,0.0006864410524444428],"end_effector_yaw_offset_degrees":-0.4448855738013058},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009801990735926495,-0.00045964557934399645,-0.0006907141133807105],"end_effector_yaw_offset_degrees":0.759757846800551},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012742202357004335,-0.0006494492328272647,0.0012291885621913234],"end_effector_yaw_offset_degrees":-0.9183593756515069}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017640325683659554,-0.004787374354377768],"position_m":[0.30883596743163405,-0.02518737435437777,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004906414758324752,0.0025459891675492074],"position_m":[0.15430641475832477,0.2818459891675492,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00415166729352509,0.001261860388262633],"position_m":[0.34695166729352506,0.21436186038826263,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003972333191203895,0.004602319965467879],"position_m":[0.26267233319120387,-0.35709768003453213,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a0d32a2ecf5e227c80a1a6721414a74328d2a6a3dbe05fe0f5cfe0693a3f6bd9","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1874/tex_ceiling_textures_7139/tex_floor_textures_2624/tex_table_textures_1904/tex_wall_textures_5093","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":1849243289638165285,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":1849243289638165285,"visual_seed":1849243289638165285,"scene_id":"lab_003","finished_at":"2026-09-03T12:08:29"} +{"episode_id":"ep_000080","started_at":"2026-09-03T12:08:32","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.2608380061095584,-0.5501297681177375,0.71338606911949],"aabb_xy":[[-0.264953956221631,-0.554245323150583],[-0.25672205599748565,-0.5460142130848918]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.11995534347550518,0.0628114569609588,0.71338606911949],"aabb_xy":[[-0.1574553435810981,0.05598929510797767],[-0.08245534336991221,0.06963361881393991]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.09713859741669861,-1.5333670003828102,0.71338606911949],"aabb_xy":[[-0.10655607198656136,-1.5427831775205292],[-0.08772112284683586,-1.5239508232450911]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.6407890803996458,1.0588305431996177,0.71338606911949],"aabb_xy":[[-0.6525572671943034,0.9738305432943963],[-0.6290208936049884,1.1438305431048394]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.5260464929413946,0.45284410943967224,0.71338606911949],"aabb_xy":[[0.45604649653143264,0.43240617378799034],[0.5960464893513562,0.4732820450913538]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.18591074842775734,-0.7066012575462364,0.71338606911949],"aabb_xy":[[-0.22037322644084506,-0.7132649347291592],[-0.15144827041466952,-0.6999375803633135]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.5041070493096291,1.212536515779611,0.71338606911949],"aabb_xy":[[0.48667633423062256,1.19526440111576],[0.5215377643886355,1.2298086304434617]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.23450951002339998,-0.8263277238974027,0.71338606911949],"aabb_xy":[[-0.2471122091604764,-0.8389231201222683],[-0.2219068108863235,-0.8137323276725373]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.117884947382635,-1.9501720848351916,0.71338606911949],"aabb_xy":[[0.03288494896521177,-2.0350463802974765],[0.20288494580005823,-1.8652977893729066]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.2823649005217924,1.0197523005607638,0.71338606911949],"aabb_xy":[[0.2663029730632748,0.9347522987481719],[0.29842682798031006,1.1047523023733554]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.120052973707517,-1.2663267978724893,0.71338606911949],"aabb_xy":[[0.050052971070930624,-1.2864316628683545],[0.1900529763441033,-1.2462219328766235]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.5160386279076621,0.198941410536424,0.71338606911949],"aabb_xy":[[0.45203862763368385,0.148875310339136],[0.5800386281816403,0.24900751073371194]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.11888883279904339,-1.0635551818104747,0.71338606911949],"aabb_xy":[[-0.17888883339505957,-1.1183676543556982],[-0.05888883220302721,-1.0087427092652512]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.5367197139452388,-0.7515079969800336,0.71338606911949],"aabb_xy":[[-0.5732155345725175,-0.7879919394067911],[-0.50022389331796,-0.715024054553276]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.36594804290353367,-0.5292519770441633,0.71338606911949],"aabb_xy":[[-0.3751079218474102,-0.5357831950877003],[-0.356788163959657,-0.5227207590006262]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.30483678463856323,-0.4364057125623271,0.71338606911949],"aabb_xy":[[0.2913902580045199,-0.4498755642154183],[0.31828331127260656,-0.42293586090923585]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.0552727971546626,1.4707975935310977,0.71338606911949],"aabb_xy":[[0.02068171430061738,1.4057975932460665],[0.0898638800087078,1.5357975938161286]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[-0.5302707356869362,-1.9345651646125532,0.71338606911949],"aabb_xy":[[-0.5481398434413915,-1.9483980725897638],[-0.5124016279324806,-1.9207322566353422]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.1583613723623667,-0.20308655253940877,0.71338606911949],"aabb_xy":[[-0.21836137400528854,-0.25508670183135296],[-0.09836137071944484,-0.1510864032474646]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.5916062368489237,0.41964585918444275,0.71338606911949],"aabb_xy":[[-0.606778406130557,0.4044770022562394],[-0.5764340675672903,0.4348147161126461]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.6605801009083816,1.1144240556370404,0.71338606911949],"aabb_xy":[[0.5965801023218091,1.0674170922375317],[0.724580099494954,1.161431019036549]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.6714070518732898,1.5251514468884912,0.71338606911949],"aabb_xy":[[0.6339070519295233,1.5168583568536547],[0.7089070518170562,1.5334445369233278]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.5213837948643392,0.045478835151292696,0.71338606911949],"aabb_xy":[[0.4988837950504368,0.041004218780812],[0.5438837946782416,0.04995345152177338]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.49831551508313715,-1.6321256388829033,0.71338606911949],"aabb_xy":[[-0.5523311113650371,-1.6961256417751602],[-0.4442999188012371,-1.568125635990646]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[0.49930547149335935,-1.9130800035395255,0.71338606911949],"aabb_xy":[[0.43530547008536874,-1.96486895506345],[0.56330547290135,-1.8612910520156005]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[-0.04950027470556395,-2.1660507294947497,0.71338606911949],"aabb_xy":[[-0.1135002719912126,-2.2075574484475933],[0.014499722580084695,-2.1245440105419053]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[0.05960387110741883,1.0125203380329966,0.71338606911949],"aabb_xy":[[-0.005396131530374659,0.9610407393335496],[0.12460387374521231,1.0639999367324435]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.31541244487930653,1.533838188226286,0.71338606911949],"aabb_xy":[[0.30736908495335136,1.4488381871309193],[0.3234558048052617,1.6188381893216521]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[-0.3076590879310854,-2.2727864528687602,0.71338606911949],"aabb_xy":[[-0.320126446040821,-2.285251777502084],[-0.2951917298213497,-2.260321128235437]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_29","position":[0.30528717698184904,-0.5494830238888251,0.71338606911949],"aabb_xy":[[0.24028717910020125,-0.600606687595366],[0.3702871748634968,-0.4983593601822842]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6811967968204486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3724.png","name":"3724"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4990.png","name":"4990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1833.png","name":"1833"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/239.png","name":"239"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":602.3781839216318,"rotation_z_degrees":6.409546164063236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004524891277063056,-0.007277213968020297,0.010647899350749258]},{"name":"camera_2","offset_m":[0.002381438708263711,-0.010551225316530286,-0.019864066233453027]},{"name":"camera_3","offset_m":[0.019109112822325417,0.019073361346772694,-0.005009699093476861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001306979598725486,0.001727543054535412,0.0012441502822714587],"end_effector_yaw_offset_degrees":0.7946703598895752},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004454924677918387,0.0013883880601488039,-0.001287790108341758],"end_effector_yaw_offset_degrees":-0.7375956380526003},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011856833898409727,-0.001946827599233382,-0.0005378344452161414],"end_effector_yaw_offset_degrees":0.11859471352656281}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005898284886446436,-0.0026718303818417145],"position_m":[0.31001017151135535,-0.023071830381841716,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004264899642378049,-0.002707318718400389],"position_m":[0.14513510035762195,0.2765926812815996,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00033548450094070953,-0.003568015435361646],"position_m":[0.34246451549905926,0.20953198456463837,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002828322249570989,0.002734249909250531],"position_m":[0.255871677750429,-0.3589657500907495,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d21d20dd33ae7308768fa8f7dea21d41aa3f7b9bab6ede04c95876ee998105a3","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8164/tex_ceiling_textures_239/tex_floor_textures_1833/tex_table_textures_3724/tex_wall_textures_4990","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":7038125881714720099,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":7038125881714720099,"visual_seed":7038125881714720099,"scene_id":"lab_003","finished_at":"2026-09-03T12:11:13"} +{"episode_id":"ep_000081","started_at":"2026-09-03T12:11:17","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.49019262898582905,0.9557815997086139,0.71338606911949],"aabb_xy":[[-0.5541926262714777,0.9142748807557699],[-0.4261926317001804,0.9972883186614578]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.25115212017221344,1.1275830636897242,0.71338606911949],"aabb_xy":[[0.21435748704730717,1.0906771885931419],[0.2879467532971197,1.1644889387863064]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.5116818345059668,0.13878010225935178,0.71338606911949],"aabb_xy":[[0.47037729144223084,0.0747801026912347],[0.5529863775697028,0.20278010182746886]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.464295512603488,-0.5526762885481631,0.71338606911949],"aabb_xy":[[0.4594519178422581,-0.5575279410271473],[0.46913910736471803,-0.5478246360691791]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.17559310074524448,-1.8424742170175161,0.71338606911949],"aabb_xy":[[-0.18806045885498016,-1.8549395416508396],[-0.16312574263550886,-1.8300088923841926]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.1649329926008033,-1.0984111817209463,0.71338606911949],"aabb_xy":[[-0.17102762048892162,-1.1069805762726153],[-0.15883836471268498,-1.0898417871692778]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.3434516132113183,-2.1524606942773756,0.71338606911949],"aabb_xy":[[-0.40845161416844544,-2.204408906211081],[-0.278451612254191,-2.10051248234367]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.7055980191203393,1.5974894170324938,0.71338606911949],"aabb_xy":[[0.6938298323256817,1.5124894171272725],[0.7173662059149968,1.6824894169377156]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.5187047547549706,-0.9992153619201398,0.71338606911949],"aabb_xy":[[-0.5241627003919905,-1.079215365227799],[-0.5132468091179504,-0.9192153586124807]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.20004484260261224,-1.4386121356447086,0.71338606911949],"aabb_xy":[[0.1500717770700968,-1.4886121354572415],[0.25001790813512775,-1.3886121358321757]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.6446122592140544,1.2292340136717343,0.71338606911949],"aabb_xy":[[0.5646122622510152,1.152158372027961],[0.7246122561770936,1.3063096553155078]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[0.39243535556451237,-1.9985607405748693,0.71338606911949],"aabb_xy":[[0.3274353529267189,-2.0500403392743163],[0.45743535820230585,-1.9470811418754221]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.33197290607514335,1.4275560774011065,0.71338606911949],"aabb_xy":[[-0.35447290608529164,1.4134598577615032],[-0.30947290606499506,1.4416522970407097]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.41825009756465903,0.8732959794436534,0.71338606911949],"aabb_xy":[[0.3809188210394165,0.8386429246488012],[0.4555813740899017,0.9079490342385057]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[-0.573027957870806,1.1632391182199089,0.71338606911949],"aabb_xy":[[-0.6157946647502263,1.0992391147981067],[-0.5302612509913859,1.2272391216417116]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.6248565215162651,-2.387624573696647,0.71338606911949],"aabb_xy":[[-0.6328827921468912,-2.396376068673999],[-0.6168302508856393,-2.3788730787192938]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.16900933671181695,-1.2474054448707625,0.71338606911949],"aabb_xy":[[-0.2590093403887351,-1.3088378514478665],[-0.07900933303489875,-1.1859730382936577]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.7001761719665762,-0.3695046585193409,0.71338606911949],"aabb_xy":[[0.6776761724428687,-0.3920006059699616],[0.7226761714902835,-0.34700871106872005]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.21263354797927786,1.6200272312959645,0.71338606911949],"aabb_xy":[[-0.2976335463967011,1.5351529358336797],[-0.12763354956185463,1.7049015267582497]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.12289827377078022,0.7495901370113334,0.71338606911949],"aabb_xy":[[0.057898272770279716,0.6988037718566583],[0.18789827477128074,0.8003765021660082]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.13917527987562628,1.4353478460841216,0.71338606911949],"aabb_xy":[[-0.17480443577558602,1.3997151793272686],[-0.10354612397566654,1.4709805128409745]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.5922599677829734,-1.1787484582468002,0.71338606911949],"aabb_xy":[[-0.6272599660530932,-1.1858225859417881],[-0.5572599695128534,-1.1716743305518118]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.41514844139437246,-0.31304895009488254,0.71338606911949],"aabb_xy":[[-0.4396946570171231,-0.34329784664391955],[-0.3906022257716217,-0.2828000535458454]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.21378964502096598,-0.817725784755186,0.71338606911949],"aabb_xy":[[0.20498758971199324,-0.8255371109101151],[0.22259170032993866,-0.8099144586002569]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.049514464109563616,0.2739819239288037,0.71338606911949],"aabb_xy":[[-0.06701446338765049,0.25664382386245777],[-0.03201446483147674,0.29132002399514967]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[0.4406258522660573,1.738991352194501,0.71338606911949],"aabb_xy":[[0.3706258506637779,1.7255585589928435],[0.5106258538683368,1.7524241453961587]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_26","position":[-0.23106000220894646,-0.7118218554839324,0.71338606911949],"aabb_xy":[[-0.2685600028735251,-0.7275089134841544],[-0.19356000154436775,-0.69613479748371]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.07188744236176414,-0.05472381856938302,0.71338606911949],"aabb_xy":[[-0.08879817479810592,-0.06819602416199753],[-0.05497670992542237,-0.041251612976768486]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[0.08640348125033248,-1.3477178183142606,0.71338606911949],"aabb_xy":[[0.07317253571565117,-1.3609452373362598],[0.09963442678501376,-1.334490399292261]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[-0.20765403896255313,-0.5010500206435733,0.71338606911949],"aabb_xy":[[-0.27164973635764966,-0.565050018944282],[-0.14365834156745652,-0.4370500223428646]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[0.42941666613773277,0.37425385102955167,0.71338606911949],"aabb_xy":[[0.42138033143644793,0.36621573172513483],[0.4374530008390176,0.3822919703339684]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_31","position":[0.2330634097811506,-2.1806364009349886,0.71338606911949],"aabb_xy":[[0.21596133182278243,-2.1977432064662583],[0.25016548773951874,-2.163529595403719]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844644041919473,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1024.png","name":"1024"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1024.png","name":"1024"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/154.png","name":"154"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1382.png","name":"1382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4285.png","name":"4285"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9702.png","name":"9702"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":540.9028902263437,"rotation_z_degrees":306.3380194504371,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015189842238845182,0.011767497606532607,-0.0038328404485962163]},{"name":"camera_2","offset_m":[0.009866911064183269,0.0021828843276787725,0.007971310836626406]},{"name":"camera_3","offset_m":[0.007785654879742265,-0.016875956729146355,-0.019902476556659294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00025777975638376516,-0.0019980745536610713,-0.0003875206799625647],"end_effector_yaw_offset_degrees":0.12368212963594538},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012494272412188062,0.00011405485688022578,0.0010633085147907523],"end_effector_yaw_offset_degrees":0.6319611080922178},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001070420821902594,-0.0005301173629000857,-0.0006717504211800902],"end_effector_yaw_offset_degrees":0.3285601154917015}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000810594404572873,0.0012272188269694204],"position_m":[0.3097894055954271,-0.019172781173030583,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007794946452788611,0.004086065308088986],"position_m":[0.14862050535472116,0.28338606530808896,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00028709235066955423,0.002837061253818783],"position_m":[0.34251290764933046,0.21593706125381879,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020825809756454417,0.004476588287530828],"position_m":[0.26078258097564544,-0.3572234117124692,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"84b79cd2d4be98746b4a8b825feab604c2ea3af874983a47b68990d208c0ffb9","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0102.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1024/tex_ceiling_textures_9702/tex_floor_textures_4285/tex_table_textures_154/tex_wall_textures_1382","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6225390638308081737,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6225390638308081737,"visual_seed":6225390638308081737,"scene_id":"lab_003","finished_at":"2026-09-03T12:13:50"} +{"episode_id":"ep_000082","started_at":"2026-09-03T12:13:52","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.333494578775247,1.0284994856939322,0.71338606911949],"aabb_xy":[[0.2534945773451198,0.9489823306813228],[0.4134945802053742,1.1080166407065417]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.41409497747978574,-0.5380761773680365,0.71338606911949],"aabb_xy":[[0.3340949753170233,-0.61803136099418],[0.4940949796425483,-0.45812099374189275]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.05003993788027239,1.5692895398412348,0.71338606911949],"aabb_xy":[[-0.13503993629769562,1.4844152443789498],[0.03496006053715084,1.6541638353035197]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.07011745839280303,-0.0923455604943304,0.71338606911949],"aabb_xy":[[-0.09511745832532092,-0.09922822871525373],[-0.04511745846028514,-0.0854628922734071]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.19439708228657993,-0.4921280785046762,0.71338606911949],"aabb_xy":[[-0.20686444039631557,-0.5045934031379997],[-0.18192972417684428,-0.47966275387135276]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.6227482662865946,-0.7975583449353192,0.71338606911949],"aabb_xy":[[-0.6680268811677439,-0.8615583442835029],[-0.5774696514054454,-0.7335583455871355]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.5177288098712356,-1.4497470235311287,0.71338606911949],"aabb_xy":[[0.47272880840500675,-1.4947468803926094],[0.5627288113374644,-1.404747166669648]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[0.4416805424793757,0.4783419878987685,0.71338606911949],"aabb_xy":[[0.37668053984158223,0.4268623891993215],[0.5066805451171692,0.5298215865982154]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.2914306202013357,-0.982073188182929,0.71338606911949],"aabb_xy":[[0.27966243340667823,-1.0670731880881505],[0.3031988069959933,-0.8970731882777075]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.15872927599615716,-1.968132007348029,0.71338606911949],"aabb_xy":[[0.12495371680546419,-1.982170502561194],[0.19250483518685013,-1.9540935121348642]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.3341552431203922,1.436608773214466,0.71338606911949],"aabb_xy":[[-0.41415524110117724,1.4290072322526137],[-0.25415524513960713,1.4442103141763176]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.02038214052966547,0.7317307873746155,0.71338606911949],"aabb_xy":[[-0.05386130779070641,0.6982516740035086],[0.013097026731375465,0.7652099007457226]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.11079175078849657,-1.2613889662569469,0.71338606911949],"aabb_xy":[[-0.1451080279631145,-1.3113889662301246],[-0.07647547361387863,-1.2113889662837691]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.2837822401914192,1.463435756901164,0.71338606911949],"aabb_xy":[[0.27986836699599665,1.454686741494607],[0.2876961133868417,1.4721847723077206]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.4507450633422878,-0.46069733473358454,0.71338606911949],"aabb_xy":[[-0.5007450643614232,-0.49716355047141253],[-0.40074506232315266,-0.42423111899575666]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.22789596157783254,0.6612550970661104,0.71338606911949],"aabb_xy":[[0.17289596240124303,0.6062654222911528],[0.282895960754422,0.716244771841068]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.049647373036902254,-0.9787132476926581,0.71338606911949],"aabb_xy":[[-0.07797708298544248,-0.9831739898863752],[-0.021317663088362027,-0.974252505498941]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.21798147504055293,-2.5001002485305963,0.71338606911949],"aabb_xy":[[-0.23803988665379322,-2.5201653354397533],[-0.19792306342731264,-2.4800351616214384]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.09868267927159624,-1.4791570752074101,0.71338606911949],"aabb_xy":[[-0.1157847572299644,-1.4962638807386799],[-0.08158060131322808,-1.4620502696761404]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.13984488016684826,-0.6846653788252235,0.71338606911949],"aabb_xy":[[0.1222120445733207,-0.7022883248408465],[0.15747771576037584,-0.6670424328096005]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.5371631594169719,1.5561186578804045,0.71338606911949],"aabb_xy":[[0.5330472093048991,1.5520031028475587],[0.5412791095290445,1.5602342129132498]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.5449821076578909,-1.7254275302404958,0.71338606911949],"aabb_xy":[[0.5298099383762576,-1.7405963871686994],[0.5601542769395242,-1.7102586733122926]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.5693275165228511,-0.027140763093067566,0.71338606911949],"aabb_xy":[[0.5153119202409511,-0.09114076598532472],[0.6233431128047511,0.0368592397991896]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.2771853115566426,-0.7789152573982814,0.71338606911949],"aabb_xy":[[0.21718531130524144,-0.8331965824347459],[0.3371853118080438,-0.7246339323618166]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[0.5654881278711901,0.7212043672351034,0.71338606911949],"aabb_xy":[[0.5355205709613644,0.6912043669372177],[0.5954556847810157,0.7512043675329891]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835265848323981,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5997.png","name":"5997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1295.png","name":"1295"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":792.5144098079113,"rotation_z_degrees":332.0086880948502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013705374707849795,-0.011402004956437879,-0.0042487892040494885]},{"name":"camera_2","offset_m":[-0.009212866473549096,-0.006816717864735349,0.009433418922971632]},{"name":"camera_3","offset_m":[0.00703426628148688,0.014296610715744385,0.005150531244618173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000309143949805795,-0.0018129374052787538,0.0006822135525241893],"end_effector_yaw_offset_degrees":0.18736991568450012},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002498520446171824,-0.0014879968718877605,-0.001138993619206352],"end_effector_yaw_offset_degrees":-0.9554856708822372},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001312090417221552,-0.0013990005713364498,0.0011001493806525793],"end_effector_yaw_offset_degrees":0.7170037106548173}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014929725857358634,-0.0010179365996818568],"position_m":[0.3091070274142641,-0.021417936599681858,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018858641045868185,-0.0008374955239417491],"position_m":[0.15128586410458683,0.27846250447605825,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008560572281612099,0.002785864669403071],"position_m":[0.34194394277183876,0.21588586466940307,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.3754837851800515e-05,0.002823467540490748],"position_m":[0.2586662451621482,-0.3588765324595093,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5e9e0049d1a3215e46bb8fbe03e8601318a60c624b55c61643f444fe898cc1ef","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9068/tex_ceiling_textures_2170/tex_floor_textures_5879/tex_table_textures_5997/tex_wall_textures_1295","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":319546710182014097,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":319546710182014097,"visual_seed":319546710182014097,"scene_id":"lab_003","finished_at":"2026-09-03T12:16:22"} +{"episode_id":"ep_000083","started_at":"2026-09-03T12:16:25","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[0.6273198036202454,0.4515014221281053,0.71338606911949],"aabb_xy":[[0.5823198021540166,0.4065015652666247],[0.6723198050864743,0.496501278989586]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.38776337612660966,1.0537069504113155,0.71338606911949],"aabb_xy":[[-0.4477633769874224,1.0022805204048288],[-0.3277633752657968,1.1051333804178016]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.6512394962133279,-2.1713264866051025,0.71338606911949],"aabb_xy":[[0.6207552460862977,-2.2213264863865985],[0.681723746340358,-2.1213264868236066]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[0.2576593436405692,0.8000639914641621,0.71338606911949],"aabb_xy":[[0.2522013980035491,0.7200639881565027],[0.26311728927758926,0.880063994771821]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.012689169114769694,-1.7431676651636678,0.71338606911949],"aabb_xy":[[-0.03518916892867208,-1.7476422815341486],[0.009810830699132689,-1.738693048793187]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.15240346945938954,-1.2023620772448815,0.71338606911949],"aabb_xy":[[0.11490346866739409,-1.2087299182030717],[0.189903470251385,-1.1959942362866913]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.057745979049088514,-1.6660241361146446,0.71338606911949],"aabb_xy":[[-0.09524597915468147,-1.6728462979676257],[-0.02024597894349556,-1.6592019742616635]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.02607264578846835,-2.5446625530626314,0.71338606911949],"aabb_xy":[[0.008970567830100199,-2.561769358593901],[0.04317472374683651,-2.5275557475313617]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.6677712166520524,1.070382416169294,0.71338606911949],"aabb_xy":[[0.6643305404119954,1.0665209831949296],[0.6712118928921097,1.0742438491436586]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.4683884971652579,-2.4773588908265194,0.71338606911949],"aabb_xy":[[-0.49838015989912815,-2.5073588901633195],[-0.4383968344313875,-2.4473588914897184]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.013231075837274786,0.668341641955092,0.71338606911949],"aabb_xy":[[-0.09323107910128792,0.6547816096461787],[0.06676892742673834,0.6819016742640054]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.3083754442833778,-1.3528069762346837,0.71338606911949],"aabb_xy":[[-0.3428377916815195,-1.387300858632506],[-0.2739130968852359,-1.3183130938368606]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[-0.3303670107545817,-1.7537804547956473,0.71338606911949],"aabb_xy":[[-0.35536700992021475,-1.7607327005010038],[-0.3053670115889485,-1.7468282090902907]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[0.20831578366392245,1.103307911549181,0.71338606911949],"aabb_xy":[[0.1443157863782738,1.0618011925963369],[0.2723157809495711,1.1448146305020248]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.35756984969915107,-1.626596541798448,0.71338606911949],"aabb_xy":[[0.30759678416663566,-1.6765965416109814],[0.40754291523166664,-1.5765965419859156]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.6874736680288118,-0.06919041845389007,0.71338606911949],"aabb_xy":[[0.6821360923628073,-0.09419041938302986],[0.6928112436948164,-0.04419041752475028]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.22314197262021407,-0.18640084658575828,0.71338606911949],"aabb_xy":[[-0.27302466949791027,-0.23640084583203308],[-0.17325927574251787,-0.13640084733948357]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.5599251551758476,0.44458776413423884,0.71338606911949],"aabb_xy":[[-0.5824251546995549,0.422091816683618],[-0.5374251556521401,0.46708371158485956]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.44755328928670024,0.8688903931416236,0.71338606911949],"aabb_xy":[[-0.5025270113230331,0.8138903935773905],[-0.3925795672503674,0.9238903927058568]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.22627177146380767,-1.6837980283499823,0.71338606911949],"aabb_xy":[[-0.24137407292482574,-1.6988995499810435],[-0.21116947000278954,-1.6686965067189197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815302176106846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9237.png","name":"9237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9237.png","name":"9237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7942.png","name":"7942"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/140.png","name":"140"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8876.png","name":"8876"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":505.97837266576533,"rotation_z_degrees":239.21946050295628,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004236727977150464,-0.006877737736141936,0.0098217428098929]},{"name":"camera_2","offset_m":[0.007436339087668685,-0.01184393173908057,-0.012787648523382567]},{"name":"camera_3","offset_m":[0.014388349644790754,0.013566555155471598,-0.0029444066943533145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.003998493447261e-05,0.001913362503271892,-6.741196051525205e-05],"end_effector_yaw_offset_degrees":0.21316622823840103},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008939071833539733,-0.0016690831731584251,-0.0015942748995042152],"end_effector_yaw_offset_degrees":-0.7455698418771204},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-8.198740255000391e-05,-0.000750517648781993,-0.001022246043818456],"end_effector_yaw_offset_degrees":0.9212897201456569}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014344145510500018,-0.004161867585885619],"position_m":[0.30916558544895,-0.02456186758588562,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038280822479966293,-0.003861138527104846],"position_m":[0.14557191775200337,0.27543886147289515,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017032505872688307,0.0034626610821595757],"position_m":[0.34450325058726883,0.21656266108215957,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003499201535310589,0.001024124759301001],"position_m":[0.2552007984646894,-0.360675875240699,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"44d39f8e4478886218f51e9dd1e50e04cf731f99cb477d34300b39a0b95d58ae","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0104.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9237/tex_ceiling_textures_8876/tex_floor_textures_140/tex_table_textures_9758/tex_wall_textures_7942","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3173491012298085834,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3173491012298085834,"visual_seed":3173491012298085834,"scene_id":"lab_003","finished_at":"2026-09-03T12:18:47"} +{"episode_id":"ep_000084","started_at":"2026-09-03T12:18:50","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.43917723924040736,1.533473023123768,0.71338606911949],"aabb_xy":[[-0.48917035134959935,1.4834730224495725],[-0.3891841271312156,1.583473023797964]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.615335314887183,1.2494848685929982,0.71338606911949],"aabb_xy":[[0.5316130893871005,1.1594848650583023],[0.6990575403872654,1.3394848721276942]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.16835888817772682,1.13607378624723,0.71338606911949],"aabb_xy":[[-0.23335888605937463,1.0849501225406895],[-0.10335889029607903,1.1871974499537712]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.35580635648574854,-2.2549849911556827,0.71338606911949],"aabb_xy":[[-0.3740121801469963,-2.2660103917376744],[-0.3376005328245009,-2.243959590573691]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.6003801149680419,-0.5571273925799018,0.71338606911949],"aabb_xy":[[-0.6362936193930315,-0.5930409007966564],[-0.5644666105430522,-0.5212138843631471]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.5899971320298883,0.8800060001674272,0.71338606911949],"aabb_xy":[[-0.6244594794280299,0.8455121177696044],[-0.5555347846317463,0.9144998825652498]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.40742376223822396,1.2536821092484112,0.71338606911949],"aabb_xy":[[0.37364820304753094,1.2396436140352463],[0.4411993214289169,1.267720604461576]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.25146256601529404,-0.8581099880968561,0.71338606911949],"aabb_xy":[[0.23952983165346597,-0.8704921409047156],[0.2633953003771221,-0.8457278352889969]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[0.5830092471691783,0.6979403999758533,0.71338606911949],"aabb_xy":[[0.5655093137351949,0.6804404000556188],[0.6005091806031616,0.7154403998960879]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.14403978012510688,-1.474345710100469,0.71338606911949],"aabb_xy":[[-0.20903978123105013,-1.4993110831685976],[-0.07903977901916356,-1.449380337032341]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.22523892725176614,-1.909038988765892,0.71338606911949],"aabb_xy":[[-0.2705175421329154,-1.9730389881140757],[-0.17996031237061688,-1.8450389894177084]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[-0.1640192371666106,-0.11206884528459682,0.71338606911949],"aabb_xy":[[-0.18112131512497875,-0.12917565081586657],[-0.14691715920824244,-0.09496203975332707]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.4402318230788922,1.0944856624826977,0.71338606911949],"aabb_xy":[[0.4189538149354199,1.0294856601566247],[0.4615098312223644,1.1594856648087708]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.40803796976692697,0.5276853798873153,0.71338606911949],"aabb_xy":[[0.3902444628320106,0.5098856342915177],[0.42583147670184346,0.545485125483113]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[0.36006174307460936,0.7484165093118769,0.71338606911949],"aabb_xy":[[0.34450597366434416,0.7328660760674697],[0.37561751248487474,0.7639669425562842]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[0.16916431752950034,1.683402435922638,0.71338606911949],"aabb_xy":[[0.13236968440459407,1.6464965608260558],[0.20595895065440661,1.7203083110192203]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.6610819717066421,-1.917139390542389,0.71338606911949],"aabb_xy":[[-0.6801942790646208,-1.936274169419631],[-0.6419696643486631,-1.898004611665147]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.17151736500001324,-0.9273488952317757,0.71338606911949],"aabb_xy":[[-0.1832855517946708,-1.0123488951369972],[-0.15974917820535575,-0.8423488953265541]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.20219331525655482,-2.3094826617223796,0.71338606911949],"aabb_xy":[[-0.2371933151525737,-2.3178568972343196],[-0.16719331536053594,-2.3011084262104395]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.5202351926494198,0.9430784963332335,0.71338606911949],"aabb_xy":[[0.48290391612417705,0.9084254415383813],[0.5575664691746622,0.9777315511280859]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.6101423350604968,-0.7645159892362885,0.71338606911949],"aabb_xy":[[-0.6551349217789472,-0.8095159885107372],[-0.5651497483420463,-0.7195159899618397]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.03923619608884732,1.4010448140388867,0.71338606911949],"aabb_xy":[[-0.10423619704597453,1.349096602105181],[0.025763804868279883,1.452993025972592]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.1500709094258409,1.1466092420293421,0.71338606911949],"aabb_xy":[[0.12715519654079102,1.1237049448929188],[0.17298662231089082,1.1695135391657658]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.3842359477129875,-2.0364365700851614,0.71338606911949],"aabb_xy":[[0.3242359472051346,-2.0932833037710825],[0.44423594822084045,-1.9795898363992404]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[-0.17461866189593034,-0.49860530849678764,0.71338606911949],"aabb_xy":[[-0.2080978291569713,-0.5320844218678946],[-0.14113949463488942,-0.46512619512568065]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.3975492511470222,-1.2035475377957772,0.71338606911949],"aabb_xy":[[-0.47754925257714936,-1.2830646928083864],[-0.31754924971689497,-1.1240303827831675]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810454454927837,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9090.png","name":"9090"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9090.png","name":"9090"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4980.png","name":"4980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7152.png","name":"7152"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7291.png","name":"7291"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":765.5456951312531,"rotation_z_degrees":49.488285585824535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007902176801459774,-0.0012412042924108586,0.011014688984263082]},{"name":"camera_2","offset_m":[0.010994150151990883,0.006429558447466448,-0.009611109541442064]},{"name":"camera_3","offset_m":[-0.017874603499377695,-0.01701342798616556,-0.016781954570650025]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016928575949141786,-0.00036668312314218896,0.001167480741309815],"end_effector_yaw_offset_degrees":-0.06819196507120062},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017992993566745658,0.0002134083183091681,-0.0005352030785307537],"end_effector_yaw_offset_degrees":0.4894104544387081},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002713821360940433,0.001627461930784229,0.0010308673542883799],"end_effector_yaw_offset_degrees":-0.6310803392705855}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004649054844534429,-0.0036568944534939364],"position_m":[0.3152490548445344,-0.02405689445349394,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0034999021478105763,-0.0028322957757590562],"position_m":[0.15289990214781057,0.27646770422424094,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009697297402411417,-0.0016928385960142947],"position_m":[0.3437697297402411,0.21140716140398572,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018253211437469431,0.004645509417774185],"position_m":[0.25687467885625304,-0.3570544905822258,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"192a5415516797630f72cc5f16e752e80b9eb21b247763a951319a01fa54a098","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9090/tex_ceiling_textures_7291/tex_floor_textures_7152/tex_table_textures_4980/tex_wall_textures_9424","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8043296947079526645,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8043296947079526645,"visual_seed":8043296947079526645,"scene_id":"lab_003","finished_at":"2026-09-03T12:21:24"} +{"episode_id":"ep_000085","started_at":"2026-09-03T12:21:27","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.19316854945487272,-1.7895370705879252,0.71338606911949],"aabb_xy":[[0.16794771259503302,-1.8147608214408117],[0.21838938631471236,-1.7643133197350382]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.052849004879821804,-2.1269648969319164,0.71338606911949],"aabb_xy":[[-0.011146692515274781,-2.1909648952326246],[0.11684470227491839,-2.0629648986312072]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.025990456469137335,1.5568991841361028,0.71338606911949],"aabb_xy":[[-0.04400954692242464,1.521583410432672],[0.0959904598606993,1.5922149578395337]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.593469018415753,1.3465028930787115,0.71338606911949],"aabb_xy":[[0.5134690169856257,1.2669857380661018],[0.6734690198458801,1.4260200480913208]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.3485006984376624,1.759664820231745,0.71338606911949],"aabb_xy":[[0.28450069985108994,1.7126578568322361],[0.41250069702423486,1.8066717836312536]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.22010958030578065,0.8269491045381567,0.71338606911949],"aabb_xy":[[0.18325903236879304,0.7894491037151231],[0.25696012824276826,0.8644491053611906]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.4799160046098522,1.5440266725015053,0.71338606911949],"aabb_xy":[[-0.48869723175708857,1.5352469252129752],[-0.4711347774626161,1.5528064197900358]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.4162350930558762,-2.0858420227378036,0.71338606911949],"aabb_xy":[[-0.45900179993529633,-2.149842026159606],[-0.37346838617645595,-2.021842019316001]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.6195455543968054,-0.6136041898752065,0.71338606911949],"aabb_xy":[[0.5545455543625026,-0.6603048665555338],[0.6845455544311081,-0.5669035131948792]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.34225030272603757,-0.5257882075752747,0.71338606911949],"aabb_xy":[[-0.3516677772959003,-0.5352043847129937],[-0.3328328281561748,-0.5163720304375556]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.48235887914352227,-1.6299750775431137,0.71338606911949],"aabb_xy":[[0.43235887819298935,-1.6615242245466348],[0.532358880094055,-1.598425930539592]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.19017881060851627,-2.0175882718306775,0.71338606911949],"aabb_xy":[[0.18009710352994276,-2.0975882697227917],[0.20026051768708972,-1.9375882739385624]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.49068704711684835,1.6805919510652827,0.71338606911949],"aabb_xy":[[-0.5356870485830771,1.6355920942038022],[-0.44568704565061956,1.7255918079267636]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[-0.4657276329559715,0.26798029304426496,0.71338606911949],"aabb_xy":[[-0.4907276325077099,0.25783780917913024],[-0.44072763340423293,0.2781227769093997]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[-0.15895987492316144,-1.1936246714925416,0.71338606911949],"aabb_xy":[[-0.18145987473706382,-1.1980992878630223],[-0.13645987510925905,-1.1891500551220608]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.3160241719579748,0.6662815404252664,0.71338606911949],"aabb_xy":[[-0.33793285409732576,0.6443808736051757],[-0.2941154898186237,0.6881822072453572]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.5209362253008281,-0.6088889544842919,0.71338606911949],"aabb_xy":[[-0.5759317031214874,-0.6638889559181987],[-0.46594074748016867,-0.5538889530503849]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.04805482140817152,0.7441515956870064,0.71338606911949],"aabb_xy":[[0.015593120526244056,0.7140187635721037],[0.08051652229009895,0.7742844278019089]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.09457865973357793,-1.499919504559723,0.71338606911949],"aabb_xy":[[0.07690302914497957,-1.5175997208391254],[0.11225429032217624,-1.48223928828032]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.2934739136220585,-0.721439906249516,0.71338606911949],"aabb_xy":[[-0.3406032926238941,-0.7854399072939179],[-0.24634453462022277,-0.657439905205114]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.5673738719477477,0.2706280993786536,0.71338606911949],"aabb_xy":[[-0.602373870258443,0.2629130844551079],[-0.5323738736370521,0.2783431143021992]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.021324408443842646,-2.569739683791147,0.71338606911949],"aabb_xy":[[0.008857050334106997,-2.5822050084244705],[0.033791766553578295,-2.5572743591578235]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.5838713873577064,0.4679920812044962,0.71338606911949],"aabb_xy":[[-0.6438713890006282,0.41599193191255207],[-0.5238713857147845,0.5199922304964404]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.5353207038864245,-0.4815385732569295,0.71338606911949],"aabb_xy":[[0.517820703627088,-0.4956301154457023],[0.5528207041457612,-0.46744703106815705]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[0.6521770061136458,-0.35334630019446234,0.71338606911949],"aabb_xy":[[0.6146770053216503,-0.3597141411526524],[0.6896770069056412,-0.3469784592362722]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.2912276209656922,1.6642580669055564,0.71338606911949],"aabb_xy":[[-0.3063904939426293,1.6490926096104381],[-0.27606474798875513,1.6794235242006756]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[-0.18721723488215813,-1.7946233643102332,0.71338606911949],"aabb_xy":[[-0.20044818041683943,-1.8078507833322324],[-0.17398628934747684,-1.7813959452882335]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[0.5009695142425894,0.38056903177379997,0.71338606911949],"aabb_xy":[[0.45097023907415335,0.33056903049785286],[0.5509687894110257,0.4305690330497472]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.6992087755961445,-0.04238723006833167,0.71338606911949],"aabb_xy":[[0.691965009549899,-0.12238722827193405],[0.7064525416423897,0.0376127681352707]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_29","position":[0.6201884968070703,1.718422270676625,0.71338606911949],"aabb_xy":[[0.5702152028038099,1.6684222701220774],[0.6701617908103308,1.7684222712311721]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.432247283602955,-1.0522024008229127,0.71338606911949],"aabb_xy":[[-0.4483092110614726,-1.1372024026355045],[-0.4161853561444373,-0.967202399010321]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_31","position":[0.5181580416536911,-1.978515519393681,0.71338606911949],"aabb_xy":[[0.4931580423817287,-1.9948608829898433],[0.5431580409256532,-1.9621701557975186]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_32","position":[0.2558338657281173,0.5261737231380619,0.71338606911949],"aabb_xy":[[0.2505013510735043,0.5208493948928263],[0.26116638038273027,0.5314980513832974]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6846683040552078,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5291.png","name":"5291"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9619.png","name":"9619"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":573.4219142250917,"rotation_z_degrees":198.22626119939792,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01819145344367216,0.011327335113118012,-0.010747902745736924]},{"name":"camera_2","offset_m":[-0.0073731687081664485,0.004432556335602925,0.009128896982143534]},{"name":"camera_3","offset_m":[0.010163147653167712,-0.00895341766959875,-0.0004436674676645998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005651121243687362,0.00014208956905968975,0.0007030478704601411],"end_effector_yaw_offset_degrees":0.7053221505105471},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007653938465304756,0.00014561118692452656,-0.0008851554269487924],"end_effector_yaw_offset_degrees":0.1529863051545184},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016677026664692418,0.0003797691123385168,0.0002707170453791689],"end_effector_yaw_offset_degrees":-0.5155382971160503}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002282550062004776,0.0003723197028143131],"position_m":[0.31288255006200477,-0.02002768029718569,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020274555052238407,0.000325006940399092],"position_m":[0.14737254449477616,0.2796250069403991,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002430181203137368,-0.0035874998404464044],"position_m":[0.34523018120313737,0.2095125001595536,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012808310704659999,0.002780425218217133],"position_m":[0.259980831070466,-0.3589195747817829,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3d7b3590d4d8091d5aa697b380defcebd3c6441a43371f2105905fb905a4e1fc","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0106.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8445/tex_ceiling_textures_9619/tex_floor_textures_5291/tex_table_textures_5589/tex_wall_textures_1606","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":9014764647991794111,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":9014764647991794111,"visual_seed":9014764647991794111,"scene_id":"lab_003","finished_at":"2026-09-03T12:24:01"} +{"episode_id":"ep_000086","started_at":"2026-09-03T12:24:04","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.6292860499470878,0.5180270745279127,0.71338606911949],"aabb_xy":[[-0.6792860508976204,0.48647792752439123],[-0.5792860489965548,0.549576221531434]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.5270267626559708,-0.10222991541441484,0.71338606911949],"aabb_xy":[[0.5020267633840085,-0.11857527901057717],[0.5520267619279331,-0.08588455181825248]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.13371993357760836,-2.1827449095513707,0.71338606911949],"aabb_xy":[[-0.1414231242516854,-2.190454280250109],[-0.12601674290353132,-2.1750355388526326]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.4854526018993346,-0.9896099282091015,0.71338606911949],"aabb_xy":[[0.47258069839839445,-1.0696099286229375],[0.49832450540027473,-0.9096099277952654]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.6630373428216167,0.6400948067970793,0.71338606911949],"aabb_xy":[[0.6255373427160237,0.6332726449440982],[0.7005373429272096,0.6469169686500604]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.23760836454828593,-1.1828486408214949,0.71338606911949],"aabb_xy":[[-0.30160836482226416,-1.232914741018783],[-0.1736083642743077,-1.1327825406242071]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.552293263319275,1.0051912461493804,0.71338606911949],"aabb_xy":[[0.47229326304566804,0.9322416983236635],[0.632293263592882,1.0781407939750969]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.674938511369265,-2.2677086283885926,0.71338606911949],"aabb_xy":[[0.6633695306223284,-2.2927086285055243],[0.6865074921162015,-2.242708628271661]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[0.2778805461396161,-1.8524857661508198,0.71338606911949],"aabb_xy":[[0.21388054408988416,-1.892580249240128],[0.34188054818934815,-1.812391283061512]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.45450624582852317,-0.6193351320166833,0.71338606911949],"aabb_xy":[[0.44187945854132676,-0.6288812057182562],[0.46713303311571946,-0.6097890583151104]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.555208140167321,-0.3600646075889937,0.71338606911949],"aabb_xy":[[-0.5902081393601392,-0.3710316535866563],[-0.5202081409745026,-0.34909756159133104]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.23411573955621778,-2.2909586780844213,0.71338606911949],"aabb_xy":[[-0.27542028261995377,-2.354958677652538],[-0.19281119649248182,-2.226958678516304]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.6187724827251126,0.7303648622407946,0.71338606911949],"aabb_xy":[[-0.6685892621899474,0.6803648637564912],[-0.5689557032602779,0.7803648607250979]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[0.5748383200037954,1.6659680682558684,0.71338606911949],"aabb_xy":[[0.5695058053491824,1.660643740010633],[0.5801708346584085,1.6712923965011042]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.19508164810371553,1.3354271237556192,0.71338606911949],"aabb_xy":[[-0.2325816487682942,1.3197400657553968],[-0.1575816474391368,1.3511141817558412]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.5087742831219033,0.5325258730822053,0.71338606911949],"aabb_xy":[[0.4862742826098627,0.5100340147168069],[0.5312742836339439,0.5550177314476036]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.22259467621073686,0.3805783831242122,0.71338606911949],"aabb_xy":[[-0.22817634784486565,0.36807838330643666],[-0.21701300457660813,0.39307838294198766]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.014459999080652541,-2.378488009825689,0.71338606911949],"aabb_xy":[[-0.031959998358739417,-2.395826109892035],[0.0030400001974343355,-2.361149909759343]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.5558042757238697,-1.8123017886339996,0.71338606911949],"aabb_xy":[[-0.6052846969378285,-1.8763017865468514],[-0.5063238545099109,-1.7483017907211478]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.21588704174384232,0.8883546680918482,0.71338606911949],"aabb_xy":[[-0.2290382877151317,0.8633546683351617],[-0.202735795772553,0.9133546678485348]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.18354219274619354,-0.7450407637824343,0.71338606911949],"aabb_xy":[[0.11854219010840006,-0.7965203624818813],[0.24854219538398703,-0.6935611650829874]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.1253367933018783,-1.3806356931855486,0.71338606911949],"aabb_xy":[[0.07536349929861785,-1.430635693740096],[0.17531008730513875,-1.3306356926310012]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.25522186009877984,-0.20639571497347076,0.71338606911949],"aabb_xy":[[-0.2728001622877267,-0.22397020454757566],[-0.237643557909833,-0.18882122539936586]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[-0.04112759464176419,-0.5669614910832501,0.71338606911949],"aabb_xy":[[-0.04456827088182136,-0.5708229240576146],[-0.037686918401707015,-0.5631000581088856]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[0.3093094561867644,-2.2583553817694266,0.71338606911949],"aabb_xy":[[0.301315467609061,-2.266355461864517],[0.3173034447644678,-2.250355301674336]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.05262489413014293,-1.787598908615794,0.71338606911949],"aabb_xy":[[-0.03737510559303125,-1.8106722611509736],[0.1426248938533171,-1.764525556080614]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[-0.3619241987567695,-2.3630111019934494,0.71338606911949],"aabb_xy":[[-0.3699176885520516,-2.371009233933925],[-0.35393070896148754,-2.355012970052974]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.678695539738588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1843.png","name":"1843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1843.png","name":"1843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3117.png","name":"3117"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3138.png","name":"3138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/247.png","name":"247"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9993.png","name":"9993"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":611.9624885101963,"rotation_z_degrees":293.78704388435176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006334877578173005,0.012673075734276843,0.01628720892767008]},{"name":"camera_2","offset_m":[0.0023188016560429896,0.0007501887690818596,-0.017653630057455457]},{"name":"camera_3","offset_m":[-0.0041859782252145865,-0.007265128660219928,-0.003431468930273341]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002430523134671239,-0.0014632592777936745,-0.0005577626706504552],"end_effector_yaw_offset_degrees":0.9656524313636603},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010366451426996046,-0.0009095279820678535,-0.00032316501818721263],"end_effector_yaw_offset_degrees":0.8921307627543744},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[8.829261708541165e-05,-0.0001382312278355143,-0.0014214610766007754],"end_effector_yaw_offset_degrees":0.2742360112648645}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003627433526489231,0.003982245421212983],"position_m":[0.31422743352648924,-0.016417754578787018,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004891758700127797,0.0006167943626737915],"position_m":[0.14450824129987222,0.2799167943626738,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018039870418004047,0.0023982873488582997],"position_m":[0.3409960129581996,0.21549828734885831,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00445586266226689,0.0048571247392975156],"position_m":[0.2542441373377331,-0.3568428752607025,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51259c6f0bd47e0aac1ac48f496829cc8295255d61f34f72efad44f287f57a0a","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0107.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1843/tex_ceiling_textures_9993/tex_floor_textures_247/tex_table_textures_3117/tex_wall_textures_3138","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":2064369107387336413,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":2064369107387336413,"visual_seed":2064369107387336413,"scene_id":"lab_003","finished_at":"2026-09-03T12:26:49"} +{"episode_id":"ep_000087","started_at":"2026-09-03T12:26:53","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.2662118173840979,-2.4983731071695825,0.71338606911949],"aabb_xy":[[-0.3160285968489326,-2.5483731056538854],[-0.21639503791926307,-2.4483731086852787]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.5193499669615487,-2.012799675823406,0.71338606911949],"aabb_xy":[[-0.583349968873891,-2.0687108250814163],[-0.45534996504920633,-1.9568885265653955]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.14178818491585032,1.6408938379188407,0.71338606911949],"aabb_xy":[[-0.15946381550444863,1.623213621639438],[-0.12411255432725198,1.6585740541982434]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.5214790461685019,1.333304093262011,0.71338606911949],"aabb_xy":[[-0.5854790434708483,1.288937666294154],[-0.45747904886615554,1.3776705202298676]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.25783774134343,1.7153211660257406,0.71338606911949],"aabb_xy":[[-0.2619735976761302,1.677821166581384],[-0.2537018850107298,1.752821165470098]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.38895908453818695,-0.8882605213570594,0.71338606911949],"aabb_xy":[[0.36567724234005555,-0.9732605226542873],[0.41224092673631824,-0.8032605200598312]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.36527588425540825,-1.990862167561285,0.71338606911949],"aabb_xy":[[0.3613154004856739,-1.9985300321468056],[0.3692363680251426,-1.9831943029757644]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.23418162001293152,-0.5880725324019469,0.71338606911949],"aabb_xy":[[0.17018161679429367,-0.6347956443009553],[0.2981816232315694,-0.5413494205029385]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.48644242213595024,0.08772599300476713,0.71338606911949],"aabb_xy":[[0.42644242162809726,0.03087925931884584],[0.546442422643803,0.14457272669068844]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.5777384347619112,-1.7015246770414323,0.71338606911949],"aabb_xy":[[0.48805135845379577,-1.791524677295883],[0.6674255110700267,-1.611524676786982]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.10596046536221426,-1.0406126341356874,0.71338606911949],"aabb_xy":[[0.09518749144084648,-1.0756126323547264],[0.11673343928358204,-1.0056126359166484]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.07419297819277659,1.2038890612139688,0.71338606911949],"aabb_xy":[[-0.08576195893971318,1.1788890610970373],[-0.06262399744584003,1.2288890613309007]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.3905444530069224,-1.1236250639493754,0.71338606911949],"aabb_xy":[[0.3653236161470827,-1.148848814802262],[0.41576528986676203,-1.0984013130964885]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.43346063718657635,0.8693777356033632,0.71338606911949],"aabb_xy":[[0.36346063454999,0.8492728706074975],[0.5034606398231627,0.8894826005992285]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[-0.44061040656441075,-2.379895290318409,0.71338606911949],"aabb_xy":[[-0.5106104081666902,-2.3933280835200668],[-0.37061040496213127,-2.3664624971167516]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.2652439146642716,-1.740926268009319,0.71338606911949],"aabb_xy":[[-0.3302439156647721,-1.7917126331639939],[-0.2002439136637711,-1.690139902854644]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.3083144992624105,0.6635635971553797,0.71338606911949],"aabb_xy":[[0.21831450066794061,0.6473130108419587],[0.3983144978568805,0.6798141834688007]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.3056455382958789,-2.5382622325726962,0.71338606911949],"aabb_xy":[[0.27118306028279116,-2.544925909755619],[0.3401080163089667,-2.5315985553897735]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.44143064918124675,1.2358119189135919,0.71338606911949],"aabb_xy":[[0.42114634645784793,1.2155292937708828],[0.46171495190464545,1.2560945440563005]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.274533063887681,0.5254058072270484,0.71338606911949],"aabb_xy":[[-0.3095330652391627,0.5050460712702275],[-0.23953306253619924,0.5457655431838692]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.419853213363992,-0.0913625974656811,0.71338606911949],"aabb_xy":[[-0.4848532160017855,-0.14284219616512805],[-0.3548532107261985,-0.039882998766234135]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.6298365814497477,-2.0135594585532712,0.71338606911949],"aabb_xy":[[0.5912908886245467,-2.05210522960946],[0.6683822742749488,-1.9750136874970825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6830288209877745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/704.png","name":"704"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/704.png","name":"704"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9942.png","name":"9942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7896.png","name":"7896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5524.png","name":"5524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4907.png","name":"4907"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":607.4434890184091,"rotation_z_degrees":125.9237976419274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0054711162610163195,-0.004219904181183062,0.005385519987675148]},{"name":"camera_2","offset_m":[-0.01773790030431886,-0.00016809740649704683,-0.005669771950731492]},{"name":"camera_3","offset_m":[-0.008272392882468362,-0.014861141037987996,-0.01858680630248527]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009726922358662597,0.0018337397032454923,0.00018190633263241674],"end_effector_yaw_offset_degrees":-0.598861838747833},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019179149562558433,-0.00138169006989831,-0.0013145023018096298],"end_effector_yaw_offset_degrees":0.011090504732771844},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013191441638988337,0.0006384816435086984,-0.0010937940445763506],"end_effector_yaw_offset_degrees":-0.5184437242943856}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-1.1412910909745777e-05,0.0033229252741452863],"position_m":[0.31058858708909026,-0.017077074725854714,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003283365925876648,0.00293632489385355],"position_m":[0.14611663407412337,0.28223632489385353,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019500273461562955,-0.0022027928948248664],"position_m":[0.3447500273461563,0.21089720710517515,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.934019032407793e-05,0.003972547646116767],"position_m":[0.25878934019032407,-0.35772745235388326,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c89a2537a480b32b22d2c80b8c3ba0a8ecc7eac1267dfa0c821b2abfc99fc259","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0108.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_704/tex_ceiling_textures_4907/tex_floor_textures_5524/tex_table_textures_9942/tex_wall_textures_7896","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":729120971082413063,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":729120971082413063,"visual_seed":729120971082413063,"scene_id":"lab_003","finished_at":"2026-09-03T12:29:19"} +{"episode_id":"ep_000088","started_at":"2026-09-03T12:29:22","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[-0.3884230743055809,-1.0293849614702866,0.71338606911949],"aabb_xy":[[-0.41293669840258673,-1.053649554772323],[-0.363909450208575,-1.0051203681682501]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.3966881565838245,-0.9331838582526502,0.71338606911949],"aabb_xy":[[0.33268815336518665,-0.9799069701516584],[0.46068815980246236,-0.8864607463536417]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[0.0768696191255519,-2.188707037635842,0.71338606911949],"aabb_xy":[[0.06399771562461175,-2.268707038049678],[0.08974152262649203,-2.108707037222006]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.513698624026364,0.08530303965649821,0.71338606911949],"aabb_xy":[[-0.5631790452403228,0.02130304174364639],[-0.4642182028124052,0.14930303756935004]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.22320384833445917,-1.1141916819444344,0.71338606911949],"aabb_xy":[[0.20856044278042615,-1.1288504016012186],[0.23784725388849212,-1.0995329622876502]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.1841572102229715,-0.8605427875965628,0.71338606911949],"aabb_xy":[[-0.19932937950460483,-0.8757116445247662],[-0.16898504094133815,-0.8453739306683595]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.5459882791136692,1.3409383824188366,0.71338606911949],"aabb_xy":[[0.4559882796952983,1.3075628855746468],[0.6359882785320401,1.3743138792630263]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.6522082072138735,-1.0289782931853189,0.71338606911949],"aabb_xy":[[0.6177458598157317,-1.063472175583141],[0.6866705546120153,-0.9944844107874958]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.07944843773534349,0.4417717337864575,0.71338606911949],"aabb_xy":[[-0.11444843908682524,0.4214119978296366],[-0.04444843638386178,0.4621314697432783]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.40411960096689753,-0.26737052001843287,0.71338606911949],"aabb_xy":[[-0.45192576858066613,-0.3323705227254918],[-0.35631343335312887,-0.20237051731137384]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.318613310582164,-0.6230918936181222,0.71338606911949],"aabb_xy":[[0.296704628442813,-0.644992560438213],[0.34052199272151507,-0.6011912267980315]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.6799237286158772,1.2155240365445619,0.71338606911949],"aabb_xy":[[0.642423728118519,1.2115553529964433],[0.7174237291132355,1.2194927200926804]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.5117639150211548,-1.2619889786247511,0.71338606911949],"aabb_xy":[[0.49861266904986556,-1.2869889783814379],[0.5249151609924443,-1.2369889788680648]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.590181883597858,-0.9351957555705539,0.71338606911949],"aabb_xy":[[-0.6551818836321607,-0.9818964322508812],[-0.5251818835635552,-0.8884950788902266]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.5292499325263675,-1.0368351865693375,0.71338606911949],"aabb_xy":[[-0.5326906087664248,-1.0406966195437022],[-0.5258092562863105,-1.0329737535949732]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.19311188738503848,-1.1424458154881236,0.71338606911949],"aabb_xy":[[-0.20367936704313747,-1.1529908456011322],[-0.18254440772693944,-1.131900785375115]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.37561268137488457,-1.500815698420289,0.71338606911949],"aabb_xy":[[0.3553283786514858,-1.5210983235629976],[0.39589698409828333,-1.4805330732775799]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.16613528953890078,-2.3650759339043286,0.71338606911949],"aabb_xy":[[-0.171091309723782,-2.3875759341064504],[-0.1611792693540196,-2.3425759337022076]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.5367025927901896,-1.877217477054986,0.71338606911949],"aabb_xy":[[-0.6007025947025321,-1.9331286263129965],[-0.4727025908778474,-1.8213063277969757]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.646439513872844,-0.38818674126851294,0.71338606911949],"aabb_xy":[[0.6089395135806692,-0.39222821666911656],[0.6839395141650189,-0.3841452658679093]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[-0.45869835645454704,-1.5332004241009163,0.71338606911949],"aabb_xy":[[-0.47612907153355355,-1.5504725387647669],[-0.44126764137554053,-1.5159283094370652]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.3197845016770143,-1.4512752830887077,0.71338606911949],"aabb_xy":[[-0.34843383403743045,-1.4799208423657833],[-0.291135169316598,-1.4226297238116317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881194947052215,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7800.png","name":"7800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7800.png","name":"7800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7553.png","name":"7553"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9202.png","name":"9202"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9538.png","name":"9538"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2926.png","name":"2926"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":516.4081974877075,"rotation_z_degrees":93.35058121456792,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01973127065172194,-0.0027588499809817826,-0.014437644881038835]},{"name":"camera_2","offset_m":[-0.004656575402797096,-0.004767524888614649,-0.014961459443083833]},{"name":"camera_3","offset_m":[0.009684263984867086,-0.014906602547984114,-0.005223913201067517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00017713983653421536,-0.00020571660929961585,-0.0018282601123104395],"end_effector_yaw_offset_degrees":0.8244052971520839},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009050819053260314,-0.0015740162337282593,-0.0006005213354280544],"end_effector_yaw_offset_degrees":-0.15260638982204133},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00012049427286520945,-0.0016735305560015852,-0.00032015742055173705],"end_effector_yaw_offset_degrees":0.4633496301872424}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005415775241106487,0.004716362951352132],"position_m":[0.31005842247588933,-0.01568363704864787,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004676795937859386,-0.0008340941701607332],"position_m":[0.14472320406214062,0.27846590582983927,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034834427031224346,-0.004334540207523289],"position_m":[0.33931655729687754,0.2087654597924767,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004397622165303501,0.0012602482163744837],"position_m":[0.26309762216530347,-0.36043975178362553,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3c05e21be48f0884d76c4490b4e7ae5c0673a2ccf8f8d613cd5dae4a2d70e568","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0109.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7800/tex_ceiling_textures_2926/tex_floor_textures_9538/tex_table_textures_7553/tex_wall_textures_9202","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5706631255870455669,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5706631255870455669,"visual_seed":5706631255870455669,"scene_id":"lab_003","finished_at":"2026-09-03T12:32:13"} +{"episode_id":"ep_000089","started_at":"2026-09-03T12:32:17","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.16309718324269884,-0.26761435369206055,0.71338606911949],"aabb_xy":[[-0.20059718166609916,-0.2807785676598911],[-0.12559718481929846,-0.25445013972422986]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[0.3963234441617949,-0.8886584156570099,0.71338606911949],"aabb_xy":[[0.3463234428779548,-0.9386372700476318],[0.44632344544563474,-0.8386795612663875]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.5453663395354833,0.963788863925481,0.71338606911949],"aabb_xy":[[0.5262540321775044,0.9446540850482391],[0.5644786468934622,0.9829236428027232]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.6494491507918434,-2.4715643169313215,0.71338606911949],"aabb_xy":[[-0.6693401906721836,-2.484220128216019],[-0.6295581109115032,-2.458908505646625]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.5881012958074262,-0.6923168919728837,0.71338606911949],"aabb_xy":[[-0.5973949140445768,-0.7298168904610176],[-0.5788076775702756,-0.6548168934847498]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.3640511552209852,-1.4759012388148056,0.71338606911949],"aabb_xy":[[-0.3865511550348876,-1.4803758551852864],[-0.3415511554070828,-1.4714266224443249]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.14230736649422215,-1.228079349594309,0.71338606911949],"aabb_xy":[[0.11980736598218153,-1.250571207959707],[0.16480736700626272,-1.2055874912289104]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.14811561613073299,0.7027959006922275,0.71338606911949],"aabb_xy":[[0.1256019243072758,0.6327959000912199],[0.17062930795419018,0.7727959012932349]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.33942764525043323,-1.6453288384026339,0.71338606911949],"aabb_xy":[[0.24942764851482296,-1.6985123017199284],[0.4294276419860434,-1.5921453750853394]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.35104792107482674,-2.390235401692608,0.71338606911949],"aabb_xy":[[0.31756875381378585,-2.423714515063715],[0.38452708833586774,-2.356756288321501]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.5677741815484632,0.3767797740149934,0.71338606911949],"aabb_xy":[[-0.5796462645599643,0.29177977432134306],[-0.555902098536962,0.46177977370864376]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.47754936324738084,-1.3150716625740433,0.71338606911949],"aabb_xy":[[0.42255615191024415,-1.3700716629128369],[0.5325425745845176,-1.2600716622352497]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.6928771878394353,-0.8413483557972108,0.71338606911949],"aabb_xy":[[0.6797259418681459,-0.8663483555538973],[0.7060284338107247,-0.8163483560405242]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[-0.17379331753334082,-0.4021827019207729,0.71338606911949],"aabb_xy":[[-0.2437933209249028,-0.4374984756242037],[-0.10379331414177885,-0.36686692821734196]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.07114819252629312,-0.9707563835252608,0.71338606911949],"aabb_xy":[[-0.08857890760529961,-0.9880284981891116],[-0.0537174774472866,-0.95348426886141]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.08658786684767983,-1.5021774921821751,0.71338606911949],"aabb_xy":[[0.00658786541755263,-1.5816946471947846],[0.16658786827780703,-1.4226603371695656]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.5351597229462315,-0.7034219691208312,0.71338606911949],"aabb_xy":[[0.45015972425415685,-0.73540783251571],[0.6201597216383061,-0.6714361057259522]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[-0.5980806465270349,0.957549400665104,0.71338606911949],"aabb_xy":[[-0.6620806498167429,0.9142144816611862],[-0.5340806432373266,1.0008843196690214]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.05949184746534275,-0.757533017382156,0.71338606911949],"aabb_xy":[[-0.1234918491433401,-0.8060504088614701],[0.0045081542126546095,-0.7090156259028416]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.5468111334390151,1.7031724541654616,0.71338606911949],"aabb_xy":[[0.49900496582524634,1.6381724514584022],[0.5946173010527837,1.7681724568725201]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.374063920730918,1.3011960907548556,0.71338606911949],"aabb_xy":[[0.3565639214528311,1.28385799068851],[0.39156392000900486,1.3185341908212018]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.3842799023101722,-1.9877805812316736,0.71338606911949],"aabb_xy":[[0.2942799058093004,-2.0336922236501316],[0.47427989881104393,-1.9418689388132153]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[0.5242741120668526,-1.632800269024313,0.71338606911949],"aabb_xy":[[0.5118067539571169,-1.6452655936576366],[0.5367414701765882,-1.6203349443909896]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[0.14996215180270878,-2.3842897577420605,0.71338606911949],"aabb_xy":[[0.11997048906883842,-2.414289757078861],[0.17995381453657908,-2.35428975840526]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.3397959540062137,-1.5768307258048746,0.71338606911949],"aabb_xy":[[-0.34469524631277715,-1.6045076451074431],[-0.33489666169965016,-1.5491538065023056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683723905046475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/430.png","name":"430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8217.png","name":"8217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9009.png","name":"9009"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2811.png","name":"2811"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":540.3871605861882,"rotation_z_degrees":239.38222667928073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011810083168531483,0.015617927312656817,0.016314770635455233]},{"name":"camera_2","offset_m":[-0.01084280432107109,0.019206547068998967,-0.009245819495893058]},{"name":"camera_3","offset_m":[-0.016869386757617576,0.01404643200031611,-0.004772243671747644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012426695942144607,0.0009207626645269572,0.0008557960247953817],"end_effector_yaw_offset_degrees":-0.5137158383027505},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018553443153082384,-0.0005725473636506724,0.0013988555665543564],"end_effector_yaw_offset_degrees":-0.573537283066029},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011797812273783878,-0.0014320642146241598,0.0003603762197058806],"end_effector_yaw_offset_degrees":0.8737910326405802}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002721893795301142,0.00011314266530147547],"position_m":[0.3133218937953011,-0.020286857334698524,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003182135694264898,-0.00087750625654715],"position_m":[0.1462178643057351,0.27842249374345285,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0046195435900646216,-0.004563936344168879],"position_m":[0.3474195435900646,0.20853606365583113,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010117653309463948,0.0008689562498776027],"position_m":[0.2576882346690536,-0.3608310437501224,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"81fd5a5be84d2503cc3df8b4430b6a941114aa16ba1a029e9dc4ca868dbce141","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5407/tex_ceiling_textures_2811/tex_floor_textures_9009/tex_table_textures_430/tex_wall_textures_8217","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5076415444041684859,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5076415444041684859,"visual_seed":5076415444041684859,"scene_id":"lab_003","finished_at":"2026-09-03T12:34:43"} +{"episode_id":"ep_000090","started_at":"2026-09-03T12:34:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.5993947862068153,-2.464708711105431,0.71338606911949],"aabb_xy":[[-0.6126257317414965,-2.47793613012743],[-0.5861638406721339,-2.451481292083431]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[0.3406396897616826,-2.1703795921313636,0.71338606911949],"aabb_xy":[[0.27663968905821323,-2.216397974604285],[0.40463969046515197,-2.124361209658443]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.534530544618341,0.005733138248407599,0.71338606911949],"aabb_xy":[[-0.5845147803265182,-0.044266860565087995],[-0.4845463089101637,0.05573313706190319]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.3635611204376996,-0.6840238138058121,0.71338606911949],"aabb_xy":[[-0.40106112060957155,-0.7167245491887192],[-0.3260611202658277,-0.6513230784229048]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.5291732288975217,-0.5412050245199529,0.71338606911949],"aabb_xy":[[0.5066740931712946,-0.5637050252982159],[0.5516723646237486,-0.5187050237416899]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.528368278580448,-0.6211761625079286,0.71338606911949],"aabb_xy":[[-0.5923682750077699,-0.6683457863300251],[-0.4643682821531261,-0.5740065386858322]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.05667394647196866,1.3557036346332487,0.71338606911949],"aabb_xy":[[-0.06803568112525482,1.3443351682269604],[-0.045312211818682495,1.3670721010395366]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.2765978411881663,1.7467527077756686,0.71338606911949],"aabb_xy":[[0.25468915904881523,1.7248520409555776],[0.2985065233275173,1.768653374595759]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.40501895285995837,-1.724364269591769,0.71338606911949],"aabb_xy":[[0.3410189536901884,-1.7711309567107314],[0.4690189520297283,-1.6775975824728064]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.3131027194496714,-2.066805244621676,0.71338606911949],"aabb_xy":[[0.29060271963576906,-2.0712798609921568],[0.3356027192635738,-2.0623306282511957]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.14616910067780653,1.7139544998803014,0.71338606911949],"aabb_xy":[[0.13301785470651717,1.6889545001236148],[0.1593203466490959,1.738954499636988]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.6022079459052241,-0.03900221049884678,0.71338606911949],"aabb_xy":[[0.5647079456130493,-0.043043685899450373],[0.6397079461973989,-0.034960735098243184]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.2168722217798834,-1.5345810996694138,0.71338606911949],"aabb_xy":[[0.20646066309939967,-1.539926833005312],[0.2272837804603671,-1.5292353663335152]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.48268741325837744,0.9561862401645111,0.71338606911949],"aabb_xy":[[-0.48872442625904217,0.9501595390955629],[-0.4766504002577127,0.9622129412334594]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.26234261759889366,-1.5172467702563441,0.71338606911949],"aabb_xy":[[-0.3123357297080856,-1.5672467709305402],[-0.21234950548970183,-1.4672467695821487]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[0.7094967769996894,0.3208196168274928,0.71338606911949],"aabb_xy":[[0.7039151053655606,0.30831961700971733],[0.7150784486338182,0.3333196166452683]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.11601175233629235,-2.3372395611941794,0.71338606911949],"aabb_xy":[[0.09851175207695574,-2.3513311033829525],[0.13351175259562897,-2.3231480190054072]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[-0.5202914726323031,-1.482008664369063,0.71338606911949],"aabb_xy":[[-0.5435733148304345,-1.5670086656662912],[-0.49700963043417185,-1.397008663071835]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.2736831955073482,-2.079799604223464,0.71338606911949],"aabb_xy":[[-0.2897451229658658,-2.1647996060360555],[-0.2576212680488305,-1.994799602410872]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.04002627202357578,-1.339517148728301,0.71338606911949],"aabb_xy":[[-0.023973724371997296,-1.4034804371470344],[0.10402626841914886,-1.2755538603095673]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[0.02946254589153352,0.8084808863616781,0.71338606911949],"aabb_xy":[[-0.020537455769961237,0.7584824441059753],[0.07946254755302827,0.8584793286173807]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.5379041621177374,0.13261005358111166,0.71338606911949],"aabb_xy":[[-0.5467062174267099,0.12479872742618257],[-0.5291021068087645,0.1404213797360407]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.328326603640799,0.8576993114919942,0.71338606911949],"aabb_xy":[[-0.37832660228672027,0.8077797678325317],[-0.2783266049948779,0.9076188551514565]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.38395090969538614,1.6841439511190095,0.71338606911949],"aabb_xy":[[0.3494884316822984,1.6774802739360868],[0.4184133877084739,1.6908076283019322]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.6775919412857185,1.1416000491525358,0.71338606911949],"aabb_xy":[[0.6632575161595551,1.129539833597997],[0.691926366411882,1.1536602647070746]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[0.31571184709454503,1.1352553204417886,0.71338606911949],"aabb_xy":[[0.29321184658250443,1.1127634620763902],[0.3382118476065856,1.157747178807187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847197162811101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8275.png","name":"8275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8275.png","name":"8275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5540.png","name":"5540"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9418.png","name":"9418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":770.8331380933113,"rotation_z_degrees":318.4127293958794,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015722239596937887,-0.01795315143682447,0.001851766432326856]},{"name":"camera_2","offset_m":[-0.011416480197743564,-0.01761590564390722,0.014822632633836975]},{"name":"camera_3","offset_m":[-0.016849950999446348,0.010698646318272869,0.01983973666272802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012637491713884132,0.0008282337675834086,0.0017944352534546466],"end_effector_yaw_offset_degrees":-0.7731246716239792},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017732004273737592,-0.001832665476276278,0.0010472943248408736],"end_effector_yaw_offset_degrees":0.0003890453422437101},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000546700628673116,-0.0009872815795168677,0.0006545174844640998],"end_effector_yaw_offset_degrees":-0.7013332894549205}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003083306581386858,-0.0017950074175330922],"position_m":[0.31090833065813867,-0.022195007417533094,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003254688401225737,-0.000725713294269759],"position_m":[0.14614531159877428,0.27857428670573026,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002051975240342463,-0.004017491625080646],"position_m":[0.34074802475965754,0.20908250837491937,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012924501134168598,-0.0014634003036409216],"position_m":[0.2574075498865831,-0.3631634003036409,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6231dbea08e0e8a962492715ec750dd16a5b251c66cc2fe43f3ab4efa20a5094","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8275/tex_ceiling_textures_3633/tex_floor_textures_9418/tex_table_textures_5540/tex_wall_textures_2238","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3031070316330519206,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3031070316330519206,"visual_seed":3031070316330519206,"scene_id":"lab_003","finished_at":"2026-09-03T12:37:18"} +{"episode_id":"ep_000091","started_at":"2026-09-03T12:37:21","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.11625299193458072,0.42696627039553325,0.71338606911949],"aabb_xy":[[-0.13316372437092247,0.41349406480291867],[-0.09934225949823892,0.4404384759881477]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.6713037125534373,-2.2602034559811677,0.71338606911949],"aabb_xy":[[-0.6793299831840633,-2.2689549509585207],[-0.6632774419228114,-2.2514519610038155]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.10393035492711289,0.8659236107565533,0.71338606911949],"aabb_xy":[[0.09268529935649503,0.854681813032458],[0.1151754104977307,0.8771654084806486]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.5789341362944916,0.12625777631098645,0.71338606911949],"aabb_xy":[[-0.596434136539541,0.10875798847141961],[-0.5614341360494423,0.1437575641505533]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.3645360010131431,0.3259571522480029,0.71338606911949],"aabb_xy":[[-0.38908221663589376,0.2957082556989658],[-0.3399897853903923,0.35620604879703993]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.47138736500674794,-1.298405763194041,0.71338606911949],"aabb_xy":[[-0.5263828428274073,-1.353405764627948],[-0.4163918871860885,-1.2434057617601342]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.18015159792397983,-1.882295585617735,0.71338606911949],"aabb_xy":[[-0.18777586601415813,-1.889928809154279],[-0.17252732983380162,-1.8746623620811915]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.6631849756683222,-2.5501518693356644,0.71338606911949],"aabb_xy":[[-0.6935830867674657,-2.5805587713373335],[-0.6327868645691785,-2.5197449673339944]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.12485620162634337,-1.0035157506306742,0.71338606911949],"aabb_xy":[[0.03985620320892014,-1.0883900460929592],[0.2098562000437666,-0.9186414551683892]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.41299290998885163,1.4405689202023475,0.71338606911949],"aabb_xy":[[0.395982812698801,1.4244344317040736],[0.4300030072789023,1.4567034087006214]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.05153142645724962,-0.5141249727376431,0.71338606911949],"aabb_xy":[[-0.05803306296525424,-0.5238927947639529],[-0.045029789949245,-0.5043571507113334]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.26420663814339207,-0.21578501493264435,0.71338606911949],"aabb_xy":[[-0.29419830087726234,-0.24578501426944485],[-0.2342149754095217,-0.1857850155958438]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.013404170209412092,-0.8477651383783429,0.71338606911949],"aabb_xy":[[-0.06659583026080386,-0.8560758459926915],[0.09340417067962804,-0.8394544307639947]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.5845577147987644,-1.8999742792503063,0.71338606911949],"aabb_xy":[[0.5726249804369364,-1.9123564320581654],[0.5964904491605926,-1.8875921264424467]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.3756906564889455,-1.2892823936073587,0.71338606911949],"aabb_xy":[[0.3257118479786296,-1.3392823936130773],[0.4256694649992614,-1.2392823936016397]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.21221192113203058,1.7432424482777011,0.71338606911949],"aabb_xy":[[0.17488064460678795,1.7085893934828489],[0.2495431976572732,1.7778955030725534]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.5817491742804668,0.7984187376029825,0.71338606911949],"aabb_xy":[[0.526749176078722,0.7578967709765448],[0.6367491724822116,0.83894070422942]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.048074963749231814,-1.4680838812776846,0.71338606911949],"aabb_xy":[[-0.04192503858478724,-1.5455662358627975],[0.13807496608325087,-1.3906015266925722]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.20212166825553535,-1.66180861181299,0.71338606911949],"aabb_xy":[[0.19798581192283518,-1.699308611257347],[0.20625752458823557,-1.624308612368633]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.6515165003427676,0.5985765484173609,0.71338606911949],"aabb_xy":[[0.5875165011729977,0.5518098612983985],[0.7155164995125376,0.6453432355363234]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.4561795873223107,0.7829522505535311,0.71338606911949],"aabb_xy":[[0.4336795873121624,0.768856030913928],[0.47867958733245897,0.7970484701931345]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.3439817114045665,-0.9870583308849867,0.71338606911949],"aabb_xy":[[-0.4079817086902151,-1.0285650498378307],[-0.2799817141189178,-0.9455516119321428]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.18303962885266745,-2.3361303747607107,0.71338606911949],"aabb_xy":[[-0.20550439882407254,-2.358630375639571],[-0.1605748588812623,-2.3136303738818498]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[-0.43768851041817214,-0.41196100658846424,0.71338606911949],"aabb_xy":[[-0.45436564641126764,-0.42866093056239457],[-0.42101137442507663,-0.395261082614534]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_24","position":[-0.19788827490054167,1.3198391134949978,0.71338606911949],"aabb_xy":[[-0.2618882772433432,1.2748982622508653],[-0.1338882725577401,1.3647799647391303]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.5810203266161051,-0.6622589320124861,0.71338606911949],"aabb_xy":[[0.5585211908898782,-0.6847589327907491],[0.6035194623423321,-0.6397589312342231]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[0.4270697183808485,1.2033586664752627,0.71338606911949],"aabb_xy":[[0.41419781487990837,1.1233586660614265],[0.43994162188178865,1.2833586668890988]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.6712871880100544,1.0440387994699445,0.71338606911949],"aabb_xy":[[0.6672090301030047,1.0399578192216812],[0.6753653459171041,1.0481197797182078]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.2597184238666632,-2.25392346013626,0.71338606911949],"aabb_xy":[[0.17971842170390073,-2.3338786437624033],[0.3397184260294257,-2.173968276510116]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[0.3546995792816914,-0.9224941127162645,0.71338606911949],"aabb_xy":[[0.3046995789211253,-0.9724740999258673],[0.40469957964225745,-0.8725141255066614]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[-0.5841215421596632,1.042191614503452,0.71338606911949],"aabb_xy":[[-0.6104103664801038,1.0159201808488005],[-0.5578327178392225,1.068463048158103]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[-0.06315474459795278,-0.9343529867342502,0.71338606911949],"aabb_xy":[[-0.10065474611358449,-0.9455797597503952],[-0.025654743082321074,-0.9231262137181051]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_32","position":[-0.19527834959453644,0.021670660793836838,0.71338606911949],"aabb_xy":[[-0.21718703173388748,-0.00023000602625389624],[-0.1733696674551854,0.04357132761392757]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_33","position":[-0.42872354030049936,-2.1680148504683068,0.71338606911949],"aabb_xy":[[-0.4927235419784967,-2.2165322419476206],[-0.364723538622502,-2.119497458988992]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_34","position":[0.6232278957205886,-2.426211644799437,0.71338606911949],"aabb_xy":[[0.613934277483438,-2.4637116432875708],[0.6325215139577391,-2.388711646311303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883343355163596,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5421.png","name":"5421"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7354.png","name":"7354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7455.png","name":"7455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6590.png","name":"6590"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":711.2590880903367,"rotation_z_degrees":211.5527715597149,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008752349616188981,-0.005634256883419054,0.008888305224486467]},{"name":"camera_2","offset_m":[0.0032864402069088527,-0.001493330445266873,-0.01744923283751501]},{"name":"camera_3","offset_m":[-0.01558541101257917,0.01309263155761527,0.009265267765207873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001720488292669721,3.113036637139837e-05,-0.0015113292059628707],"end_effector_yaw_offset_degrees":0.10913593065916016},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004235085355913837,-0.001680449109175615,-0.00040732899908263996],"end_effector_yaw_offset_degrees":-0.33846236357539494},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010945545541258383,0.00020299164666834606,-0.0015079926510156345],"end_effector_yaw_offset_degrees":-0.09710727407663744}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002732861860818444,0.003087357051607097],"position_m":[0.30786713813918154,-0.017312642948392905,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006344433045381639,0.0046285563319131305],"position_m":[0.14876555669546185,0.2839285563319131,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002267699804461791,-0.0015744036347836521],"position_m":[0.3450676998044618,0.21152559636521637,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004429836097574515,0.0009026034953864169],"position_m":[0.2631298360975745,-0.3607973965046136,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"83ef59ca18a3e85b072c815741355dabcb8804232d3018e36590b4283f9888a5","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0112.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6144/tex_ceiling_textures_6590/tex_floor_textures_7455/tex_table_textures_5421/tex_wall_textures_7354","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":5556227537785913940,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":5556227537785913940,"visual_seed":5556227537785913940,"scene_id":"lab_003","finished_at":"2026-09-03T12:39:52"} +{"episode_id":"ep_000092","started_at":"2026-09-03T12:39:55","dimensions":{"distractor":{"count":22,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.6305150266829107,-0.05732365555949048,0.71338606911949],"aabb_xy":[[0.5405150301820388,-0.10323529797794873],[0.7205150231837824,-0.011412013141032245]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.3615490905948838,-0.9359362103672717,0.71338606911949],"aabb_xy":[[-0.44154908799847725,-1.0159287815654543],[-0.2815490931912904,-0.8559436391690887]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.33857931851690926,-2.0002476630158004,0.71338606911949],"aabb_xy":[[0.2885793181563432,-2.050227650225403],[0.3885793188774753,-1.9502676758061972]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.32192353254202055,0.6387407351542334,0.71338606911949],"aabb_xy":[[-0.3869235304236684,0.5876170714476925],[-0.25692353466037277,0.6898643988607742]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.31443821791969745,-1.1776105201882934,0.71338606911949],"aabb_xy":[[-0.4044382176428715,-1.200683872723473],[-0.22443821819652318,-1.1545371676531133]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.4700933729136314,-0.39561291220967076,0.71338606911949],"aabb_xy":[[-0.5300933727601982,-0.4524315344027094],[-0.4100933730670646,-0.338794290016632]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[0.3010037324588368,0.7802964383183273,0.71338606911949],"aabb_xy":[[0.2635037322869649,0.7475957029354201],[0.33850373263070876,0.8129971737012345]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.22238017326479675,-0.6131698847730702,0.71338606911949],"aabb_xy":[[0.1855855401398905,-0.6500757598696525],[0.259174806389703,-0.5762640096764879]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.5200797543650241,0.743150398208984,0.71338606911949],"aabb_xy":[[-0.5504778654641675,0.7127434962073145],[-0.48968164326588043,0.7735573002106535]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.5796347760125844,-1.330461003097594,0.71338606911949],"aabb_xy":[[0.534642189294134,-1.3754610023720426],[0.6246273627310348,-1.285461003823145]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.4362860300966691,0.8291373634318568,0.71338606911949],"aabb_xy":[[0.40182368269852725,0.7946434810340339],[0.47074837749481085,0.8636312458296793]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.522758230825356,-1.0982318604462198,0.71338606911949],"aabb_xy":[[0.4677582316487664,-1.1532215352211772],[0.5777582300019454,-1.043242185671262]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.1618551602008168,0.6022982012431339,0.71338606911949],"aabb_xy":[[-0.17940185511693577,0.5647981996788827],[-0.1443084652846979,0.6397982028073852]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.017780515893122795,-0.7963725456022901,0.71338606911949],"aabb_xy":[[-0.025908204086436015,-0.8052861540129977],[-0.009652827699809574,-0.7874589371915824]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.49744728974230257,1.3432047184045222,0.71338606911949],"aabb_xy":[[0.4813853622837849,1.2582047165919303],[0.5135092172008202,1.428204720217114]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.5977938059633088,1.455908093477499,0.71338606911949],"aabb_xy":[[0.5800002990283923,1.4381083478817012],[0.6155873128982252,1.4737078390732965]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.21181392165814394,0.9668960295828612,0.71338606911949],"aabb_xy":[[0.20378765102751797,0.9581445346055087],[0.21984019228876997,0.975647524560214]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.6201569985597142,-0.7625389048904982,0.71338606911949],"aabb_xy":[[0.570274301682018,-0.8125389041367732],[0.6700396954374104,-0.7125389056442236]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.23480148476892293,-1.6817630354083277,0.71338606911949],"aabb_xy":[[0.22668783009554583,-1.6898688518623566],[0.24291513944230003,-1.6736572189542984]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.5628501305583564,1.5398133502260953,0.71338606911949],"aabb_xy":[[0.5399344176733064,1.5169090530896723],[0.5857658434434062,1.5627176473625193]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.4299331574021261,1.6883429479957681,0.71338606911949],"aabb_xy":[[0.42058614981983095,1.6740393257781243],[0.4392801649844214,1.7026465702134124]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.12746334413851768,-2.493287997130588,0.71338606911949],"aabb_xy":[[-0.1463477279070279,-2.512173921910941],[-0.1085789603700075,-2.4744020723502356]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842138467727098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2177.png","name":"2177"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2177.png","name":"2177"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3516.png","name":"3516"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8259.png","name":"8259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4900.png","name":"4900"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.7072105897623,"rotation_z_degrees":85.3610821220348,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014388448501839225,0.008622244865832487,-0.007204219091802222]},{"name":"camera_2","offset_m":[0.001954316855408124,0.016475405404351707,-0.014948772565593918]},{"name":"camera_3","offset_m":[0.0016910523248269,-0.013969320694340004,-0.013695587739399682]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00114893289935131,0.0004929048260823255,-0.00047098173845122517],"end_effector_yaw_offset_degrees":-0.18454936558304302},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000765569508921474,0.001046688984643007,-0.0016116575746323578],"end_effector_yaw_offset_degrees":-0.7088304656547821},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003219935195531219,0.0009566558848683182,0.0017153787802747706],"end_effector_yaw_offset_degrees":0.34855212556443016}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010706132967696078,-0.0023600941823142363],"position_m":[0.3116706132967696,-0.022760094182314238,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0048872103554548655,-0.0022180974545727293],"position_m":[0.15428721035545487,0.27708190254542725,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00233623640700202,0.003671869615727981],"position_m":[0.34513623640700203,0.216771869615728,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021316957444886078,-0.0018502171583200644],"position_m":[0.25656830425551136,-0.3635502171583201,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"471836453539c0b1ace06c2e559b737e1a52e2537f7cc35dfe5f48774776ec7e","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0113.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2177/tex_ceiling_textures_4900/tex_floor_textures_230/tex_table_textures_3516/tex_wall_textures_8259","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8532638411201329218,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8532638411201329218,"visual_seed":8532638411201329218,"scene_id":"lab_003","finished_at":"2026-09-03T12:42:29"} +{"episode_id":"ep_000093","started_at":"2026-09-03T12:42:32","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.31305760160068075,1.2599274692933125,0.71338606911949],"aabb_xy":[[0.26305760216048507,1.2099595448089961],[0.3630576010408763,1.3098953937776288]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.26208435288754617,0.6701882317683254,0.71338606911949],"aabb_xy":[[0.2120895199596045,0.6201882328730818],[0.3120791858154877,0.7201882306635689]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.2581474729919375,-1.953110157422337,0.71338606911949],"aabb_xy":[[0.24027836523748203,-1.9669430653995483],[0.276016580746393,-1.9392772494451262]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.20015547672857176,-0.308554933269531,0.71338606911949],"aabb_xy":[[-0.219039860497082,-0.32744085804988377],[-0.18127109296006158,-0.2896690084891782]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.45312715375044743,-1.2282621835602179,0.71338606911949],"aabb_xy":[[-0.45916416675111227,-1.2342888846291664],[-0.4470901407497828,-1.2222354824912698]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[-0.21127084934520945,-0.6585333005770038,0.71338606911949],"aabb_xy":[[-0.26126586030466153,-0.7085332996125955],[-0.16127583838575746,-0.608533301541412]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.16789475377974783,0.7210236666282119,0.71338606911949],"aabb_xy":[[-0.19289475371226575,0.7141409984072887],[-0.14289475384722997,0.7279063348491354]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.18237889270084862,-0.6623513196049622,0.71338606911949],"aabb_xy":[[0.14737889350803032,-0.6733183656026246],[0.21737889189366685,-0.6513842736072993]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.478084278953292,1.4091011016711015,0.71338606911949],"aabb_xy":[[-0.5280773910624839,1.359101100996906],[-0.42809116684410015,1.4591011023452973]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.6518588871625657,-0.820891331431469,0.71338606911949],"aabb_xy":[[0.6268588876108272,-0.8310338152966036],[0.6768588867143042,-0.8107488475663341]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[-0.3638551952251145,-0.30653916581646046,0.71338606911949],"aabb_xy":[[-0.3757879295869426,-0.3189213186243198],[-0.3519224608632865,-0.2941570130086011]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.4674656308937404,-0.25532133251396205,0.71338606911949],"aabb_xy":[[0.4196594632799717,-0.32032133522102096],[0.515271798507509,-0.19032132980690303]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.45398601667485305,0.31549086291148587,0.71338606911949],"aabb_xy":[[0.3939860158140402,0.2640644329049994],[0.5139860175356658,0.3669172929179722]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.363891695045116,-0.5684907065269051,0.71338606911949],"aabb_xy":[[-0.37651848233231233,-0.578036780228478],[-0.35126490775791963,-0.5589446328253322]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.18362646964135088,0.9349662893747763,0.71338606911949],"aabb_xy":[[0.14612646934917606,0.9309248139741726],[0.2211264699335257,0.9390077647753798]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.3423017965298211,-1.3387894982105062,0.71338606911949],"aabb_xy":[[-0.36050762019106886,-1.349814898792498],[-0.3240959728685735,-1.3277640976285148]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.4173027687063471,1.5959663260140036,0.71338606911949],"aabb_xy":[[-0.4973027701364742,1.516449171001394],[-0.33730276727621983,1.675483481026613]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.3373584471778597,1.2704290837823744,0.71338606911949],"aabb_xy":[[-0.34792592683595863,1.2598840536693656],[-0.3267909675197606,1.2809741138953827]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.0043545193566104645,0.9655787570224694,0.71338606911949],"aabb_xy":[[-0.05964117803848612,0.9015787587217606],[0.06835021675170705,1.029578755323178]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.46081257501413553,1.032756830600864,0.71338606911949],"aabb_xy":[[-0.5107858690173959,0.9827568300463165],[-0.410839281010875,1.0827568311554112]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.6800538763771655,-2.5309137126329175,0.71338606911949],"aabb_xy":[[0.6730124254264179,-2.5379404643707124],[0.6870953273279131,-2.5238869608951235]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.26332444684104206,-1.785224619533416,0.71338606911949],"aabb_xy":[[-0.28082444710037874,-1.7993161617221887],[-0.2458244465817055,-1.7711330773446434]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.31624628336829175,-1.476621362910561,0.71338606911949],"aabb_xy":[[-0.3537462840328704,-1.4923084209107826],[-0.278746282703713,-1.4609343049103383]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.5329613682103002,-2.1262223188489053,0.71338606911949],"aabb_xy":[[-0.5430430752888735,-2.2062223167410195],[-0.5228796611317266,-2.0462223209567902]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[0.1934970346502033,-1.3447494282115147,0.71338606911949],"aabb_xy":[[0.11349703437659632,-1.4176989760372314],[0.2734970349238103,-1.271799880385798]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.49370380190615426,-0.5301644502529719,0.71338606911949],"aabb_xy":[[-0.5537038021575553,-0.5844457752894365],[-0.43370380165475303,-0.4758831252165072]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[0.6684826741205787,-1.8531145375869986,0.71338606911949],"aabb_xy":[[0.659768705070644,-1.8756145382461866],[0.677196643170513,-1.8306145369278102]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[-0.37248841505913477,-2.265279636469686,0.71338606911949],"aabb_xy":[[-0.4364884167371321,-2.3137970279489997],[-0.3084884133811374,-2.2167622449903712]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[-0.10325013310866948,-0.3683009630183478,0.71338606911949],"aabb_xy":[[-0.120680848187676,-0.38557307768219856],[-0.08581941802966297,-0.35102884835449694]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[0.5923618652818459,1.1766797226018726,0.71338606911949],"aabb_xy":[[0.5373881432455131,1.1216797230376394],[0.6473355873181789,1.2316797221661058]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.579358054268392,-1.4284366409329656,0.71338606911949],"aabb_xy":[[-0.6018717460918492,-1.498436641533973],[-0.5568443624449348,-1.3584366403319579]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_31","position":[0.3303408456297223,-0.5438444586773516,0.71338606911949],"aabb_xy":[[0.2944273412047326,-0.5797579668941063],[0.36625435005471196,-0.507930950460597]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_32","position":[0.439962887093555,-2.1480903111468463,0.71338606911949],"aabb_xy":[[0.4221693801586386,-2.165890056742644],[0.45775639402847146,-2.1302905655510487]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_33","position":[-0.6358857043838019,0.6163344630150793,0.71338606911949],"aabb_xy":[[-0.6438796929615052,0.6083343829199889],[-0.6278917158060984,0.6243345431101696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687825397180246,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1200.png","name":"1200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1732.png","name":"1732"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3006.png","name":"3006"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1082.png","name":"1082"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":614.8102892893234,"rotation_z_degrees":333.179430636881,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00833598682215888,0.019398585362200942,-0.016564661270888223]},{"name":"camera_2","offset_m":[-0.0036252937630612096,0.009221732770844423,0.004486053426653206]},{"name":"camera_3","offset_m":[0.01492557233828044,-0.019713265601656295,-0.006282689582264437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00039045562260840976,0.0008076528386890521,0.0014079475605696251],"end_effector_yaw_offset_degrees":0.8408875858980505},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019514566946178154,0.0019085953646844215,-0.0016450377110702203],"end_effector_yaw_offset_degrees":0.9711870806277543},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00031730149948796843,0.000145760975756267,-0.00010419781589381615],"end_effector_yaw_offset_degrees":-0.25761060247282486}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004403028790070862,0.002617604997966423],"position_m":[0.31500302879007086,-0.017782395002033578,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004878571148977909,4.864283772494822e-05],"position_m":[0.15427857114897792,0.2793486428377249,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031551437626905943,0.003765709602814184],"position_m":[0.3396448562373094,0.2168657096028142,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019199595171530267,-0.0021826512369178775],"position_m":[0.260619959517153,-0.3638826512369179,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2ff03d11bb07dacef13c882360017136c8e78875c66ff4418a1c95774f6527a","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0114.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1938/tex_ceiling_textures_1082/tex_floor_textures_3006/tex_table_textures_1200/tex_wall_textures_1732","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":324501426160613890,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":324501426160613890,"visual_seed":324501426160613890,"scene_id":"lab_003","finished_at":"2026-09-03T12:45:05"} +{"episode_id":"ep_000094","started_at":"2026-09-03T12:46:33","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.3027702658922684,-1.02907478877191,0.71338606911949],"aabb_xy":[[0.22277026262825528,-1.0426348210808234],[0.38277026915628154,-1.0155147564629967]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.5598419599419486,-1.008369870093586,0.71338606911949],"aabb_xy":[[0.5263627926809077,-1.0418489834646931],[0.5933211272029896,-0.9748907567224792]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.3835188467821944,1.6088679230795884,0.71338606911949],"aabb_xy":[[-0.39429182070356217,1.5738679248605494],[-0.3727458728608266,1.6438679212986274]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.3183018149204444,1.4441482703738608,0.71338606911949],"aabb_xy":[[0.31422365701339466,1.4400672901255978],[0.32237997282749414,1.4482292506221244]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.6305045865784866,-2.128315139773712,0.71338606911949],"aabb_xy":[[0.5665045845287545,-2.16840962286302],[0.6945045886282185,-2.088220656684404]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.10430491985413581,-1.6624270095076437,0.71338606911949],"aabb_xy":[[0.05482449864017702,-1.7264270074204955],[0.1537853410680946,-1.5984270115947918]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.4612042389203813,-1.7385948577687502,0.71338606911949],"aabb_xy":[[-0.5090104065341499,-1.803594860475809],[-0.4133980713066126,-1.673594855061691]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.5993347469567425,-1.13320636157473,0.71338606911949],"aabb_xy":[[0.5743347470242247,-1.1400890297956536],[0.6243347468892605,-1.126323693353807]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.2540264997950392,-2.08420724284736,0.71338606911949],"aabb_xy":[[-0.3340264968092872,-2.1043417945207716],[-0.17402650278079124,-2.0640726911739486]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.5936272462847612,1.0470072514882207,0.71338606911949],"aabb_xy":[[-0.6836272448792311,1.0307566651747997],[-0.5036272476902912,1.0632578378016417]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.467778122264664,-1.051781948883402,0.71338606911949],"aabb_xy":[[-0.47220875161950415,-1.0572303206180849],[-0.4633474929098238,-1.0463335771487194]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.5513203363472556,-1.4809707547045983,0.71338606911949],"aabb_xy":[[-0.6413203357656265,-1.514346251548788],[-0.46132033692888474,-1.4475952578604085]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[0.45682976502353956,-1.9846837682050475,0.71338606911949],"aabb_xy":[[0.4454680303702534,-1.9960522346113356],[0.4681914996768257,-1.9733153017987595]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.4328790844710515,0.7502616003370077,0.71338606911949],"aabb_xy":[[-0.516601309971134,0.6602615968023118],[-0.34915685897096904,0.8402616038717037]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.015388678036338366,-2.0978611849339255,0.71338606911949],"aabb_xy":[[0.004143622465720529,-2.1091029826580203],[0.0266337336069562,-2.0866193872098298]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.3002638255827118,-1.7534791687483597,0.71338606911949],"aabb_xy":[[0.22026382415258455,-1.832996323760969],[0.38026382701283895,-1.67396201373575]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.49293141909199795,-0.6224415512444255,0.71338606911949],"aabb_xy":[[-0.5279314189880169,-0.6308157867563654],[-0.4579314191959791,-0.6140673157324855]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.08146129967849092,0.22705143491150404,0.71338606911949],"aabb_xy":[[-0.13547689596039092,0.16305143201924685],[-0.027445703396590915,0.2910514378037612]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.4881414166643039,-0.43030219207814246,0.71338606911949],"aabb_xy":[[0.4656414171405964,-0.45279813952876324],[0.5106414161880112,-0.4078062446275217]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.09461989403477766,-0.01610044504657715,0.71338606911949],"aabb_xy":[[-0.15961989667257115,-0.06758004374602411],[-0.029619891396984177,0.03537915365286981]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.483299537472619,-2.433992964320424,0.71338606911949],"aabb_xy":[[-0.5132912002064893,-2.463992963657224],[-0.4533078747387486,-2.403992964983623]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.009144503099453583,-0.7257736276856872,0.71338606911949],"aabb_xy":[[-0.05913951405890562,-0.7757736267212791],[0.04085050785999845,-0.6757736286500956]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[0.26572714639432915,0.6465192795195969,0.71338606911949],"aabb_xy":[[0.22822714520953633,0.6421010568235361],[0.3032271475791219,0.6509375022156572]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.41502685525633654,1.670011145163747,0.71338606911949],"aabb_xy":[[0.34502685312490694,1.6472491795380513],[0.485026857387766,1.6927731107894426]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.05804865050017893,0.8222967119299329,0.71338606911949],"aabb_xy":[[-0.06446246414336385,0.8158868916822644],[-0.05163483685699398,0.828706532177601]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866836743821165,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5838.png","name":"5838"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5838.png","name":"5838"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4618.png","name":"4618"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7432.png","name":"7432"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8989.png","name":"8989"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8448.png","name":"8448"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":746.672725639128,"rotation_z_degrees":270.27200075789455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01268871945391699,-0.006314016100775182,-0.004924769376903084]},{"name":"camera_2","offset_m":[-0.017828607217037447,0.006043343575555169,-0.011410595729630452]},{"name":"camera_3","offset_m":[0.014937778099688114,0.004238625189905639,-0.01205394396517748]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009469674128747565,0.0003662282892350388,-0.0009656044722914437],"end_effector_yaw_offset_degrees":-0.4861964867512838},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[3.497374485268668e-05,0.0009692243797754046,0.0007308608765308022],"end_effector_yaw_offset_degrees":-0.1495657858311088},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00039503246292505833,-0.001435495911270023,0.0012131160501134262],"end_effector_yaw_offset_degrees":0.3452960197656796}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004928252037522265,0.0012487587828684489],"position_m":[0.31552825203752227,-0.01915124121713155,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002079408692191822,-0.0023148088595539187],"position_m":[0.1473205913078082,0.27698519114044606,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021060776992123664,0.004278386026338622],"position_m":[0.34490607769921233,0.21737838602633863,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002770106001352103,0.0013554793614201418],"position_m":[0.26147010600135207,-0.36034452063857986,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9eb471197780e32e7e7c8657035e5b9c5107713096560cc76e8674ac3761aefd","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0116.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5838/tex_ceiling_textures_8448/tex_floor_textures_8989/tex_table_textures_4618/tex_wall_textures_7432","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6007045072354972047,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6007045072354972047,"visual_seed":6007045072354972047,"scene_id":"lab_003","finished_at":"2026-09-03T12:48:57"} +{"episode_id":"ep_000095","started_at":"2026-09-03T12:49:00","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.3290209374215691,-1.346096263913064,0.71338606911949],"aabb_xy":[[0.3176592027682829,-1.3574647303193517],[0.34038267207485523,-1.3347277975067755]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.5274440275995036,-0.9204014100137361,0.71338606911949],"aabb_xy":[[-0.5772608070643384,-0.9704014084980394],[-0.47762724813466884,-0.8704014115294326]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.5429776825268025,-0.256103677957348,0.71338606911949],"aabb_xy":[[-0.6079776825611052,-0.30280435463767524],[-0.4779776824924997,-0.20940300127702066]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.3516653207136502,-2.380267377445373,0.71338606911949],"aabb_xy":[[0.2816653189049048,-2.40162114620956],[0.4216653225223957,-2.3589136086811853]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.1432863620067496,-2.41152591238574,0.71338606911949],"aabb_xy":[[0.10578636121475415,-2.41789375334393],[0.18078636279874505,-2.40515807142755]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[0.2421516369555362,-1.0494780046086798,0.71338606911949],"aabb_xy":[[0.20768928955739435,-1.083971887006502],[0.2766139843536779,-1.0149841222108567]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.58837727332438,-0.2647919263743459,0.71338606911949],"aabb_xy":[[0.5802636186510028,-0.272897742828375],[0.596490927997757,-0.2566861099203168]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.10971600891009281,-1.0775801898182604,0.71338606911949],"aabb_xy":[[-0.12639314490318831,-1.0942801137921907],[-0.0930388729169973,-1.0608802658443302]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[0.35159587557499283,1.5462378130967127,0.71338606911949],"aabb_xy":[[0.3290967398487659,1.5237378123184495],[0.37409501130121986,1.5687378138749755]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.33832884738244007,-0.28946216445631157,0.71338606911949],"aabb_xy":[[-0.35582884764177675,-0.3035537066450842],[-0.3208288471231035,-0.27537062226753894]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.639394000832734,0.8391839618760186,0.71338606911949],"aabb_xy":[[-0.6606720089762063,0.7741839595499455],[-0.6181159926892618,0.9041839642020916]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.708006978761093,-0.27222553408371564,0.71338606911949],"aabb_xy":[[0.6936725536349295,-0.2842857496382545],[0.7223414038872564,-0.2601653185291768]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.3272930513429826,-2.1606505983344544,0.71338606911949],"aabb_xy":[[-0.37729305170354865,-2.210630585544057],[-0.2772930509824165,-2.110670611124851]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.7033679571460516,-0.139858888395894,0.71338606911949],"aabb_xy":[[0.6987328419938181,-0.14372622347304265],[0.7080030722982849,-0.13599155331874535]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.029151915831709174,-1.7536640987369911,0.71338606911949],"aabb_xy":[[-0.07016985921808006,-1.8036640993679485],[0.01186602755466171,-1.7036640981060338]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.5416800683078153,-1.638256237175023,0.71338606911949],"aabb_xy":[[0.5328988411605792,-1.6470359844635534],[0.5504612954550517,-1.6294764898864929]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.19254432800448218,1.694424353909325,0.71338606911949],"aabb_xy":[[0.16732349114464248,1.6692006030564381],[0.21776516486432182,1.7196481047622116]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[-0.45986853980004583,-2.0398063614424093,0.71338606911949],"aabb_xy":[[-0.4653264854370659,-2.1198063647500685],[-0.45441059416302576,-1.9598063581347502]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.09993194407643102,1.326659745801468,0.71338606911949],"aabb_xy":[[0.04493646625577162,1.2716597443675608],[0.1549274218970904,1.3816597472353747]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.28792770920996225,-1.4722139479855931,0.71338606911949],"aabb_xy":[[0.28349707985512207,-1.4776623197202758],[0.2923583385648024,-1.4667655762509109]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.4008906550451973,-2.5149022641617886,0.71338606911949],"aabb_xy":[[-0.406472326679326,-2.5274022639795635],[-0.39530898341106846,-2.502402264344013]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.05656058386317775,1.647286047183521,0.71338606911949],"aabb_xy":[[0.02823087391463753,1.6428253049898038],[0.08489029381171798,1.651746789377238]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.2894949435171331,1.3010028624670036,0.71338606911949],"aabb_xy":[[-0.32293511871315267,1.267559236636073],[-0.25605476832111346,1.3344464882979332]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.5076080411739436,0.7144561574307842,0.71338606911949],"aabb_xy":[[-0.5314442588145488,0.6244561566222977],[-0.4837718235333387,0.8044561582392707]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.536519121640316,-2.3947064267980354,0.71338606911949],"aabb_xy":[[0.5326052484448934,-2.4034554422045917],[0.5404329948357384,-2.385957411391478]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[-0.3311356279538312,1.1648862015362518,0.71338606911949],"aabb_xy":[[-0.3360349202603947,1.1372092822336828],[-0.32623633564726773,1.1925631208388203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871484250775892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1578.png","name":"1578"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1578.png","name":"1578"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2065.png","name":"2065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7819.png","name":"7819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6361.png","name":"6361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1370.png","name":"1370"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":662.4957649725608,"rotation_z_degrees":206.9891905740308,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011069867064706349,-0.013086331401960631,-0.016032543792503042]},{"name":"camera_2","offset_m":[0.005791958181100797,-0.017764938513340236,0.001063914792895429]},{"name":"camera_3","offset_m":[0.004514947261840319,0.019479512775594714,-0.004414343992791619]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00015982489722376559,-0.0015345278046692656,0.00013716218281425432],"end_effector_yaw_offset_degrees":0.9397872102259754},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-5.1825061024392705e-05,0.0018308453264298708,-0.0016573409161660035],"end_effector_yaw_offset_degrees":0.9830934310264401},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001919355780746673,0.001914934132251354,0.0004186045422160745],"end_effector_yaw_offset_degrees":0.019574957875211574}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003262760547940711,-0.00010202317239059802],"position_m":[0.3138627605479407,-0.0205020231723906,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00016105239585115314,0.002306686573032145],"position_m":[0.14923894760414885,0.2816066865730321,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037710382401102997,-0.0011899693662860379],"position_m":[0.3465710382401103,0.21191003063371397,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006975665728877912,-0.002861714303533065],"position_m":[0.25939756657288776,-0.36456171430353307,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f28d25b22c056ea71a9ec73f707d53d157e27594e057ab932e77e330de750a77","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0117.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1578/tex_ceiling_textures_1370/tex_floor_textures_6361/tex_table_textures_2065/tex_wall_textures_7819","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":8890857229525076263,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":8890857229525076263,"visual_seed":8890857229525076263,"scene_id":"lab_003","finished_at":"2026-09-03T12:51:32"} +{"episode_id":"ep_000096","started_at":"2026-09-03T12:54:29","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.20179110361205144,-1.0722211870243703,0.71338606911949],"aabb_xy":[[0.19376483298142547,-1.080972682001723],[0.20981737424267746,-1.0634696920470177]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.6095883387616394,-0.9828531821766728,0.71338606911949],"aabb_xy":[[0.5645883372954107,-1.0278530390381535],[0.6545883402278684,-0.9378533253151922]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[0.686865523464159,0.46085928217415173,0.71338606911949],"aabb_xy":[[0.6812838518300302,0.44835928235637623],[0.6924471950982878,0.4733592819919272]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[-0.3310699163991222,1.2668686605386021,0.71338606911949],"aabb_xy":[[-0.3653861935737401,1.2168686605654246],[-0.2967536392245042,1.31686866051178]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.1493041689120992,-2.1376608634734673,0.71338606911949],"aabb_xy":[[-0.18430416888859502,-2.147125479521084],[-0.11430416893560336,-2.1281962474258505]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.2090355892305582,-0.5827976787260516,0.71338606911949],"aabb_xy":[[0.2053323279014193,-0.5864996970347693],[0.21273885055969705,-0.5790956604173336]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.24025374625321327,-0.3063945202987557,0.71338606911949],"aabb_xy":[[-0.2702454089870836,-0.33639451963555617],[-0.21026208351934295,-0.2763945209619551]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.4503997492922517,-1.0694144516101016,0.71338606911949],"aabb_xy":[[-0.510399749888268,-1.124226924155325],[-0.39039974869623556,-1.0146019790648781]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.2923613899668489,-2.3489024847715383,0.71338606911949],"aabb_xy":[[0.24455522235308025,-2.4139024874785973],[0.34016755758061756,-2.2839024820644793]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.5286438058028096,-1.7710258562438137,0.71338606911949],"aabb_xy":[[-0.5536438049684427,-1.7779781019491703],[-0.5036438066371764,-1.7640736105384571]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.18921075471456406,0.8666017347051986,0.71338606911949],"aabb_xy":[[-0.21421075426630254,0.8564592508400639],[-0.16421075516282557,0.8767442185703334]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.6729222466325854,-2.4003237456131874,0.71338606911949],"aabb_xy":[[-0.6895993826256808,-2.4170236695871177],[-0.6562451106394898,-2.383623821639257]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.00018786354514011006,-2.1217194381726383,0.71338606911949],"aabb_xy":[[-0.03396342273583308,-2.135757933385803],[0.03358769564555286,-2.1076809429594734]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.4125038615126846,-0.2405338573154534,0.71338606911949],"aabb_xy":[[0.39000744007882054,-0.26303385712220084],[0.43500028294654874,-0.218033857508706]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.417048562456668,-2.2388030640960355,0.71338606911949],"aabb_xy":[[0.3795485612718751,-2.243221286792096],[0.4545485636414607,-2.234384841399975]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.060568034581998,-1.5757690635434722,0.71338606911949],"aabb_xy":[[-0.06464619248904772,-1.5798500437917355],[-0.056489876674948244,-1.571688083295209]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.1255439813639352,-0.8201386911689477,0.71338606911949],"aabb_xy":[[-0.16117313726389493,-0.8557713579258006],[-0.08991482546397545,-0.7845060244120947]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.4291827294750432,1.1306995669716144,0.71338606911949],"aabb_xy":[[0.33918272579812503,1.0692671603945099],[0.5191827331519614,1.1921319735487186]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.13257070075524469,0.8550441108071727,0.71338606911949],"aabb_xy":[[0.052570700285028735,0.8467334031928244],[0.21257070122546065,0.8633548184215212]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.5236228279084895,1.4128066947055076,0.71338606911949],"aabb_xy":[[-0.6036228253120828,1.3328141235073245],[-0.443622830504896,1.4927992659036902]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.17633806236450067,1.3176736909872284,0.71338606911949],"aabb_xy":[[-0.20418309914510782,1.2868891922489167],[-0.14849302558389357,1.34845818972554]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[0.18362958134323681,-1.7091385032024944,0.71338606911949],"aabb_xy":[[0.14238077031332205,-1.7641385027147118],[0.22487839237315152,-1.654138503690277]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.5658298917884932,-0.4320120284528044,0.71338606911949],"aabb_xy":[[0.5206585739403243,-0.49601202559734286],[0.6110012096366623,-0.368012031308266]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.34844305054256175,0.6119403412978213,0.71338606911949],"aabb_xy":[[0.312529546117572,0.5760268330810664],[0.3843565549675514,0.6478538495145757]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.18175817576709763,-0.5332593737690514,0.71338606911949],"aabb_xy":[[-0.22394258992792837,-0.5972593740462626],[-0.1395737616062669,-0.4692593734918402]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6869959923640128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3350.png","name":"3350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3350.png","name":"3350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9273.png","name":"9273"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/167.png","name":"167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7467.png","name":"7467"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9637.png","name":"9637"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":534.3377773038483,"rotation_z_degrees":190.99717719319042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01233438697435843,0.008775100166949983,0.015009231855151167]},{"name":"camera_2","offset_m":[0.014156462552759843,0.003007733245720637,-0.008532077796264206]},{"name":"camera_3","offset_m":[-0.018128864810582443,0.007735027029890401,-0.014119383010807281]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00011911873601338921,-0.0015914627234209701,-0.0011412780939572017],"end_effector_yaw_offset_degrees":-0.07313781547004194},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010988352756929822,-0.0001524571755932068,0.0013295742799755246],"end_effector_yaw_offset_degrees":0.3724429468602273},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0003344622095577275,-0.0012388712586056598,-0.000394917715013229],"end_effector_yaw_offset_degrees":-0.6526785807540512}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003954895899657211,0.004089528455174765],"position_m":[0.3066451041003428,-0.016310471544825237,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-8.562553106493918e-06,-0.004480274923871502],"position_m":[0.1493914374468935,0.2748197250761285,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001408916372159205,0.0005626054736145554],"position_m":[0.3442089163721592,0.21366260547361457,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002858361483443049,0.0009036491253045023],"position_m":[0.261558361483443,-0.3607963508746955,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"98106130ace5f0a50de2ca98a3b593813edd0af6e75e80d5e4f26de5800a94f6","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0119.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3350/tex_ceiling_textures_9637/tex_floor_textures_7467/tex_table_textures_9273/tex_wall_textures_167","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3088035557601571778,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3088035557601571778,"visual_seed":3088035557601571778,"scene_id":"lab_003","finished_at":"2026-09-03T12:56:55"} +{"episode_id":"ep_000097","started_at":"2026-09-03T12:56:58","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.09856117872520032,1.3488641819040907,0.71338606911949],"aabb_xy":[[0.06106118030179994,1.3356999679362598],[0.13606117714860064,1.3620283958719213]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.5298979765143481,-0.9224288761390125,0.71338606911949],"aabb_xy":[[0.48008119704951335,-0.972428874623316],[0.5797147559791829,-0.8724288776547092]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.36972357235052145,0.729621735501985,0.71338606911949],"aabb_xy":[[0.33222357155852594,0.7232538945437949],[0.40722357314251684,0.735989576460175]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[0.46768421422252016,-1.6031994595027563,0.71338606911949],"aabb_xy":[[0.38268421553044546,-1.6351853228976352],[0.5526842129145948,-1.5712135961078775]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.44662396768182455,-2.450474436087137,0.71338606911949],"aabb_xy":[[-0.4691239679253399,-2.462679070746909],[-0.4241239674383091,-2.438269801427365]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.053893772806193785,0.46437711783770697,0.71338606911949],"aabb_xy":[[-0.07139377306553042,0.4502855756489345],[-0.03639377254685717,0.47846866002647975]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.6419076990806891,-1.983679209488373,0.71338606911949],"aabb_xy":[[-0.6643724690520941,-2.0061792103672333],[-0.6194429291092839,-1.9611792086095126]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.37397759656494656,-2.340518844620933,0.71338606911949],"aabb_xy":[[-0.3832712148020971,-2.378018843109067],[-0.3646839783277959,-2.303018846132799]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.36778880414087745,0.8882619112208148,0.71338606911949],"aabb_xy":[[-0.4027888033336956,0.877294865223152],[-0.33278880494805907,0.8992289572184773]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.2263393638236375,-2.0776346435889117,0.71338606911949],"aabb_xy":[[0.2222612059165878,-2.081715623837175],[0.23041752173068727,-2.0735536633406486]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[-0.166064774633082,0.10932546133236354,0.71338606911949],"aabb_xy":[[-0.19984033382377497,0.0952869661191985],[-0.13228921544238903,0.12336395654552855]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.26569287749265263,-0.4032176698875145,0.71338606911949],"aabb_xy":[[-0.31970847377455264,-0.4672176727797716],[-0.21167728121075263,-0.3392176669952573]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.129933233403429,-2.3187509488858744,0.71338606911949],"aabb_xy":[[-0.21993323573744805,-2.396233303470987],[-0.039933231069409936,-2.2412685943007618]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.6290489251414526,-2.4112786431375266,0.71338606911949],"aabb_xy":[[0.5650489247639189,-2.461023909988339],[0.6930489255189861,-2.3615333762867143]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.3955893835904405,-1.3606634974337233,0.71338606911949],"aabb_xy":[[0.3914535272577403,-1.3981634968780805],[0.3997252399231407,-1.3231634979893665]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.634372893837247,-1.2441767260273062,0.71338606911949],"aabb_xy":[[0.554372896822999,-1.2643112777007175],[0.7143728908514949,-1.224042174353895]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.04234931051444357,-1.9870211759389216,0.71338606911949],"aabb_xy":[[-0.1073493105487463,-2.033721852619249],[0.022650689519859157,-1.9403204992585943]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.5294540878761334,-0.5248316511255591,0.71338606911949],"aabb_xy":[[0.44945408928881386,-0.6041472530637199],[0.6094540864634527,-0.4455160491873981]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.05580923295470286,-1.161562866419204,0.71338606911949],"aabb_xy":[[0.030588396094863187,-1.1867866172720904],[0.08103006981454251,-1.136339115566317]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.003646136893652452,-2.168412802343029,0.71338606911949],"aabb_xy":[[-0.008545429200215948,-2.1960897216455977],[0.001253155412911045,-2.14073588304046]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.2862057234583876,0.317323608877194,0.71338606911949],"aabb_xy":[[-0.35020572204496,0.2703166454776853],[-0.22220572487181506,0.36433057227670274]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.018122212066766008,-0.8860041627223953,0.71338606911949],"aabb_xy":[[-0.04195842970737108,-0.9760041635308819],[0.005714005573839055,-0.796004161913909]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.6206784631246005,0.8707897569411167,0.71338606911949],"aabb_xy":[[0.565678463948011,0.8158000821661591],[0.67567846230119,0.9257794317160744]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[0.6877005179271638,-1.7285581956143887,0.71338606911949],"aabb_xy":[[0.6702005176821143,-1.7460579834539556],[0.7052005181722131,-1.7110584077748219]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.45696036828761843,1.1767917333955848,0.71338606911949],"aabb_xy":[[-0.4919603665577383,1.1697176057005965],[-0.4219603700174985,1.1838658610905728]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[0.3016920315996333,-1.4904041035559756,0.71338606911949],"aabb_xy":[[0.2920603953792037,-1.5000414163356846],[0.31132366782006293,-1.4807667907762667]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[0.1987350083803342,-0.7563112880586536,0.71338606911949],"aabb_xy":[[0.16123500788297596,-0.7602799716067719],[0.23623500887769244,-0.752342604510535]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873845119226809,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/565.png","name":"565"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/565.png","name":"565"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7098.png","name":"7098"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2222.png","name":"2222"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5496.png","name":"5496"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7776.png","name":"7776"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.7463632855442,"rotation_z_degrees":208.34500940446608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009328505696146645,-0.0033134338231750812,0.01245526851670965]},{"name":"camera_2","offset_m":[0.012132726397768568,0.013350025332552976,-0.005331336619884133]},{"name":"camera_3","offset_m":[0.011533401583236836,0.003908389672701431,-0.005510557690144911]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016781836807185308,-0.0018403110354822828,-0.001560939353559232],"end_effector_yaw_offset_degrees":-0.12842582454339047},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001369960011419882,0.0008016415169469159,-0.00023065363832272903],"end_effector_yaw_offset_degrees":0.8904903194383269},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016849504496524899,0.00045862192617388605,0.0004558834950854139],"end_effector_yaw_offset_degrees":0.32380914562803853}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022722794101751554,-0.004431009751493146],"position_m":[0.31287227941017515,-0.024831009751493147,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004775890934756859,-0.0024323060426568823],"position_m":[0.15417589093475687,0.2768676939573431,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045058991825000115,0.001213340893947078],"position_m":[0.3382941008175,0.2143133408939471,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002286805371989495,-0.0007581594621820162],"position_m":[0.2609868053719895,-0.362458159462182,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9df7f06034a4868dc3aac78defd2a7bd3cf1c2e0ca43d035d696e4cfbe5fbd57","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0120.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_565/tex_ceiling_textures_7776/tex_floor_textures_5496/tex_table_textures_7098/tex_wall_textures_2222","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":3027625836169844127,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":3027625836169844127,"visual_seed":3027625836169844127,"scene_id":"lab_003","finished_at":"2026-09-03T12:59:31"} +{"episode_id":"ep_000098","started_at":"2026-09-03T12:59:33","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.19974694988834452,0.38418017698421414,0.71338606911949],"aabb_xy":[[-0.28974694961151864,0.36110682444903425],[-0.10974695016517032,0.4072535295193939]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.4307373409318796,1.0336455868103074,0.71338606911949],"aabb_xy":[[-0.4400843485141749,1.0193419645926634],[-0.4213903333495844,1.0479492090279514]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.3188335170903833,1.305161674146384,0.71338606911949],"aabb_xy":[[-0.3828335203800914,1.2618267551424664],[-0.25483351380067515,1.3484965931503017]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[-0.2534297570388743,-1.7190976894711063,0.71338606911949],"aabb_xy":[[-0.28175946698741455,-1.7235584316648234],[-0.2251000470903341,-1.7146369472773892]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.23716984918268613,-0.9802922097258548,0.71338606911949],"aabb_xy":[[0.23253473403045272,-0.9841595448030035],[0.2418049643349195,-0.9764248746487062]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.177482971549749,-0.09847547801940015,0.71338606911949],"aabb_xy":[[-0.23260817717933976,-0.15847547946068727],[-0.12235776592015822,-0.038475476578113]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[0.1091948330519752,-2.4794281680784382,0.71338606911949],"aabb_xy":[[0.04760407382798239,-2.543428166187485],[0.170785592275968,-2.4154281699693914]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.4506349395114688,-1.2827774321115801,0.71338606911949],"aabb_xy":[[0.4006561310011529,-1.332777432117299],[0.5006137480217847,-1.2327774321058613]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.1622144506459724,1.444230775238211,0.71338606911949],"aabb_xy":[[0.154220462068269,1.4362306951431205],[0.1702084392236758,1.4522308553333012]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.5182229853840479,0.9959926719153538,0.71338606911949],"aabb_xy":[[0.4582229848761949,0.9391459382294324],[0.5782229858919007,1.0528394056012749]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.5470120640466554,0.024631086038545025,0.71338606911949],"aabb_xy":[[0.48301206674430897,-0.01973534092931173],[0.6110120613490018,0.06899751300640178]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.6440299970112873,-0.2656873769672914,0.71338606911949],"aabb_xy":[[-0.6815299975086455,-0.2696560605154098],[-0.606529996513929,-0.261718693419173]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.44991682072902184,-2.327193444453739,0.71338606911949],"aabb_xy":[[-0.477761857509629,-2.3579779431920507],[-0.42207178394841477,-2.2964089457154273]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.575010404329395,-2.287206273364677,0.71338606911949],"aabb_xy":[[-0.5924411194084013,-2.3044783880285276],[-0.5575796892503883,-2.2699341587008255]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.6313733250142661,0.5366506390537813,0.71338606911949],"aabb_xy":[[0.5969109776161241,0.5021567566559584],[0.6658356724124077,0.5711445214516038]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.6288369277421937,-2.461255774000211,0.71338606911949],"aabb_xy":[[0.5638369267850665,-2.5132039859339166],[0.6938369286993209,-2.4093075620665054]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.47429640445936183,-1.105170879078035,0.71338606911949],"aabb_xy":[[-0.49340871181734064,-1.1243056579552768],[-0.4551840971013829,-1.0860361002007928]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.6522038951203716,-1.020087127738235,0.71338606911949],"aabb_xy":[[-0.6566345244752118,-1.0255354994729178],[-0.6477732657655314,-1.0146387560035524]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.24723226061699088,-1.418347341482503,0.71338606911949],"aabb_xy":[[-0.31123225978676083,-1.4651140286014654],[-0.18323226144722093,-1.3715806543635405]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.0731242057497189,0.6812056896112613,0.71338606911949],"aabb_xy":[[-0.006875791264529099,0.66107113793785],[0.15312420276396688,0.7013402412846725]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.019981696991993814,-1.5617933447805896,0.71338606911949],"aabb_xy":[[-0.04289740987704372,-1.5846976419170131],[0.0029340158930560864,-1.5388890476441661]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833459656354116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8661.png","name":"8661"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5167.png","name":"5167"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1769.png","name":"1769"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":779.3934285991152,"rotation_z_degrees":57.64929793263485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013505463680014467,0.005888063986258754,-0.0073855293464015846]},{"name":"camera_2","offset_m":[-0.01908289443039664,-0.016958491727192274,-0.010056685287693514]},{"name":"camera_3","offset_m":[-0.004714673308528932,0.00888158764355429,-0.01710876898593185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019269880830292767,-0.0006586378349450949,-0.0018747939709684652],"end_effector_yaw_offset_degrees":0.591230654589392},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015960743695310631,-0.00035770967045889316,-0.00035448574330489537],"end_effector_yaw_offset_degrees":-0.7442745190342088},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019446047482797229,0.0010145535029725391,-0.0012006167844949697],"end_effector_yaw_offset_degrees":0.5943270451275136}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038851148608675884,-0.0014214713768204903],"position_m":[0.31448511486086755,-0.021821471376820493,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0045098514536474135,0.0021697146907581535],"position_m":[0.1448901485463526,0.28146971469075815,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022938284872467975,0.003433719119636874],"position_m":[0.3405061715127532,0.2165337191196369,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012266139605571769,0.0012393502424242874],"position_m":[0.2574733860394428,-0.36046064975757575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e5f8b0d167825804b50e50e58f9ad73d66aa4ec4306c29a48bbf7b66c30d7b5","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0121.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5277/tex_ceiling_textures_1769/tex_floor_textures_5167/tex_table_textures_5449/tex_wall_textures_8661","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":124705465745783073,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":124705465745783073,"visual_seed":124705465745783073,"scene_id":"lab_003","finished_at":"2026-09-03T13:02:03"} +{"episode_id":"ep_000099","started_at":"2026-09-03T13:02:06","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.5813068864673647,0.28331350584474624,0.71338606911949],"aabb_xy":[[0.531209422486291,0.21931350533493443],[0.6314043504484382,0.34731350635455804]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.4594451735104582,-2.002147108526729,0.71338606911949],"aabb_xy":[[-0.47191253162019386,-2.0146124331600523],[-0.44697781540072257,-1.9896817838934053]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.0076899459479741195,1.7105460942314088,0.71338606911949],"aabb_xy":[[0.0023523702819695513,1.685546093302269],[0.013027521613978688,1.7355460951605486]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.49456818624708965,-0.8703224868674408,0.71338606911949],"aabb_xy":[[0.48481219673791576,-0.8800850209266751],[0.5043241757562635,-0.8605599528082062]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.2864729053254965,-1.9611165671261674,0.71338606911949],"aabb_xy":[[0.2560747942263529,-1.991523469127837],[0.31687101642464005,-1.930709665124498]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.34415427973903273,0.8475415894662981,0.71338606911949],"aabb_xy":[[-0.4041542795855996,0.7907229672732594],[-0.284154279892466,0.9043602116593368]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.3763328412495117,-2.254403722458885,0.71338606911949],"aabb_xy":[[0.3413328429793918,-2.2614778501538733],[0.4113328395196316,-2.247329594763897]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.3511069753891225,0.5248339775338327,0.71338606911949],"aabb_xy":[[0.32893444841247166,0.5026583103777094],[0.37327950236577334,0.5470096446899557]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.5114161494493694,1.5039187291116565,0.71338606911949],"aabb_xy":[[0.48093189932233926,1.4539187293301605],[0.5419003995763996,1.5539187288931524]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.05749073518267789,-0.736225284550138,0.71338606911949],"aabb_xy":[[-0.006509261929427794,-0.7852576543445486],[0.12149073229478358,-0.6871929147557274]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.36465210551844396,-2.4227119231288734,0.71338606911949],"aabb_xy":[[0.30065210524446573,-2.4727780233261614],[0.4286521057924222,-2.3726458229315854]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.4178397787160573,-1.2345194458467146,0.71338606911949],"aabb_xy":[[-0.4239344066041756,-1.2430888403983835],[-0.41174515082793894,-1.225950051295046]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.6903304588420769,0.5468124052461532,0.71338606911949],"aabb_xy":[[0.6732283808837087,0.5297055997148834],[0.707432536800445,0.5639192107774229]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.06466774098005545,1.283194575799191,0.71338606911949],"aabb_xy":[[-0.07983061395699254,1.2680291185040722],[-0.049504868003118374,1.2983600330943097]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.09414135278893265,0.6240778223853463,0.71338606911949],"aabb_xy":[[-0.11705706567398257,0.6011735252489229],[-0.07122563990388275,0.6469821195217699]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.2797699500146731,-1.3567010084749704,0.71338606911949],"aabb_xy":[[-0.2894015862351027,-1.3663383212546794],[-0.27013831379424347,-1.3470636956952615]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.34637607862293396,0.7220186777337907,0.71338606911949],"aabb_xy":[[0.30512726759301917,0.667018678221573],[0.38762488965284864,0.7770186772460079]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.5570881637480696,0.7830722941179675,0.71338606911949],"aabb_xy":[[0.47708816048405633,0.7695122618090542],[0.6370881670120826,0.7966323264268809]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.17478058401779095,-1.620434906843759,0.71338606911949],"aabb_xy":[[-0.19727971974401792,-1.6429349076220219],[-0.15228144829156398,-1.597934906065496]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.3622439764688601,-1.3849200606599403,0.71338606911949],"aabb_xy":[[0.35067499572192357,-1.4099200607768718],[0.3738129572157967,-1.3599200605430084]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[0.5489672676865225,-0.43889402810491296,0.71338606911949],"aabb_xy":[[0.4889672674351212,-0.49317535314137756],[0.6089672679379236,-0.38461270306844825]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.67164629036022,-0.22756674404105182,0.71338606911949],"aabb_xy":[[-0.6756067741299544,-0.23523460862657242],[-0.6676858065904857,-0.21989887945553122]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.39612711568529857,1.0768355830425818,0.71338606911949],"aabb_xy":[[-0.48612711801931763,0.9993532284574691],[-0.3061271133512795,1.1543179376276944]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.22711103246152525,0.9257948055393652,0.71338606911949],"aabb_xy":[[-0.2308142937906641,0.9220927872306474],[-0.22340777113238636,0.9294968238480831]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.682899888820642,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1544.png","name":"1544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3990.png","name":"3990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5641.png","name":"5641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":789.9937083644461,"rotation_z_degrees":48.82966618021198,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01873034120022139,0.005653574412526417,-0.019725941474818424]},{"name":"camera_2","offset_m":[0.010152568584513518,-0.015821726813234807,-0.01782740883576759]},{"name":"camera_3","offset_m":[0.010657721002486489,-0.00602778443880903,-0.0014107443599540928]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010082235449558605,0.001420118309044237,0.0009799948832463407],"end_effector_yaw_offset_degrees":-0.19642873675899764},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002323601596615865,0.0019766433404686716,0.0014900935881800572],"end_effector_yaw_offset_degrees":-0.23593289829001107},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005505723922430779,-0.00040345784069256165,0.0019017138221975186],"end_effector_yaw_offset_degrees":0.6700703025909787}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00019","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024275480736510534,-0.0025434333104914462],"position_m":[0.30817245192634896,-0.022943433310491448,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003713378368922531,0.004572342186656731],"position_m":[0.14568662163107748,0.28387234218665675,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044239204055590035,-0.0021301575075104184],"position_m":[0.347223920405559,0.2109698424924896,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023091581709124144,0.00034399921100886424],"position_m":[0.25639084182908756,-0.36135600078899116,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6371c247a25a9af04be62eb0ae434890b31eb9a21dc4c19f81f4d07b5127eeec","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/dataset/episode_0122.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1410/tex_ceiling_textures_5601/tex_floor_textures_5641/tex_table_textures_1544/tex_wall_textures_3990","seeds":{"action_seed":8051752742403627587,"physical_seed":8636584217847874233,"visual_seed":6136474184314532084,"layout_id":"layout_00019","physical_randomization_enabled":true},"episode_seed":6136474184314532084,"visual_seed":6136474184314532084,"scene_id":"lab_003","finished_at":"2026-09-03T13:04:40"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe8da525d819da82dba6a97a266918949b349476 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_poo_00019 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at home. + layout_id: layout_00019 + reproducibility: + enabled: true + layout_id: layout_00019 + action_seed: 8051752742403627587 + step_seeds: + - 195572404364726227 + - 5833845954193008508 + - 2804561554099721956 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1494 + - 0.1494 + 'y': + - 0.2793 + - 0.2793 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3106 + - 0.3106 + 'y': + - -0.0204 + - -0.0204 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3428 + - 0.3428 + 'y': + - 0.2131 + - 0.2131 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2587 + - 0.2587 + 'y': + - -0.3617 + - -0.3617 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..566a10ec5a759ac6a56f115afa6dc3ad35c60731 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33670116864806393, + -0.01986004105455402, + 1.047135291860798 + ], + "current_z": 1.047135291860798, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19054890366152188, + "gripper_z": 1.0491550394095124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320542267128554, + -0.02441801425058887, + 1.0491550394095124 + ], + "object_minus_gripper": [ + 0.004646941935208537, + 0.004557973196034851, + -0.002019747548714479 + ], + "object_to_gripper_xy": 0.006509161928003621, + "object_to_gripper_z": -0.002019747548714479, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33670116864806393, + -0.04409794278691433, + 1.047135291860798 + ], + "finger_b": [ + 0.32542128617571164, + -0.01986004105455402, + 1.047135291860798 + ], + "finger_midpoint": [ + 0.3310612274118878, + -0.031978991920734175, + 1.047135291860798 + ], + "object_minus_finger_midpoint": [ + 0.005639941236176116, + 0.012118950866180155, + 0.0 + ], + "finger_gap": 0.026734091138051343, + "fingertip_max_gap": 0.09295567033694382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01336704556902566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047135291860798, + "object_top_z": 1.0934479552599967, + "finger_top_clearance": 0.04631266339919882, + "fingertip_min_top_clearance": 0.013893799019759678, + "object_projection_between_fingers": 0.8219761041637372, + "object_to_finger_line_xy": 0.01022666832044683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048977835168471914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1577806780668358, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3375309279375691, + -0.023792265007007707, + 1.241492211780847 + ], + "held_position": [ + 0.34252523980581195, + -0.019673004510792114, + 1.239362527622217 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00681520452286447, + "max_held_gripper_dist": 0.006816611150476793, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021296841586297965, + "max_held_gripper_z_dist": 0.0021308581868717535, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716327182093124, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34252523980581195, + -0.04525408885405598, + 1.239362527622217 + ], + "held_grasp_finger_b": [ + 0.333774631961659, + -0.01924208543133933, + 1.239362527622217 + ], + "held_grasp_midpoint": [ + 0.3381499358837355, + -0.032248087142697654, + 1.239362527622217 + ], + "held_grasp_object_position": [ + 0.34252523980581195, + -0.019673004510792114, + 1.239362527622217 + ], + "held_grasp_finger_gap": 0.02744444314803223, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025283236483010483, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07473761928826729, + -0.9971256599926617, + 0.012438104651474324 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034268999493408422, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032334287598211095, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31969842821803673, + -0.02767618463911509, + 0.7565865121526157 + ], + "target_position": [ + 0.3125011102000371, + -0.023521609069736497, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008310348056122517, + "xy_threshold": 0.08, + "gripper_dist": 0.2181641459009936, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865121526157, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557840218590146, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08667250435263678, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18736859092757321, + "release_required_pad_clearance": 0.05333625217631839, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6874378815585451, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 194, + "max_placed_release_frames": 194 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58dfe39b544baa309cacb594ddfa081af66d31e72dbc32c710ab7b2582429f28", + "visual_seed": 4667579449772789016, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da9d1d5033463344a3c10d1ac7a92e7e0d73e853 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33290735581769915, + -0.023093532562596598, + 1.048105742011868 + ], + "current_z": 1.048105742011868, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19151917499865767, + "gripper_z": 1.0502141929838034, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32832376837779564, + -0.027565647147698658, + 1.0502141929838034 + ], + "object_minus_gripper": [ + 0.004583587439903503, + 0.00447211458510206, + -0.0021084509719353495 + ], + "object_to_gripper_xy": 0.006403833436428817, + "object_to_gripper_z": -0.0021084509719353495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33290735581769915, + -0.04740032104249125, + 1.048105742011868 + ], + "finger_b": [ + 0.3219107860949968, + -0.023093532562596598, + 1.048105742011868 + ], + "finger_midpoint": [ + 0.32740907095634797, + -0.035246926802543925, + 1.048105742011868 + ], + "object_minus_finger_midpoint": [ + 0.005498284861351177, + 0.012153394239947327, + 0.0 + ], + "finger_gap": 0.02667854028751561, + "fingertip_max_gap": 0.09317636167303797, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339270143757806, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048105742011868, + "object_top_z": 1.0940054525244498, + "finger_top_clearance": 0.04589971051258179, + "fingertip_min_top_clearance": 0.013769913153774538, + "object_projection_between_fingers": 0.8301011898945274, + "object_to_finger_line_xy": 0.010018962483461694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908818083651899, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7719385845971969, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333514037343263, + -0.026741852562327598, + 1.241813091470118 + ], + "held_position": [ + 0.3383699516451202, + -0.022620283029408886, + 1.2396036263442947 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006741585515581197, + "max_held_gripper_dist": 0.006742802979760674, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022094651258233178, + "max_held_gripper_z_dist": 0.0022107819457461986, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869028325492664, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3383699516451202, + -0.04801401244435804, + 1.2396036263442947 + ], + "held_grasp_finger_b": [ + 0.3295583706244987, + -0.022620283029408886, + 1.2396036263442947 + ], + "held_grasp_midpoint": [ + 0.3339641611348094, + -0.035317147736883464, + 1.2396036263442947 + ], + "held_grasp_object_position": [ + 0.3383699516451202, + -0.022620283029408886, + 1.2396036263442947 + ], + "held_grasp_finger_gap": 0.026879089524807758, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024966564833456682, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.045488045013016176, + -0.9989626184102327, + 0.0021271529953241775 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038237713397595344, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231612095498057, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2964788089938596, + -0.0255418391484143, + 0.7565872762221277 + ], + "target_position": [ + 0.30883596743163405, + -0.02518737435437777, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012362241299476077, + "xy_threshold": 0.08, + "gripper_dist": 0.20902802220714842, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872762221277, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518429138669543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09220812312433589, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18137377841670585, + "release_required_pad_clearance": 0.05610406156216795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.466579348358543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a0d32a2ecf5e227c80a1a6721414a74328d2a6a3dbe05fe0f5cfe0693a3f6bd9", + "visual_seed": 1849243289638165285, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9842d3a4379f0fd7eb2510ee47743c6b044282f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3340917618893052, + -0.018461302605464542, + 1.0485759442258484 + ], + "current_z": 1.0485759442258484, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19198943681728287, + "gripper_z": 1.0507236502767745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32955928220704755, + -0.02305473763598037, + 1.0507236502767745 + ], + "object_minus_gripper": [ + 0.004532479682257673, + 0.004593435030515829, + -0.002147706050926068 + ], + "object_to_gripper_xy": 0.006453140123199602, + "object_to_gripper_z": -0.002147706050926068, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3340917618893052, + -0.042441067819872814, + 1.0485759442258484 + ], + "finger_b": [ + 0.3225413697265058, + -0.018461302605464542, + 1.0485759442258484 + ], + "finger_midpoint": [ + 0.3283165658079055, + -0.03045118521266868, + 1.0485759442258484 + ], + "object_minus_finger_midpoint": [ + 0.005775196081399703, + 0.011989882607204138, + 0.0 + ], + "finger_gap": 0.026616549341577, + "fingertip_max_gap": 0.09301105445803212, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013308274670788501, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485759442258484, + "object_top_z": 1.0947990322690981, + "finger_top_clearance": 0.046223088043249705, + "fingertip_min_top_clearance": 0.013866926412974944, + "object_projection_between_fingers": 0.811682813634885, + "object_to_finger_line_xy": 0.010406145764568178, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900552722901606, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2529135873840773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3349656996770146, + -0.022247782051488446, + 1.2413984056560439 + ], + "held_position": [ + 0.33987879416505723, + -0.018122499163852886, + 1.2391398341036244 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006801294127506327, + "max_held_gripper_dist": 0.006802700797147345, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002258571552419486, + "max_held_gripper_z_dist": 0.002259236824690758, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704731974737259, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33987879416505723, + -0.04358138798810299, + 1.2391398341036244 + ], + "held_grasp_finger_b": [ + 0.33111852204534364, + -0.017998056168445093, + 1.2391398341036244 + ], + "held_grasp_midpoint": [ + 0.3354986581052004, + -0.03078972207827404, + 1.2391398341036244 + ], + "held_grasp_object_position": [ + 0.33987879416505723, + -0.018122499163852886, + 1.2391398341036244 + ], + "held_grasp_finger_gap": 0.027041620413838948, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024787001972799552, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08116360293644954, + -0.9966652272065242, + 0.008419883356793665 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033393193360361745, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221973673776368, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31271397324444844, + -0.028252694077939167, + 0.7565863214578332 + ], + "target_position": [ + 0.31001017151135535, + -0.023071830381841716, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005843962050648323, + "xy_threshold": 0.08, + "gripper_dist": 0.21590900032126786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863214578332, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557394980755004, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08765250122754985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18532436119107923, + "release_required_pad_clearance": 0.053826250613774926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6612074513736665, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d21d20dd33ae7308768fa8f7dea21d41aa3f7b9bab6ede04c95876ee998105a3", + "visual_seed": 7038125881714720099, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ce0c24a49857fb2557ffc6a3be8008ca3ff45b42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_102_success.json @@ -0,0 +1,684 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3344462838461062, + -0.01779622752451728, + 1.046591227336673 + ], + "current_z": 1.046591227336673, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19000466032346275, + "gripper_z": 1.0491959711472088, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3292516462788844, + -0.02271301306324884, + 1.0491959711472088 + ], + "object_minus_gripper": [ + 0.0051946375672217715, + 0.004916785538731559, + -0.002604743810535659 + ], + "object_to_gripper_xy": 0.007152554752581173, + "object_to_gripper_z": -0.002604743810535659, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3344462838461062, + -0.0423404970180937, + 1.046591227336673 + ], + "finger_b": [ + 0.32255959815736823, + -0.01779622752451728, + 1.046591227336673 + ], + "finger_midpoint": [ + 0.3285029410017372, + -0.03006836227130549, + 1.046591227336673 + ], + "object_minus_finger_midpoint": [ + 0.005943342844368982, + 0.012272134746788208, + 0.0 + ], + "finger_gap": 0.027271128719511296, + "fingertip_max_gap": 0.09468134832823158, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635564359755648, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046591227336673, + "object_top_z": 1.0930017261127736, + "finger_top_clearance": 0.046410498776100484, + "fingertip_min_top_clearance": 0.013923149632830112, + "object_projection_between_fingers": 0.8100167417048659, + "object_to_finger_line_xy": 0.010698127676728257, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04984067416411579, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3200266186337997, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344009109739434, + -0.021497013553438304, + 1.241406766062074 + ], + "held_position": [ + 0.3399297686896159, + -0.017023365793386175, + 1.2386936584889165 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007612013178174006, + "max_held_gripper_dist": 0.007613486806396734, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027131075731574583, + "max_held_gripper_z_dist": 0.002717061518016317, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08718380080403962, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3399297686896159, + -0.042746304758019264, + 1.2386936584889165 + ], + "held_grasp_finger_b": [ + 0.3302977955090542, + -0.017023365793386175, + 1.2386936584889165 + ], + "held_grasp_midpoint": [ + 0.33511378209933507, + -0.02988483527570272, + 1.2386936584889165 + ], + "held_grasp_object_position": [ + 0.3399297686896159, + -0.017023365793386175, + 1.2386936584889165 + ], + "held_grasp_finger_gap": 0.02746715304375936, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025281171693490447, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04323677139244452, + -0.9990159814665291, + 0.009881820380131301 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004257322794484468, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214318369659945, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2952963047781036, + -0.012350117442811202, + 0.7565868356672789 + ], + "target_position": [ + 0.3097894055954271, + -0.019172781173030583, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016018698813472797, + "xy_threshold": 0.08, + "gripper_dist": 0.20467418704415366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868356672789, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565859500262896, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08739850130095243, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1781230749840914, + "release_required_pad_clearance": 0.05369925065047622, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4073202202857735, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84b79cd2d4be98746b4a8b825feab604c2ea3af874983a47b68990d208c0ffb9", + "visual_seed": 6225390638308081737, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6c57084505157ff703fde1173acc7b6b413e8c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_103_success.json @@ -0,0 +1,684 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33376528604438477, + -0.020181967767350945, + 1.0473514122337095 + ], + "current_z": 1.0473514122337095, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19076496442978874, + "gripper_z": 1.0502578408296357, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32870850458004375, + -0.025001922646126662, + 1.0502578408296357 + ], + "object_minus_gripper": [ + 0.00505678146434102, + 0.004819954878775717, + -0.002906428595926158 + ], + "object_to_gripper_xy": 0.0069859146725061525, + "object_to_gripper_z": -0.002906428595926158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33376528604438477, + -0.04461585475813892, + 1.0473514122337095 + ], + "finger_b": [ + 0.3219829586912071, + -0.020181967767350945, + 1.0473514122337095 + ], + "finger_midpoint": [ + 0.3278741223677959, + -0.03239891126274493, + 1.0473514122337095 + ], + "object_minus_finger_midpoint": [ + 0.005891163676588873, + 0.012216943495393987, + 0.0 + ], + "finger_gap": 0.027126335383461535, + "fingertip_max_gap": 0.09318993350701318, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013563167691730778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473514122337095, + "object_top_z": 1.0931320795958972, + "finger_top_clearance": 0.045780667362187666, + "fingertip_min_top_clearance": 0.013734200208656332, + "object_projection_between_fingers": 0.8113399628733773, + "object_to_finger_line_xy": 0.010612862038546274, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049094966753506594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2134664875812615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33430673880561756, + -0.024550025360822417, + 1.2399525680046775 + ], + "held_position": [ + 0.3397301275016611, + -0.02023953707220345, + 1.2369132913359724 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007565094639436377, + "max_held_gripper_dist": 0.007568336866451421, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003039276668705071, + "max_held_gripper_z_dist": 0.0030411046767431227, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08750224414968327, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3397301275016611, + -0.04605673767485432, + 1.2369132913359724 + ], + "held_grasp_finger_b": [ + 0.3307178075398425, + -0.019800081780877745, + 1.2369132913359724 + ], + "held_grasp_midpoint": [ + 0.3352239675207518, + -0.03292840972786603, + 1.2369132913359724 + ], + "held_grasp_object_position": [ + 0.3397301275016611, + -0.02023953707220345, + 1.2369132913359724 + ], + "held_grasp_finger_gap": 0.02776029340314848, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025665757432541587, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.060242835723552095, + -0.9981730060872656, + 0.00463148601388108 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037340344078230104, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032263070947775585, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3047028938218801, + -0.01734339426577305, + 0.7565861161221659 + ], + "target_position": [ + 0.3091070274142641, + -0.021417936599681858, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005999857325835365, + "xy_threshold": 0.08, + "gripper_dist": 0.21228298230595247, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861161221659, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582052576171444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09166977287147414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18392706551930446, + "release_required_pad_clearance": 0.05583488643573707, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.872653266024805, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e9e0049d1a3215e46bb8fbe03e8601318a60c624b55c61643f444fe898cc1ef", + "visual_seed": 319546710182014097, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..577aa6ba9ed5785f39d7417de7ca6b2c484a9356 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_104_success.json @@ -0,0 +1,684 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3332331338112124, + -0.01964092911959943, + 1.0472873242978313 + ], + "current_z": 1.0472873242978313, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19070081688926577, + "gripper_z": 1.0494725594006116, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.328612183426266, + -0.024221241524599646, + 1.0494725594006116 + ], + "object_minus_gripper": [ + 0.004620950384946365, + 0.004580312405000217, + -0.0021852351027802364 + ], + "object_to_gripper_xy": 0.006506338769810163, + "object_to_gripper_z": -0.0021852351027802364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3332331338112124, + -0.04381443565150791, + 1.0472873242978313 + ], + "finger_b": [ + 0.32187840287897557, + -0.01964092911959943, + 1.0472873242978313 + ], + "finger_midpoint": [ + 0.327555768345094, + -0.031727682385553665, + 1.0472873242978313 + ], + "object_minus_finger_midpoint": [ + 0.005677365466118411, + 0.012086753265954236, + 0.0 + ], + "finger_gap": 0.026707458370120465, + "fingertip_max_gap": 0.0931513641974345, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335372918506023, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472873242978313, + "object_top_z": 1.0933579038957562, + "finger_top_clearance": 0.04607057959792482, + "fingertip_min_top_clearance": 0.013821173879377412, + "object_projection_between_fingers": 0.8192457262338334, + "object_to_finger_line_xy": 0.010277416089341348, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04907568209871725, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4708314999294134, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33369467319626817, + -0.02281637147438398, + 1.2391645278799375 + ], + "held_position": [ + 0.33861269563964247, + -0.01860771711470074, + 1.2368827719907538 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006863390285466683, + "max_held_gripper_dist": 0.0068653260606731555, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022817558891836676, + "max_held_gripper_z_dist": 0.0022837240490447552, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722036048276359, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33861269563964247, + -0.04393332890569112, + 1.2368827719907538 + ], + "held_grasp_finger_b": [ + 0.32954115703326176, + -0.01860771711470074, + 1.2368827719907538 + ], + "held_grasp_midpoint": [ + 0.33407692633645214, + -0.03127052301019593, + 1.2368827719907538 + ], + "held_grasp_object_position": [ + 0.33861269563964247, + -0.01860771711470074, + 1.2368827719907538 + ], + "held_grasp_finger_gap": 0.02690129040167045, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478103498322298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055687581479530554, + -0.9984440746069603, + 0.002884987211679735 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003823747858667564, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032304535428911756, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3047766222071209, + -0.020362304960340954, + 0.7565861060995676 + ], + "target_position": [ + 0.30916558544895, + -0.02456186758588562, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006074481425109382, + "xy_threshold": 0.08, + "gripper_dist": 0.21170769948291362, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861060995676, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759088578007493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873914320164834, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.183020442769422, + "release_required_pad_clearance": 0.0536957160082417, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4008084582227864, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44d39f8e4478886218f51e9dd1e50e04cf731f99cb477d34300b39a0b95d58ae", + "visual_seed": 3173491012298085834, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b67c39bee5f2a901247779db5fbb4543f6447998 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3395451640183196, + -0.021281891708513943, + 1.0481765098268867 + ], + "current_z": 1.0481765098268867, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1915900620229658, + "gripper_z": 1.0504844501476016, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33467068480281303, + -0.025968389905862643, + 1.0504844501476016 + ], + "object_minus_gripper": [ + 0.004874479215506544, + 0.004686498197348701, + -0.0023079403207149074 + ], + "object_to_gripper_xy": 0.0067619385516401965, + "object_to_gripper_z": -0.0023079403207149074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3395451640183196, + -0.045662707166561324, + 1.0481765098268867 + ], + "finger_b": [ + 0.3280756977201052, + -0.021281891708513943, + 1.0481765098268867 + ], + "finger_midpoint": [ + 0.33381043086921236, + -0.033472299437537635, + 1.0481765098268867 + ], + "object_minus_finger_midpoint": [ + 0.005734733149107218, + 0.012190407729023692, + 0.0 + ], + "finger_gap": 0.026943882785620148, + "fingertip_max_gap": 0.0959938713687559, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013471941392810086, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481765098268867, + "object_top_z": 1.09527176103606, + "finger_top_clearance": 0.04709525120917335, + "fingertip_min_top_clearance": 0.014128575362752005, + "object_projection_between_fingers": 0.8187967185263825, + "object_to_finger_line_xy": 0.010378420342902431, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05049693568437795, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.483479448137454, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33976578620095477, + -0.02458169661913348, + 1.2414780530390486 + ], + "held_position": [ + 0.34491776283821074, + -0.02025770102112814, + 1.2390681509186905 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007144748381301281, + "max_held_gripper_dist": 0.007149521119416022, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002409902120358076, + "max_held_gripper_z_dist": 0.0024140744282830084, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08719627498675249, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34491776283821074, + -0.04568995032317046, + 1.2390681509186905 + ], + "held_grasp_finger_b": [ + 0.335560294943633, + -0.02025770102112814, + 1.2390681509186905 + ], + "held_grasp_midpoint": [ + 0.34023902889092184, + -0.0329738256721493, + 1.2390681509186905 + ], + "held_grasp_object_position": [ + 0.34491776283821074, + -0.02025770102112814, + 1.2390681509186905 + ], + "held_grasp_finger_gap": 0.02709910533503432, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0250921159480011, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.034453546333394494, + -0.9993026412976098, + 0.0143938959518729 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004241841525498756, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03233176903814114, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31341133883855704, + -0.014685764051018374, + 0.756586572868922 + ], + "target_position": [ + 0.3152490548445344, + -0.02405689445349394, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009549622251106444, + "xy_threshold": 0.08, + "gripper_dist": 0.21505197380152188, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586572868922, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529284478945135, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09169831107315372, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18835679392330457, + "release_required_pad_clearance": 0.055849155536576864, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.9038055304380626, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "192a5415516797630f72cc5f16e752e80b9eb21b247763a951319a01fa54a098", + "visual_seed": 8043296947079526645, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6284ce10fa795b779d4b2f0f18df7d77d8ec5884 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3369782095504564, + -0.0170108710014131, + 1.0481610037847766 + ], + "current_z": 1.0481610037847766, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19157455598085582, + "gripper_z": 1.050217147268937, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33243943469189163, + -0.021594488994777047, + 1.050217147268937 + ], + "object_minus_gripper": [ + 0.0045387748585647425, + 0.004583617993363948, + -0.0020561434841603887 + ], + "object_to_gripper_xy": 0.006450583781785114, + "object_to_gripper_z": -0.0020561434841603887, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3369782095504564, + -0.041015484009295194, + 1.0481610037847766 + ], + "finger_b": [ + 0.3254645058725105, + -0.0170108710014131, + 1.0481610037847766 + ], + "finger_midpoint": [ + 0.3312213577114834, + -0.02901317750535415, + 1.0481610037847766 + ], + "object_minus_finger_midpoint": [ + 0.005756851838972954, + 0.01200230650394105, + 0.0 + ], + "finger_gap": 0.026623050502181868, + "fingertip_max_gap": 0.09309886326754027, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013311525251090946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481610037847766, + "object_top_z": 1.0943677354411157, + "finger_top_clearance": 0.04620673165633904, + "fingertip_min_top_clearance": 0.013862019496901745, + "object_projection_between_fingers": 0.8129686260957808, + "object_to_finger_line_xy": 0.010381304766479247, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904943163377014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3498064313528744, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3379438764027495, + -0.020777195831555365, + 1.2408210597058689 + ], + "held_position": [ + 0.3428621063204517, + -0.016662813058125118, + 1.2386514791786196 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006769358226146709, + "max_held_gripper_dist": 0.00677018597040795, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021695805272492485, + "max_held_gripper_z_dist": 0.0021716579951565063, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.087185492249107, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3428621063204517, + -0.04215219208299236, + 1.2386514791786196 + ], + "held_grasp_finger_b": [ + 0.3341376741010194, + -0.01643213307981903, + 1.2386514791786196 + ], + "held_grasp_midpoint": [ + 0.33849989021073557, + -0.029292162581405698, + 1.2386514791786196 + ], + "held_grasp_object_position": [ + 0.3428621063204517, + -0.016662813058125118, + 1.2386514791786196 + ], + "held_grasp_finger_gap": 0.027159476296095733, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024949868271544627, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07895651738541676, + -0.9968374898592897, + 0.008993729671123107 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003353404939157152, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322663904963624, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3044213206557615, + -0.01974740563671516, + 0.7565863186300548 + ], + "target_position": [ + 0.31288255006200477, + -0.02002768029718569, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008465870123642213, + "xy_threshold": 0.08, + "gripper_dist": 0.2087148589697718, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863186300548, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533626738338906, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09338958888624381, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18078741970153184, + "release_required_pad_clearance": 0.05669479444312191, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.811778409836984, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d7b3590d4d8091d5aa697b380defcebd3c6441a43371f2105905fb905a4e1fc", + "visual_seed": 9014764647991794111, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19947303f722931c1aca02ba5bea6a903468ca81 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3381680141671568, + -0.014975423025284386, + 1.0469865810914798 + ], + "current_z": 1.0469865810914798, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.190400133287559, + "gripper_z": 1.0489832201975793, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337605049341088, + -0.01951603183428434, + 1.0489832201975793 + ], + "object_minus_gripper": [ + 0.0044075092330480015, + 0.004540608808999954, + -0.001996639106099485 + ], + "object_to_gripper_xy": 0.006327974873193742, + "object_to_gripper_z": -0.001996639106099485, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3381680141671568, + -0.03884007974714041, + 1.0469865810914798 + ], + "finger_b": [ + 0.32665828419622084, + -0.014975423025284386, + 1.0469865810914798 + ], + "finger_midpoint": [ + 0.33241314918168885, + -0.0269077513862124, + 1.0469865810914798 + ], + "object_minus_finger_midpoint": [ + 0.005754864985467956, + 0.011932328360928014, + 0.0 + ], + "finger_gap": 0.02649520191385394, + "fingertip_max_gap": 0.09331981505009265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013247600956926961, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469865810914798, + "object_top_z": 1.0931570843246556, + "finger_top_clearance": 0.04617050323317584, + "fingertip_min_top_clearance": 0.013851150969952751, + "object_projection_between_fingers": 0.8112896141831334, + "object_to_finger_line_xy": 0.010366999867022018, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915990752504633, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6159870965099215, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33917416065220674, + -0.01859030276206855, + 1.2401099803534228 + ], + "held_position": [ + 0.34397553561669164, + -0.014533974482869957, + 1.23799999556815 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006630161118124608, + "max_held_gripper_dist": 0.006637324465002588, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021099847852728004, + "max_held_gripper_z_dist": 0.002110938027158893, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701803689725512, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34397553561669164, + -0.03996573471371795, + 1.23799999556815 + ], + "held_grasp_finger_b": [ + 0.33532567546479225, + -0.01427420621990317, + 1.23799999556815 + ], + "held_grasp_midpoint": [ + 0.33965060554074195, + -0.02711997046681056, + 1.23799999556815 + ], + "held_grasp_object_position": [ + 0.34397553561669164, + -0.014533974482869957, + 1.23799999556815 + ], + "held_grasp_finger_gap": 0.027108572758371356, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024945413467894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07720531707358522, + -0.9969523093859493, + 0.011199635065024414 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003343367196294809, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032318679605864126, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30099517261818154, + -0.011344974259228018, + 0.7565873572613441 + ], + "target_position": [ + 0.31422743352648924, + -0.016417754578787018, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014171303006993863, + "xy_threshold": 0.08, + "gripper_dist": 0.20562756219796513, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873572613441, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756408761241632, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854025791354449, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17843254018458402, + "release_required_pad_clearance": 0.05270128956772245, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45456048259717735, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51259c6f0bd47e0aac1ac48f496829cc8295255d61f34f72efad44f287f57a0a", + "visual_seed": 2064369107387336413, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0274d0308c80febcd75579c2674def053921989b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33494489768227065, + -0.012398582902963758, + 1.047018187417453 + ], + "current_z": 1.047018187417453, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19043162040424255, + "gripper_z": 1.0495757390780505, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.330102959363428, + -0.01699584396510513, + 1.0495757390780505 + ], + "object_minus_gripper": [ + 0.004841938318842665, + 0.004597261062141374, + -0.002557551660597568 + ], + "object_to_gripper_xy": 0.006676763883571004, + "object_to_gripper_z": -0.002557551660597568, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33494489768227065, + -0.03689083015901994, + 1.047018187417453 + ], + "finger_b": [ + 0.32375796022133674, + -0.012398582902963758, + 1.047018187417453 + ], + "finger_midpoint": [ + 0.3293514289518037, + -0.02464470653099185, + 1.047018187417453 + ], + "object_minus_finger_midpoint": [ + 0.005593468730466955, + 0.012246123628028092, + 0.0 + ], + "finger_gap": 0.02692615355758483, + "fingertip_max_gap": 0.09214343175367237, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013463076778792415, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047018187417453, + "object_top_z": 1.0925237315541443, + "finger_top_clearance": 0.04550554413669139, + "fingertip_min_top_clearance": 0.013651663241007384, + "object_projection_between_fingers": 0.8273868873586598, + "object_to_finger_line_xy": 0.010175728878068767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857171587683619, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.607709279346326, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33547853450796367, + -0.016081178701442073, + 1.2400003404963742 + ], + "held_position": [ + 0.3405938271917862, + -0.011861657889268958, + 1.237324278140647 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007150656253608509, + "max_held_gripper_dist": 0.007152534516213946, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002676062355727149, + "max_held_gripper_z_dist": 0.002679409248757869, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695046696009641, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3405938271917862, + -0.03745029270267372, + 1.237324278140647 + ], + "held_grasp_finger_b": [ + 0.331658284462921, + -0.011756291787776213, + 1.237324278140647 + ], + "held_grasp_midpoint": [ + 0.3361260558273536, + -0.024603292245224968, + 1.237324278140647 + ], + "held_grasp_object_position": [ + 0.3405938271917862, + -0.011861657889268958, + 1.237324278140647 + ], + "held_grasp_finger_gap": 0.027203411677106416, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025222280458054597, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049294825603580325, + -0.9987839793244484, + 0.0007634222505069621 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038342556743592403, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225384669042555, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3054106814986397, + -0.01920402969702674, + 0.7565864019791269 + ], + "target_position": [ + 0.31058858708909026, + -0.017077074725854714, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005597735591559551, + "xy_threshold": 0.08, + "gripper_dist": 0.2117148875992201, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864019791269, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533268676623343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578836334241895, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18266013176534504, + "release_required_pad_clearance": 0.052894181671209475, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8280291884561898, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c89a2537a480b32b22d2c80b8c3ba0a8ecc7eac1267dfa0c821b2abfc99fc259", + "visual_seed": 729120971082413063, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..488f64fe9fd84d290a9d0a858f6c3ac9c71400a6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3342209808664978, + -0.012861090121057, + 1.0457244422501353 + ], + "current_z": 1.0457244422501353, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1891379348415697, + "gripper_z": 1.0478185893061946, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32958193182123074, + -0.01752166992106101, + 1.0478185893061946 + ], + "object_minus_gripper": [ + 0.004639049045267074, + 0.004660579800004009, + -0.00209414705605937 + ], + "object_to_gripper_xy": 0.006575848243124134, + "object_to_gripper_z": -0.00209414705605937, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3342209808664978, + -0.03689664241896504, + 1.0457244422501353 + ], + "finger_b": [ + 0.32255118315253783, + -0.012861090121057, + 1.0457244422501353 + ], + "finger_midpoint": [ + 0.3283860820095178, + -0.02487886627001102, + 1.0457244422501353 + ], + "object_minus_finger_midpoint": [ + 0.00583489885698002, + 0.01201777614895402, + 0.0 + ], + "finger_gap": 0.026718756575675785, + "fingertip_max_gap": 0.09187162626822129, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359378287837906, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457244422501353, + "object_top_z": 1.0913269317337857, + "finger_top_clearance": 0.04560248948365042, + "fingertip_min_top_clearance": 0.013680746845095093, + "object_projection_between_fingers": 0.8092369887040283, + "object_to_finger_line_xy": 0.010497870006242943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843581313411065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0665176576215682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3349646681902042, + -0.016564736643015596, + 1.2389119309806966 + ], + "held_position": [ + 0.3399894838710398, + -0.012383205495288633, + 1.2367065640487445 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006899102743859518, + "max_held_gripper_dist": 0.006902934040365209, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022053669319521685, + "max_held_gripper_z_dist": 0.002207805495082704, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08690870964077851, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3399894838710398, + -0.03789078475251076, + 1.2367065640487445 + ], + "held_grasp_finger_b": [ + 0.33104962865135285, + -0.012383205495288633, + 1.2367065640487445 + ], + "held_grasp_midpoint": [ + 0.33551955626119634, + -0.025136995123899695, + 1.2367065640487445 + ], + "held_grasp_object_position": [ + 0.3399894838710398, + -0.012383205495288633, + 1.2367065640487445 + ], + "held_grasp_finger_gap": 0.027028829255305014, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024699970538769975, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08096257731414891, + -0.9967141139421445, + 0.002456856360553039 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034228213041993362, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212644597702459, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29389954795549483, + -0.019152550514594267, + 0.7565880960935486 + ], + "target_position": [ + 0.31005842247588933, + -0.01568363704864787, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01652702593935396, + "xy_threshold": 0.08, + "gripper_dist": 0.20472792666811915, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565880960935486, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571474329593793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520064570861278, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1759233931872283, + "release_required_pad_clearance": 0.052600322854306394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.25942567475363976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c05e21be48f0884d76c4490b4e7ae5c0673a2ccf8f8d613cd5dae4a2d70e568", + "visual_seed": 5706631255870455669, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3138cfd23a13108f25ad1d28a01f41a27a09ad8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33752118392718594, + -0.01641480862251952, + 1.0484369820597694 + ], + "current_z": 1.0484369820597694, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1918504150465591, + "gripper_z": 1.0504402444556677, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3327823935812328, + -0.020983179165556323, + 1.0504402444556677 + ], + "object_minus_gripper": [ + 0.004738790345953148, + 0.004568370543036802, + -0.0020032623958983198 + ], + "object_to_gripper_xy": 0.0065822597458156515, + "object_to_gripper_z": -0.0020032623958983198, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33752118392718594, + -0.04084308390586897, + 1.0484369820597694 + ], + "finger_b": [ + 0.32639885917293515, + -0.01641480862251952, + 1.0484369820597694 + ], + "finger_midpoint": [ + 0.33196002155006055, + -0.028628946264194245, + 1.0484369820597694 + ], + "object_minus_finger_midpoint": [ + 0.005561162377125395, + 0.012214137641674724, + 0.0 + ], + "finger_gap": 0.026841138970955046, + "fingertip_max_gap": 0.09273660034988915, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01342056948547752, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484369820597694, + "object_top_z": 1.0941722044873783, + "finger_top_clearance": 0.04573522242760886, + "fingertip_min_top_clearance": 0.013720566728282656, + "object_projection_between_fingers": 0.8282925012291804, + "object_to_finger_line_xy": 0.010122491865254237, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048868300174944576, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5630601833800062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33800973493442515, + -0.02004191594277896, + 1.2434450401177015 + ], + "held_position": [ + 0.34302650959277187, + -0.015832226021897232, + 1.2413386230707248 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068794265733705525, + "max_held_gripper_dist": 0.006882035614766857, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002106417046976672, + "max_held_gripper_z_dist": 0.0021087619457769158, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086980263567695, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34302650959277187, + -0.04135872588988861, + 1.2413386230707248 + ], + "held_grasp_finger_b": [ + 0.333987483638763, + -0.015832226021897232, + 1.2413386230707248 + ], + "held_grasp_midpoint": [ + 0.33850699661576744, + -0.028595475955892923, + 1.2413386230707248 + ], + "held_grasp_object_position": [ + 0.34302650959277187, + -0.015832226021897232, + 1.2413386230707248 + ], + "held_grasp_finger_gap": 0.027079626764558804, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02507257448348789, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04706826293817563, + -0.9988845264982484, + 0.0037790668627135653 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003914062044807679, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223848647375855, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31514600669203086, + -0.015494166404132544, + 0.756586299677307 + ], + "target_position": [ + 0.3133218937953011, + -0.020286857334698524, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005128086798792036, + "xy_threshold": 0.08, + "gripper_dist": 0.21768900130242477, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586299677307, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588978940085063, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08998116959321777, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18848968085853626, + "release_required_pad_clearance": 0.054990584796608885, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.054323540116519, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81fd5a5be84d2503cc3df8b4430b6a941114aa16ba1a029e9dc4ca868dbce141", + "visual_seed": 5076415444041684859, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b21ee59a6e7c1030681d01e6b678fde114b709be --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33509966250736933, + -0.01817496342007002, + 1.0485849754442909 + ], + "current_z": 1.0485849754442909, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19199852764037006, + "gripper_z": 1.0512532474721414, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33024166047505754, + -0.022778375446289634, + 1.0512532474721414 + ], + "object_minus_gripper": [ + 0.004858002032311792, + 0.0046034120262196145, + -0.0026682720278505823 + ], + "object_to_gripper_xy": 0.006692651644086138, + "object_to_gripper_z": -0.0026682720278505823, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33509966250736933, + -0.04272122594321749, + 1.0485849754442909 + ], + "finger_b": [ + 0.3239869546533613, + -0.01817496342007002, + 1.0485849754442909 + ], + "finger_midpoint": [ + 0.3295433085803653, + -0.030448094681643757, + 1.0485849754442909 + ], + "object_minus_finger_midpoint": [ + 0.005556353927004043, + 0.012273131261573738, + 0.0 + ], + "finger_gap": 0.026944596484338112, + "fingertip_max_gap": 0.09586358386523872, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01347229824216907, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485849754442909, + "object_top_z": 1.0954122777391864, + "finger_top_clearance": 0.04682730229489551, + "fingertip_min_top_clearance": 0.014048190688468687, + "object_projection_between_fingers": 0.8299030892482643, + "object_to_finger_line_xy": 0.010123567613494536, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05043179193261936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7369547381616273, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3350070116889687, + -0.020859066847629323, + 1.243471376990766 + ], + "held_position": [ + 0.3400463702070635, + -0.016511215235572883, + 1.2407213407530187 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007201503122493247, + "max_held_gripper_dist": 0.007206665031110212, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027500362377472776, + "max_held_gripper_z_dist": 0.002752646845157969, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0866200959924998, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3400463702070635, + -0.041806342966128, + 1.2407213407530187 + ], + "held_grasp_finger_b": [ + 0.3304612687972814, + -0.016511215235572883, + 1.2407213407530187 + ], + "held_grasp_midpoint": [ + 0.3352538195021725, + -0.029158779100850442, + 1.2407213407530187 + ], + "held_grasp_object_position": [ + 0.3400463702070635, + -0.016511215235572883, + 1.2407213407530187 + ], + "held_grasp_finger_gap": 0.027050280145331323, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025229316030400687, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00658993403097724, + -0.9998953745475442, + 0.012876829108674714 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004711922417132516, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03252240176463974, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30756430619648384, + -0.021196705561556766, + 0.7565874577843227 + ], + "target_position": [ + 0.31090833065813867, + -0.022195007417533094, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0034898576182692087, + "xy_threshold": 0.08, + "gripper_dist": 0.2139267690931568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874577843227, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526400400989375, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09350593865983813, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18561218366076757, + "release_required_pad_clearance": 0.056752969329919065, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.940645749031932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6231dbea08e0e8a962492715ec750dd16a5b251c66cc2fe43f3ab4efa20a5094", + "visual_seed": 3031070316330519206, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5958111b34935322911d9d9f3c60d263fec5e892 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_112_success.json @@ -0,0 +1,684 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3319003974824988, + -0.014412682616774738, + 1.0457043813664182 + ], + "current_z": 1.0457043813664182, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.18911799316714206, + "gripper_z": 1.0479704298853758, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32736564704774856, + -0.018919138850411882, + 1.0479704298853758 + ], + "object_minus_gripper": [ + 0.004534750434750212, + 0.004506456233637143, + -0.0022660485189576196 + ], + "object_to_gripper_xy": 0.0063931298509536235, + "object_to_gripper_z": -0.0022660485189576196, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3319003974824988, + -0.038554250403915066, + 1.0457043813664182 + ], + "finger_b": [ + 0.3206828665356752, + -0.014412682616774738, + 1.0457043813664182 + ], + "finger_midpoint": [ + 0.32629163200908695, + -0.026483466510344902, + 1.0457043813664182 + ], + "object_minus_finger_midpoint": [ + 0.005608765473411825, + 0.012070783893570164, + 0.0 + ], + "finger_gap": 0.026620448827246256, + "fingertip_max_gap": 0.09329292745129306, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331022441362314, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457043813664182, + "object_top_z": 1.0920023887378472, + "finger_top_clearance": 0.04629800737142897, + "fingertip_min_top_clearance": 0.013889402211428691, + "object_projection_between_fingers": 0.8224323669511167, + "object_to_finger_line_xy": 0.010172960851054907, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04914646372564653, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.294456009113602, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3326057068669397, + -0.017744663329053875, + 1.2388571109495754 + ], + "held_position": [ + 0.3374545068375, + -0.013635460317748134, + 1.2364886631771586 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006782769006334817, + "max_held_gripper_dist": 0.006783918912624015, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023684477724168485, + "max_held_gripper_z_dist": 0.0023691563960166473, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741950007083925, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3374545068375, + -0.039041942838407645, + 1.2364886631771586 + ], + "held_grasp_finger_b": [ + 0.3286390935041348, + -0.013635460317748134, + 1.2364886631771586 + ], + "held_grasp_midpoint": [ + 0.3330468001708174, + -0.02633870157807789, + 1.2364886631771586 + ], + "held_grasp_object_position": [ + 0.3374545068375, + -0.013635460317748134, + 1.2364886631771586 + ], + "held_grasp_finger_gap": 0.026892394209341988, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024775426901840734, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06531487232103708, + -0.9978242551896781, + 0.0089846095547369 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003570450454162347, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223673391856449, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2955120571385065, + -0.015744625058388393, + 0.7565872174057643 + ], + "target_position": [ + 0.30786713813918154, + -0.017312642948392905, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012454184302338555, + "xy_threshold": 0.08, + "gripper_dist": 0.2052649663095841, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872174057643, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754892813363651, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09271147399336453, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17760591330380268, + "release_required_pad_clearance": 0.05635573699668227, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.034932757979812, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83ef59ca18a3e85b072c815741355dabcb8804232d3018e36590b4283f9888a5", + "visual_seed": 5556227537785913940, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b159acefa35544aeb35f03b2c1e66f33bae4bda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33594360383446625, + -0.019165780904284207, + 1.0468498470436696 + ], + "current_z": 1.0468498470436696, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.190263339635104, + "gripper_z": 1.0490416331393244, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3311055878551208, + -0.023828614017985777, + 1.0490416331393244 + ], + "object_minus_gripper": [ + 0.004838015979345467, + 0.004662833113701571, + -0.0021917860956548463 + ], + "object_to_gripper_xy": 0.0067192567492717495, + "object_to_gripper_z": -0.0021917860956548463, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33594360383446625, + -0.0435669537038187, + 1.0468498470436696 + ], + "finger_b": [ + 0.32456433861712547, + -0.019165780904284207, + 1.0468498470436696 + ], + "finger_midpoint": [ + 0.33025397122579586, + -0.03136636730405146, + 1.0468498470436696 + ], + "object_minus_finger_midpoint": [ + 0.005689632608670392, + 0.01220058639976725, + 0.0 + ], + "finger_gap": 0.026924058217128486, + "fingertip_max_gap": 0.09377194588849827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013462029108564245, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468498470436696, + "object_top_z": 1.0928557765208224, + "finger_top_clearance": 0.046005929477152874, + "fingertip_min_top_clearance": 0.013801778843145861, + "object_projection_between_fingers": 0.8213728794725494, + "object_to_finger_line_xy": 0.010312985310788654, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938597294424914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.087757956111556, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3362311858051451, + -0.022448881103489263, + 1.2393799684380014 + ], + "held_position": [ + 0.3413391011348898, + -0.018139592858339677, + 1.237081259526889 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007067165404435696, + "max_held_gripper_dist": 0.0070690944942764, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022987089111123904, + "max_held_gripper_z_dist": 0.0023008559060504474, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08724186688511792, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3413391011348898, + -0.043578718035728464, + 1.237081259526889 + ], + "held_grasp_finger_b": [ + 0.33209883523214256, + -0.018139592858339677, + 1.237081259526889 + ], + "held_grasp_midpoint": [ + 0.3367189681835162, + -0.03085915544703407, + 1.237081259526889 + ], + "held_grasp_object_position": [ + 0.3413391011348898, + -0.018139592858339677, + 1.237081259526889 + ], + "held_grasp_finger_gap": 0.02706532105378263, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025070851721107377, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03787668464397451, + -0.9992813110305839, + 0.0014893573709792163 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004135086771103029, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231480846763226, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.294182285419945, + -0.016992589550168642, + 0.7565869754106058 + ], + "target_position": [ + 0.3116706132967696, + -0.022760094182314238, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01841482342052567, + "xy_threshold": 0.08, + "gripper_dist": 0.2056923919655441, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869754106058, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566481719763041, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09059877513248936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17916799460823446, + "release_required_pad_clearance": 0.05529938756624468, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.709981263176071, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "471836453539c0b1ace06c2e559b737e1a52e2537f7cc35dfe5f48774776ec7e", + "visual_seed": 8532638411201329218, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b26938c9f6eeb23903a73def06b3348226e1a6d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_114_success.json @@ -0,0 +1,684 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3391392929413711, + -0.013984982508995856, + 1.0490807899880978 + ], + "current_z": 1.0490807899880978, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19249428257953227, + "gripper_z": 1.0509822273658416, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.334530234902527, + -0.018631474181192653, + 1.0509822273658416 + ], + "object_minus_gripper": [ + 0.004609058038844094, + 0.004646491672196797, + -0.001901437377743731 + ], + "object_to_gripper_xy": 0.006544715491541825, + "object_to_gripper_z": -0.001901437377743731, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3391392929413711, + -0.03800042413602733, + 1.0490807899880978 + ], + "finger_b": [ + 0.32749131306579116, + -0.013984982508995856, + 1.0490807899880978 + ], + "finger_midpoint": [ + 0.33331530300358114, + -0.025992703322511593, + 1.0490807899880978 + ], + "object_minus_finger_midpoint": [ + 0.005823989937789931, + 0.012007720813515737, + 0.0 + ], + "finger_gap": 0.02669113844936688, + "fingertip_max_gap": 0.09198096366703265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013345569224683426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490807899880978, + "object_top_z": 1.0945505548085515, + "finger_top_clearance": 0.04546976482045362, + "fingertip_min_top_clearance": 0.013640929446136119, + "object_projection_between_fingers": 0.809556117257964, + "object_to_finger_line_xy": 0.010480309084810192, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04849048183351633, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3635113688564875, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33996742868853935, + -0.017610418546270365, + 1.2416152623513348 + ], + "held_position": [ + 0.34496216211943614, + -0.013435309652247948, + 1.2395974575297897 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006815455422824939, + "max_held_gripper_dist": 0.006817527891944786, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020178048215451216, + "max_held_gripper_z_dist": 0.0020190736120080377, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08688958279582694, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34496216211943614, + -0.0389040225339883, + 1.2395974575297897 + ], + "held_grasp_finger_b": [ + 0.33607119672885744, + -0.013435309652247948, + 1.2395974575297897 + ], + "held_grasp_midpoint": [ + 0.34051667942414676, + -0.026169666093118125, + 1.2395974575297897 + ], + "held_grasp_object_position": [ + 0.34496216211943614, + -0.013435309652247948, + 1.2395974575297897 + ], + "held_grasp_finger_gap": 0.026976000471326273, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024726323538179804, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07535325536512343, + -0.9971562694048147, + -0.0011230728164852708 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003473298759796801, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216710001120212, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29812018411581287, + -0.02506844371383563, + 0.7565868589191374 + ], + "target_position": [ + 0.31500302879007086, + -0.017782395002033578, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018387956659886757, + "xy_threshold": 0.08, + "gripper_dist": 0.20448440773660395, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868589191374, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543415734499674, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08836685437971147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17547078337994915, + "release_required_pad_clearance": 0.054183427189855735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3823824363122976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2ff03d11bb07dacef13c882360017136c8e78875c66ff4418a1c95774f6527a", + "visual_seed": 324501426160613890, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_116_success.json new file mode 100644 index 0000000000000000000000000000000000000000..55502dbb168417f16274cd22c496e59435d4a9c7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_116_success.json @@ -0,0 +1,684 @@ +{ + "episode": 116, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33978941555918274, + -0.015748994618590455, + 1.0463671677652204 + ], + "current_z": 1.0463671677652204, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.18978071996129986, + "gripper_z": 1.0484221427492895, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33494916246726214, + -0.020360177654381056, + 1.0484221427492895 + ], + "object_minus_gripper": [ + 0.004840253091920599, + 0.004611183035790601, + -0.0020549749840690357 + ], + "object_to_gripper_xy": 0.006685137170126723, + "object_to_gripper_z": -0.0020549749840690357, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33978941555918274, + -0.04020812317712591, + 1.0463671677652204 + ], + "finger_b": [ + 0.32855121458716835, + -0.015748994618590455, + 1.0463671677652204 + ], + "finger_midpoint": [ + 0.3341703150731755, + -0.027978558897858184, + 1.0463671677652204 + ], + "object_minus_finger_midpoint": [ + 0.0056191004860072225, + 0.012229564279267729, + 0.0 + ], + "finger_gap": 0.02691739457916293, + "fingertip_max_gap": 0.09477345425948538, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013458697289581477, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463671677652204, + "object_top_z": 1.092918729484943, + "finger_top_clearance": 0.04655156171972252, + "fingertip_min_top_clearance": 0.013965468515916773, + "object_projection_between_fingers": 0.8256878952273005, + "object_to_finger_line_xy": 0.010211857671913876, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049886727129742695, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3414493864861554, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34006011865404706, + -0.018863071721669053, + 1.2405822152293817 + ], + "held_position": [ + 0.34515762488694113, + -0.014591679073088434, + 1.2384249508032459 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069916489297599605, + "max_held_gripper_dist": 0.006997126934677054, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002157264426135841, + "max_held_gripper_z_dist": 0.0021614178083237956, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08715006237635858, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34515762488694113, + -0.040046612429138616, + 1.2384249508032459 + ], + "held_grasp_finger_b": [ + 0.3358729946419479, + -0.014591679073088434, + 1.2384249508032459 + ], + "held_grasp_midpoint": [ + 0.34051530976444455, + -0.027319145751113525, + 1.2384249508032459 + ], + "held_grasp_object_position": [ + 0.34515762488694113, + -0.014591679073088434, + 1.2384249508032459 + ], + "held_grasp_finger_gap": 0.02709534998753843, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025165392849328498, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029733390810573523, + -0.9994705557886512, + 0.013211115866205936 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00426518345655599, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032341465001540476, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3178016356218135, + -0.01499470963400621, + 0.7565868235788309 + ], + "target_position": [ + 0.31552825203752227, + -0.01915124121713155, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004737618359771432, + "xy_threshold": 0.08, + "gripper_dist": 0.21738931911566906, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868235788309, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566969382258985, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09131212060511477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18858949630231653, + "release_required_pad_clearance": 0.05565606030255739, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.480780714611807, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 116, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9eb471197780e32e7e7c8657035e5b9c5107713096560cc76e8674ac3761aefd", + "visual_seed": 6007045072354972047, + "episode_index": 116, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_117_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d380e4e0d3888688f68686322f9e1342659606a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_117_success.json @@ -0,0 +1,684 @@ +{ + "episode": 117, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33785186784924204, + -0.01911855286828566, + 1.0475508166269003 + ], + "current_z": 1.0475508166269003, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19096430921833474, + "gripper_z": 1.0495302283748718, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33339530124165745, + -0.023683546406493478, + 1.0495302283748718 + ], + "object_minus_gripper": [ + 0.004456566607584589, + 0.004564993538207818, + -0.001979411747971449 + ], + "object_to_gripper_xy": 0.0063796670706015015, + "object_to_gripper_z": -0.001979411747971449, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33785186784924204, + -0.043015656827188574, + 1.0475508166269003 + ], + "finger_b": [ + 0.3263095649506692, + -0.01911855286828566, + 1.0475508166269003 + ], + "finger_midpoint": [ + 0.3320807163999556, + -0.031067104847737115, + 1.0475508166269003 + ], + "object_minus_finger_midpoint": [ + 0.005771151449286416, + 0.011948551979451456, + 0.0 + ], + "finger_gap": 0.026538581985950493, + "fingertip_max_gap": 0.09243560025116251, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013269290992975247, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475508166269003, + "object_top_z": 1.0932168169890377, + "finger_top_clearance": 0.045666000362137416, + "fingertip_min_top_clearance": 0.013699800108641257, + "object_projection_between_fingers": 0.8108399124004205, + "object_to_finger_line_xy": 0.010393457059550663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871780012558126, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.477912538877692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3387761059588883, + -0.02275211479293983, + 1.2394328186155406 + ], + "held_position": [ + 0.34361639633351915, + -0.018650801297538485, + 1.2373435151324983 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006679399100409989, + "max_held_gripper_dist": 0.0066802561918820925, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020893034830422597, + "max_held_gripper_z_dist": 0.002090115802918957, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0868853504296298, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34361639633351915, + -0.04404089318500191, + 1.2373435151324983 + ], + "held_grasp_finger_b": [ + 0.33488667216086127, + -0.018621776213860672, + 1.2373435151324983 + ], + "held_grasp_midpoint": [ + 0.33925153424719023, + -0.03133133469943129, + 1.2373435151324983 + ], + "held_grasp_object_position": [ + 0.34361639633351915, + -0.018650801297538485, + 1.2373435151324983 + ], + "held_grasp_finger_gap": 0.026876376089853476, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02468740727779592, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07550573230049076, + -0.997145240057321, + 0.0005045996376661365 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033949552367011117, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222631933450658, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3026006727146152, + -0.014718483812159558, + 0.7565863688006742 + ], + "target_position": [ + 0.3138627605479407, + -0.0205020231723906, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012660329770463321, + "xy_threshold": 0.08, + "gripper_dist": 0.20723667433984783, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863688006742, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755382378905513, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08844663356638947, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1804362750151879, + "release_required_pad_clearance": 0.05422331678319474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.463793225749918, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 117, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f28d25b22c056ea71a9ec73f707d53d157e27594e057ab932e77e330de750a77", + "visual_seed": 8890857229525076263, + "episode_index": 117, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6000fd9fdaf713d00b4064b6657adcc096f3fae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_119_success.json @@ -0,0 +1,684 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33044944380174857, + -0.01509866338681682, + 1.0461758035532065 + ], + "current_z": 1.0461758035532065, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1895893557492857, + "gripper_z": 1.0482595176260379, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32612153408381644, + -0.019491935893785214, + 1.0482595176260379 + ], + "object_minus_gripper": [ + 0.004327909717932121, + 0.0043932725069683945, + -0.0020837140728313663 + ], + "object_to_gripper_xy": 0.006166980285930518, + "object_to_gripper_z": -0.0020837140728313663, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33044944380174857, + -0.039191958067284545, + 1.0461758035532065 + ], + "finger_b": [ + 0.31952320245135507, + -0.01509866338681682, + 1.0461758035532065 + ], + "finger_midpoint": [ + 0.32498632312655185, + -0.027145310727050682, + 1.0461758035532065 + ], + "object_minus_finger_midpoint": [ + 0.00546312067519672, + 0.012046647340233863, + 0.0 + ], + "finger_gap": 0.026455048641174393, + "fingertip_max_gap": 0.09464047155081387, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013227524320587184, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461758035532065, + "object_top_z": 1.0927034167783307, + "finger_top_clearance": 0.04652761322512422, + "fingertip_min_top_clearance": 0.013958283967537283, + "object_projection_between_fingers": 0.8294214375296753, + "object_to_finger_line_xy": 0.009950809623355738, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04982023577540694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1198613538366473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33128046271679723, + -0.018317089893139238, + 1.2410930892287417 + ], + "held_position": [ + 0.33590586357354213, + -0.014287085263273472, + 1.2389189080060097 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0065086353709204355, + "max_held_gripper_dist": 0.006509642792659956, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021741812227320523, + "max_held_gripper_z_dist": 0.0021778311422735452, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08706655740234197, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33590586357354213, + -0.03961867930367874, + 1.2389189080060097 + ], + "held_grasp_finger_b": [ + 0.3272243570119273, + -0.01426145554854065, + 1.2389189080060097 + ], + "held_grasp_midpoint": [ + 0.3315651102927347, + -0.026940067426109694, + 1.2389189080060097 + ], + "held_grasp_object_position": [ + 0.33590586357354213, + -0.014287085263273472, + 1.2389189080060097 + ], + "held_grasp_finger_gap": 0.026802189327506446, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024929876644293237, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04591779254355955, + -0.9988677193583838, + 0.012443293442959358 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003758528917824062, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03236225172110536, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3007870358183013, + -0.007559427418709092, + 0.7565873772700346 + ], + "target_position": [ + 0.3066451041003428, + -0.016310471544825237, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010530799461308362, + "xy_threshold": 0.08, + "gripper_dist": 0.21096704083814963, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873772700346, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528089388028555, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09549422604093703, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18452228820683297, + "release_required_pad_clearance": 0.05774711302046852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.323632736448669, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98106130ace5f0a50de2ca98a3b593813edd0af6e75e80d5e4f26de5800a94f6", + "visual_seed": 3088035557601571778, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..116289c1081cbedae22990235d8c9c6df6f74e7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3387168579523619, + -0.01516174269678134, + 1.0459817563635545 + ], + "current_z": 1.0459817563635545, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18939524895498916, + "gripper_z": 1.0481284985969346, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3338096156484501, + -0.01987376848927562, + 1.0481284985969346 + ], + "object_minus_gripper": [ + 0.0049072423039118185, + 0.00471202579249428, + -0.0021467422333800723 + ], + "object_to_gripper_xy": 0.006803250259870874, + "object_to_gripper_z": -0.0021467422333800723, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3387168579523619, + -0.039545198574131225, + 1.0459817563635545 + ], + "finger_b": [ + 0.3271839215076847, + -0.01516174269678134, + 1.0459817563635545 + ], + "finger_midpoint": [ + 0.33295038973002333, + -0.027353470635456283, + 1.0459817563635545 + ], + "object_minus_finger_midpoint": [ + 0.005766468222338561, + 0.012191727938674943, + 0.0 + ], + "finger_gap": 0.02697334876428271, + "fingertip_max_gap": 0.09641384881968498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013486674382141343, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459817563635545, + "object_top_z": 1.0932434362382002, + "finger_top_clearance": 0.04726167987464569, + "fingertip_min_top_clearance": 0.014178503962393722, + "object_projection_between_fingers": 0.8171857429596793, + "object_to_finger_line_xy": 0.010425581539487588, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050706924409842494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6809765194761352, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3386544432679058, + -0.017915983550241044, + 1.2387491140854108 + ], + "held_position": [ + 0.34381492949898207, + -0.013532867627682911, + 1.2365049837406408 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007132912752587691, + "max_held_gripper_dist": 0.007136736569192807, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002244130344770001, + "max_held_gripper_z_dist": 0.0022523858425966825, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08742456528063632, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34381492949898207, + -0.03885732520469613, + 1.2365049837406408 + ], + "held_grasp_finger_b": [ + 0.33420883057822387, + -0.013532867627682911, + 1.2365049837406408 + ], + "held_grasp_midpoint": [ + 0.33901188003860294, + -0.02619509641618952, + 1.2365049837406408 + ], + "held_grasp_object_position": [ + 0.34381492949898207, + -0.013532867627682911, + 1.2365049837406408 + ], + "held_grasp_finger_gap": 0.02708514884665274, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025079012822859254, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02441063540210365, + -0.9995674625713309, + 0.016401483102968295 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004497367307234882, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03242622757598998, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31136614277511, + -0.019151789820443448, + 0.7565863859534725 + ], + "target_position": [ + 0.3144529761761713, + -0.018865712728180894, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003100061378202875, + "xy_threshold": 0.08, + "gripper_dist": 0.21522916203690412, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863859534725, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533903777917225, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08963752324639983, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1865003976193571, + "release_required_pad_clearance": 0.054818761623199916, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.6937067377496255, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f71abf9ae44e30328f8c0418dda8063f5105f204796e2daf268f4abc4c90a3ca", + "visual_seed": 6856173216086914541, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_120_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a849dfa9135ddaa998e21d4b982eb5c1058b3b4f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_120_success.json @@ -0,0 +1,684 @@ +{ + "episode": 120, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3371748413713633, + -0.023670655851496622, + 1.0456672811645658 + ], + "current_z": 1.0456672811645658, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1890807737560002, + "gripper_z": 1.0479283718540098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33236142081102604, + -0.028296209860060054, + 1.0479283718540098 + ], + "object_minus_gripper": [ + 0.004813420560337234, + 0.004625554008563432, + -0.002261090689444023 + ], + "object_to_gripper_xy": 0.006675684787107195, + "object_to_gripper_z": -0.002261090689444023, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3371748413713633, + -0.04801789878939456, + 1.0456672811645658 + ], + "finger_b": [ + 0.32579194208644363, + -0.023670655851496622, + 1.0456672811645658 + ], + "finger_midpoint": [ + 0.33148339172890345, + -0.035844277320445594, + 1.0456672811645658 + ], + "object_minus_finger_midpoint": [ + 0.005691449642459823, + 0.012173621468948972, + 0.0 + ], + "finger_gap": 0.026876730359320963, + "fingertip_max_gap": 0.09379665947623886, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013438365179660485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456672811645658, + "object_top_z": 1.091860450090233, + "finger_top_clearance": 0.04619316892566716, + "fingertip_min_top_clearance": 0.013857950677700149, + "object_projection_between_fingers": 0.8206287155892763, + "object_to_finger_line_xy": 0.010311604518942129, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04939832973811943, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.048480044294777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33762415338872975, + -0.027266623786541544, + 1.2394858459533005 + ], + "held_position": [ + 0.34274395795919005, + -0.023039863556429646, + 1.2371173364328603 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007048952988279723, + "max_held_gripper_dist": 0.007049820969522069, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023685095204402096, + "max_held_gripper_z_dist": 0.0023702079763034956, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870304141045184, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34274395795919005, + -0.048557683939542115, + 1.2371173364328603 + ], + "held_grasp_finger_b": [ + 0.3336754852030761, + -0.023039863556429646, + 1.2371173364328603 + ], + "held_grasp_midpoint": [ + 0.33820972158113305, + -0.03579877374798588, + 1.2371173364328603 + ], + "held_grasp_object_position": [ + 0.34274395795919005, + -0.023039863556429646, + 1.2371173364328603 + ], + "held_grasp_finger_gap": 0.02708129160939653, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025057226078545155, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04752688259066843, + -0.9988401021652148, + 0.007723065310880739 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003923979630172952, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032240615686581695, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30003810245935203, + -0.023059978955253933, + 0.7565865457407992 + ], + "target_position": [ + 0.31287227941017515, + -0.024831009751493147, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012955795926390129, + "xy_threshold": 0.08, + "gripper_dist": 0.20842774993436686, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865457407992, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565496134769874, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0937581129318542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18036512900197638, + "release_required_pad_clearance": 0.0568790564659271, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.2397333960356, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 120, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9df7f06034a4868dc3aac78defd2a7bd3cf1c2e0ca43d035d696e4cfbe5fbd57", + "visual_seed": 3027625836169844127, + "episode_index": 120, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_121_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cf33b58bf6cd2f57891aa1a115d59b3e0b0dde1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_121_success.json @@ -0,0 +1,684 @@ +{ + "episode": 121, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33852010640640884, + -0.019544449954235526, + 1.0457289063890813 + ], + "current_z": 1.0457289063890813, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18914245858516054, + "gripper_z": 1.0477016140563367, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3339941431233585, + -0.024108125839945704, + 1.0477016140563367 + ], + "object_minus_gripper": [ + 0.004525963283050327, + 0.0045636758857101785, + -0.0019727076672553245 + ], + "object_to_gripper_xy": 0.006427400814429754, + "object_to_gripper_z": -0.0019727076672553245, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33852010640640884, + -0.04356807981256553, + 1.0457289063890813 + ], + "finger_b": [ + 0.3270756508373923, + -0.019544449954235526, + 1.0457289063890813 + ], + "finger_midpoint": [ + 0.3327978786219006, + -0.03155626488340053, + 1.0457289063890813 + ], + "object_minus_finger_midpoint": [ + 0.00572222778450826, + 0.012011814929165001, + 0.0 + ], + "finger_gap": 0.02661034300495276, + "fingertip_max_gap": 0.09300820528967743, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013305171502476378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457289063890813, + "object_top_z": 1.091782951886226, + "finger_top_clearance": 0.04605404549714476, + "fingertip_min_top_clearance": 0.01381621364914341, + "object_projection_between_fingers": 0.815035096753304, + "object_to_finger_line_xy": 0.010331973716723009, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900410264483872, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3988814034385197, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33928167162660827, + -0.02333361107264184, + 1.2389766055569358 + ], + "held_position": [ + 0.34417343567641834, + -0.019216518587349535, + 1.2368961423205105 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006723699378287356, + "max_held_gripper_dist": 0.006724500066489659, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020804632364253006, + "max_held_gripper_z_dist": 0.0020807037212824397, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692398478416252, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34417343567641834, + -0.044656338227862385, + 1.2368961423205105 + ], + "held_grasp_finger_b": [ + 0.3353710059939719, + -0.019151210445393543, + 1.2368961423205105 + ], + "held_grasp_midpoint": [ + 0.3397722208351951, + -0.031903774336627964, + 1.2368961423205105 + ], + "held_grasp_object_position": [ + 0.34417343567641834, + -0.019216518587349535, + 1.2368961423205105 + ], + "held_grasp_finger_gap": 0.026981369711608007, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024801752453264502, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07226872599146036, + -0.9973638653764857, + 0.006523134587499425 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003473825497870718, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032228344341300494, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3171211302029312, + -0.021558257405266137, + 0.7565863091793759 + ], + "target_position": [ + 0.31448511486086755, + -0.021821471376820493, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0026491240964545888, + "xy_threshold": 0.08, + "gripper_dist": 0.217579195676832, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863091793759, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577031621517744, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871094899069512, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1874487767386769, + "release_required_pad_clearance": 0.053554744953475605, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.120711973884112, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 121, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e5f8b0d167825804b50e50e58f9ad73d66aa4ec4306c29a48bbf7b66c30d7b5", + "visual_seed": 124705465745783073, + "episode_index": 121, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_122_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d906197ebe1fd037cdc672b26f85902952785443 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_122_success.json @@ -0,0 +1,684 @@ +{ + "episode": 122, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3328044571721059, + -0.01857435841024216, + 1.0476049310455353 + ], + "current_z": 1.0476049310455353, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19101848324161452, + "gripper_z": 1.0503939149312762, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277493625714406, + -0.02334195940042115, + 1.0503939149312762 + ], + "object_minus_gripper": [ + 0.0050550946006652775, + 0.004767600990178991, + -0.002788983885740892 + ], + "object_to_gripper_xy": 0.0069486689821311055, + "object_to_gripper_z": -0.002788983885740892, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3328044571721059, + -0.043094143822693096, + 1.0476049310455353 + ], + "finger_b": [ + 0.32121053822968726, + -0.01857435841024216, + 1.0476049310455353 + ], + "finger_midpoint": [ + 0.32700749770089654, + -0.030834251116467627, + 1.0476049310455353 + ], + "object_minus_finger_midpoint": [ + 0.00579695947120934, + 0.012259892706225468, + 0.0 + ], + "finger_gap": 0.027122662721716966, + "fingertip_max_gap": 0.09231048112750431, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013561331360858495, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476049310455353, + "object_top_z": 1.093096685018335, + "finger_top_clearance": 0.0454917539727997, + "fingertip_min_top_clearance": 0.013647526191839876, + "object_projection_between_fingers": 0.8172758826855262, + "object_to_finger_line_xy": 0.010481286718572553, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865524056375216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8185241022109575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3333091942809474, + -0.02280779662241344, + 1.242819808050156 + ], + "held_position": [ + 0.3387114514129233, + -0.01851807221553058, + 1.2399109731129434 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007486483707251332, + "max_held_gripper_dist": 0.007490190309333679, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002908834937212612, + "max_held_gripper_z_dist": 0.002911900920092858, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08728955802068347, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3387114514129233, + -0.044346898508211545, + 1.2399109731129434 + ], + "held_grasp_finger_b": [ + 0.32962439802194465, + -0.01806006217909358, + 1.2399109731129434 + ], + "held_grasp_midpoint": [ + 0.33416792471743395, + -0.031203480343652563, + 1.2399109731129434 + ], + "held_grasp_object_position": [ + 0.3387114514129233, + -0.01851807221553058, + 1.2399109731129434 + ], + "held_grasp_finger_gap": 0.02781316780815038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025702801447051102, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0591740495243339, + -0.9982380103067967, + 0.0043939323640268535 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037853371280985025, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322683095223706, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2971474602042479, + -0.011274704358903969, + 0.7565865294086767 + ], + "target_position": [ + 0.30817245192634896, + -0.022943433310491448, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016053338525615538, + "xy_threshold": 0.08, + "gripper_dist": 0.21031570956990298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865294086767, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07797449031805301, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0887163794160493, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18411217342420994, + "release_required_pad_clearance": 0.054358189708024654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7381382519266335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 122, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6371c247a25a9af04be62eb0ae434890b31eb9a21dc4c19f81f4d07b5127eeec", + "visual_seed": 6136474184314532084, + "episode_index": 122, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed0f7cd67677cfb1cfb896170978d2794673012 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3343002523280048, + -0.015549574060372669, + 1.0454495650245421 + ], + "current_z": 1.0454495650245421, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1888631768252661, + "gripper_z": 1.0478648863557694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3295297006012262, + -0.020132824521981105, + 1.0478648863557694 + ], + "object_minus_gripper": [ + 0.0047705517267785935, + 0.004583250461608436, + -0.002415321331227238 + ], + "object_to_gripper_xy": 0.006615462838812124, + "object_to_gripper_z": -0.002415321331227238, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3343002523280048, + -0.03994340528524408, + 1.0454495650245421 + ], + "finger_b": [ + 0.32309149241510815, + -0.015549574060372669, + 1.0454495650245421 + ], + "finger_midpoint": [ + 0.3286958723715565, + -0.027746489672808374, + 1.0454495650245421 + ], + "object_minus_finger_midpoint": [ + 0.005604379956448302, + 0.012196915612435705, + 0.0 + ], + "finger_gap": 0.026845768765533063, + "fingertip_max_gap": 0.09563385586925163, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01342288438276652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454495650245421, + "object_top_z": 1.092440027307561, + "finger_top_clearance": 0.04699046228301884, + "fingertip_min_top_clearance": 0.014097138684905669, + "object_projection_between_fingers": 0.8256734868699861, + "object_to_finger_line_xy": 0.010185016489687997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05031692793462582, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.304224148451852, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344904472230886, + -0.018478419209385227, + 1.2380484411352901 + ], + "held_position": [ + 0.3394973320256384, + -0.014212337671603369, + 1.235534701941141 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00704182020852629, + "max_held_gripper_dist": 0.007046598090540896, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025137391941492115, + "max_held_gripper_z_dist": 0.0025175533457137966, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08639666851389058, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3394973320256384, + -0.03955596928456368, + 1.235534701941141 + ], + "held_grasp_finger_b": [ + 0.33023545500003254, + -0.014212337671603369, + 1.235534701941141 + ], + "held_grasp_midpoint": [ + 0.3348663935128355, + -0.026884153478083525, + 1.235534701941141 + ], + "held_grasp_object_position": [ + 0.3394973320256384, + -0.014212337671603369, + 1.235534701941141 + ], + "held_grasp_finger_gap": 0.026982995189023907, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025051830575007702, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03003279784041639, + -0.9994617599471097, + 0.01319929760641625 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004251606910037674, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03239614959797411, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2978410651298085, + -0.011829039492906524, + 0.7565870018927638 + ], + "target_position": [ + 0.31012580476020785, + -0.016941321697681748, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01330602334012553, + "xy_threshold": 0.08, + "gripper_dist": 0.2056577348082407, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870018927638, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753462041610908, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09007778773114232, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17888438959965788, + "release_required_pad_clearance": 0.05503889386557116, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.15569917671281, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d90e03dd5be46d16dfba1166fe6995550580bbde6a0e5d1cadd70dab5e1aa4b3", + "visual_seed": 4648255789988210762, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e26a6e055621e9e63665123acd77270c5c88c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33641787443859966, + -0.01852262156463847, + 1.047826374754828 + ], + "current_z": 1.047826374754828, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1912399269509072, + "gripper_z": 1.0497528663724995, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3317870822294, + -0.023027512185905527, + 1.0497528663724995 + ], + "object_minus_gripper": [ + 0.004630792209199652, + 0.004504890621267056, + -0.0019264916176715552 + ], + "object_to_gripper_xy": 0.0064605166971662634, + "object_to_gripper_z": -0.0019264916176715552, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33641787443859966, + -0.04286496211929876, + 1.047826374754828 + ], + "finger_b": [ + 0.3253754703210954, + -0.01852262156463847, + 1.047826374754828 + ], + "finger_midpoint": [ + 0.33089667237984755, + -0.030693791841968614, + 1.047826374754828 + ], + "object_minus_finger_midpoint": [ + 0.005521202058752117, + 0.012171170277330143, + 0.0 + ], + "finger_gap": 0.026729837866574024, + "fingertip_max_gap": 0.09294648104275313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013364918933287001, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047826374754828, + "object_top_z": 1.09366861372659, + "finger_top_clearance": 0.045842238971762095, + "fingertip_min_top_clearance": 0.013752671691528662, + "object_projection_between_fingers": 0.8293388668785037, + "object_to_finger_line_xy": 0.010056101459059281, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897324052137657, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.60110949930969, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3371071412222866, + -0.021982752627848365, + 1.2416138321062693 + ], + "held_position": [ + 0.3420247924254242, + -0.01784529123828932, + 1.2395814660567501 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006740355470229378, + "max_held_gripper_dist": 0.006744738949512931, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002032366049519174, + "max_held_gripper_z_dist": 0.002034737121634045, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08702995502457354, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3420247924254242, + -0.043317469170718936, + 1.2395814660567501 + ], + "held_grasp_finger_b": [ + 0.33318761120910056, + -0.017785366757417476, + 1.2395814660567501 + ], + "held_grasp_midpoint": [ + 0.3376062018172624, + -0.030551417964068205, + 1.2395814660567501 + ], + "held_grasp_object_position": [ + 0.3420247924254242, + -0.01784529123828932, + 1.2395814660567501 + ], + "held_grasp_finger_gap": 0.027018216549088835, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025058915696482848, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04992644482856725, + -0.9987475502070241, + 0.0032681894449270157 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003778940571538938, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322894075056007, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3054830852390211, + -0.0207517790080075, + 0.7565863616184956 + ], + "target_position": [ + 0.3122978097168704, + -0.022720422069749124, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007093378970105942, + "xy_threshold": 0.08, + "gripper_dist": 0.2093716138457065, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863616184956, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585741495901939, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08889606702634166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18053776521964965, + "release_required_pad_clearance": 0.05444803351317083, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9174916121350387, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69f18b3007909d7f0cfff0f62440c831344282cbe0671d3a0676b60e8c4629ae", + "visual_seed": 4656156175332308630, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c55aa85adcbb8fb9e670f9aaefbb0aecc12c632c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3392880737145066, + -0.0165937588281844, + 1.046980983663142 + ], + "current_z": 1.046980983663142, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19039441664993162, + "gripper_z": 1.0491500296652605, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33439089983468984, + -0.02129446537931788, + 1.0491500296652605 + ], + "object_minus_gripper": [ + 0.004897173879816752, + 0.0047007065511334815, + -0.0021690460021184244 + ], + "object_to_gripper_xy": 0.006788148060334917, + "object_to_gripper_z": -0.0021690460021184244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3392880737145066, + -0.0409808926794414, + 1.046980983663142 + ], + "finger_b": [ + 0.32778075391626094, + -0.0165937588281844, + 1.046980983663142 + ], + "finger_midpoint": [ + 0.33353441381538373, + -0.028787325753812897, + 1.046980983663142 + ], + "object_minus_finger_midpoint": [ + 0.005753659899122854, + 0.012193566925628497, + 0.0 + ], + "finger_gap": 0.026965732076437706, + "fingertip_max_gap": 0.09407702165927287, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013482866038218862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046980983663142, + "object_top_z": 1.0930671753316465, + "finger_top_clearance": 0.04608619166850447, + "fingertip_min_top_clearance": 0.013825857500551342, + "object_projection_between_fingers": 0.8178941342278834, + "object_to_finger_line_xy": 0.01040693230183976, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953851082963644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.305191051979227, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3395466885200641, + -0.019880422720340088, + 1.2423897162320392 + ], + "held_position": [ + 0.34474728366429935, + -0.015570237840633733, + 1.2401191540067136 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007125962136481525, + "max_held_gripper_dist": 0.007127378442151991, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002270562225325623, + "max_held_gripper_z_dist": 0.002276247633745454, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08712477016070404, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34474728366429935, + -0.0410989531462862, + 1.2401191540067136 + ], + "held_grasp_finger_b": [ + 0.3353679922787991, + -0.015570237840633733, + 1.2401191540067136 + ], + "held_grasp_midpoint": [ + 0.3400576379715492, + -0.028334595493459964, + 1.2401191540067136 + ], + "held_grasp_object_position": [ + 0.34474728366429935, + -0.015570237840633733, + 1.2401191540067136 + ], + "held_grasp_finger_gap": 0.027197176545574978, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025156013486384157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03772108925097169, + -0.9992594718700631, + 0.007591264959340593 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00420595443368562, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226842113515537, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3148232433516339, + -0.017081266754616044, + 0.756586509569576 + ], + "target_position": [ + 0.31495894514518175, + -0.019674270491744875, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0025965522058175867, + "xy_threshold": 0.08, + "gripper_dist": 0.21561026078641685, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586509569576, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571302442550264, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595058015093947, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18673479265775106, + "release_required_pad_clearance": 0.052975290075469736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9851556517162006, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1df4671962dbe0d35041e71945efd525ff51482b78be568f2348ebe88933916", + "visual_seed": 781255883608729635, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0513a8957da74bba666ee2f17a018e8b61e972e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3385370392844519, + -0.01374474033428825, + 1.0470411602870933 + ], + "current_z": 1.0470411602870933, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19045471248317247, + "gripper_z": 1.04906344703351, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337500821216573, + -0.018438106222880876, + 1.04906344703351 + ], + "object_minus_gripper": [ + 0.004786957162794592, + 0.004693365888592626, + -0.0020222867464168015 + ], + "object_to_gripper_xy": 0.006703927374504835, + "object_to_gripper_z": -0.0020222867464168015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3385370392844519, + -0.03796776230687879, + 1.0470411602870933 + ], + "finger_b": [ + 0.32691767001491406, + -0.01374474033428825, + 1.0470411602870933 + ], + "finger_midpoint": [ + 0.33272735464968295, + -0.02585625132058352, + 1.0470411602870933 + ], + "object_minus_finger_midpoint": [ + 0.005809684634768941, + 0.012111510986295268, + 0.0 + ], + "finger_gap": 0.0268656757909881, + "fingertip_max_gap": 0.09227662369167508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01343283789549406, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470411602870933, + "object_top_z": 1.092967169617507, + "finger_top_clearance": 0.045926009330413686, + "fingertip_min_top_clearance": 0.013777802799124073, + "object_projection_between_fingers": 0.812944893323515, + "object_to_finger_line_xy": 0.010476424986043752, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863831184583754, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0206546807390553, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3391818099229924, + -0.017624308615269646, + 1.2394317139286044 + ], + "held_position": [ + 0.3443380559977715, + -0.013399601678881943, + 1.23728761807794 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007002297430049208, + "max_held_gripper_dist": 0.00700388915180705, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021440958506644403, + "max_held_gripper_z_dist": 0.002146050447681569, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08703687629561443, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3443380559977715, + -0.039000202349176574, + 1.23728761807794 + ], + "held_grasp_finger_b": [ + 0.33536724818169494, + -0.013287970895258289, + 1.23728761807794 + ], + "held_grasp_midpoint": [ + 0.33985265208973325, + -0.02614408662221743, + 1.23728761807794 + ], + "held_grasp_object_position": [ + 0.3443380559977715, + -0.013399601678881943, + 1.23728761807794 + ], + "held_grasp_finger_gap": 0.02723222795169072, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02492776780442019, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07853333913358447, + -0.9968903454716, + 0.00649259193568019 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003471697285680733, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032143117221530376, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3137864670891782, + -0.01976922473705894, + 0.75659021547858 + ], + "target_position": [ + 0.3142193927479672, + -0.015673885643889822, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004118158194396755, + "xy_threshold": 0.08, + "gripper_dist": 0.21546783947306977, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75659021547858, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530772292619536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08894337400402284, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18560178382636275, + "release_required_pad_clearance": 0.054471687002011424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.967925050091028, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f78477be50607d9d6209e72cb236d755b294962d5c2bb8af5d52376ae2e48153", + "visual_seed": 4554980516285567164, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73d9cec0e3bd2d08b811c25660f2746a22eaa5bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_16_success.json @@ -0,0 +1,684 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3317783725165547, + -0.01713616415738349, + 1.0490398488016741 + ], + "current_z": 1.0490398488016741, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.192453222183819, + "gripper_z": 1.051401361998836, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32697641269616845, + -0.021708352905431286, + 1.051401361998836 + ], + "object_minus_gripper": [ + 0.004801959820386226, + 0.004572188748047795, + -0.002361513197161935 + ], + "object_to_gripper_xy": 0.0066305149169863555, + "object_to_gripper_z": -0.002361513197161935, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3317783725165547, + -0.04165164327008071, + 1.0490398488016741 + ], + "finger_b": [ + 0.3207199031488179, + -0.01713616415738349, + 1.0490398488016741 + ], + "finger_midpoint": [ + 0.3262491378326863, + -0.0293939037137321, + 1.0490398488016741 + ], + "object_minus_finger_midpoint": [ + 0.0055292346838684, + 0.01225773955634861, + 0.0 + ], + "finger_gap": 0.02689420868667206, + "fingertip_max_gap": 0.09583427982010392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344710434333603, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490398488016741, + "object_top_z": 1.095969526707227, + "finger_top_clearance": 0.0469296779055528, + "fingertip_min_top_clearance": 0.014078903371665806, + "object_projection_between_fingers": 0.8309276856361533, + "object_to_finger_line_xy": 0.01008037373256142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050417139910051964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.578649175764062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3317793923496409, + -0.019623340322398222, + 1.2423364205209244 + ], + "held_position": [ + 0.33676319267334376, + -0.015300029679388004, + 1.239889814000352 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007036701219251366, + "max_held_gripper_dist": 0.007042940052169285, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002446606520572381, + "max_held_gripper_z_dist": 0.002453369390612803, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08682454946429442, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33676319267334376, + -0.040553350490772556, + 1.239889814000352 + ], + "held_grasp_finger_b": [ + 0.32728739884245817, + -0.015300029679388004, + 1.239889814000352 + ], + "held_grasp_midpoint": [ + 0.33202529575790096, + -0.02792669008508028, + 1.239889814000352 + ], + "held_grasp_object_position": [ + 0.33676319267334376, + -0.015300029679388004, + 1.239889814000352 + ], + "held_grasp_finger_gap": 0.026972594994330034, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025148466552307763, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.010731495750847397, + -0.9998746771615357, + 0.011638941964988823 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004604476457198855, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032524302248424834, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29329155020812414, + -0.017664507503150812, + 0.75658588803147 + ], + "target_position": [ + 0.3076230590734429, + -0.021159863401716526, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014751598530815166, + "xy_threshold": 0.08, + "gripper_dist": 0.20824819078276066, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658588803147, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566853681752127, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09038365747430697, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18073870769895695, + "release_required_pad_clearance": 0.05519182873715349, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.476764139449991, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "82092b6bb7d85052d16c6ecc7bc3ea26b332fc8ba2486b9d666c2ae0701ca322", + "visual_seed": 1955677832234325898, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d633aa4626095d803f9ae5256e491ee0f9016153 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_17_success.json @@ -0,0 +1,684 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33355240556627863, + -0.02318882049294911, + 1.0468102425824046 + ], + "current_z": 1.0468102425824046, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19022379477848383, + "gripper_z": 1.049566802561075, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3284986554738666, + -0.028031104599227724, + 1.049566802561075 + ], + "object_minus_gripper": [ + 0.005053750092412046, + 0.004842284106278613, + -0.0027565599786703032 + ], + "object_to_gripper_xy": 0.006999150331466902, + "object_to_gripper_z": -0.0027565599786703032, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33355240556627863, + -0.047655745575379015, + 1.0468102425824046 + ], + "finger_b": [ + 0.3218049917066377, + -0.02318882049294911, + 1.0468102425824046 + ], + "finger_midpoint": [ + 0.32767869863645815, + -0.03542228303416406, + 1.0468102425824046 + ], + "object_minus_finger_midpoint": [ + 0.005873706929820477, + 0.012233462541214948, + 0.0 + ], + "finger_gap": 0.02714096821004958, + "fingertip_max_gap": 0.09497901028083874, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013570484105024788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468102425824046, + "object_top_z": 1.093227697969721, + "finger_top_clearance": 0.04641745538731645, + "fingertip_min_top_clearance": 0.013925236616194936, + "object_projection_between_fingers": 0.8126585550440755, + "object_to_finger_line_xy": 0.010590008896945264, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049989505140419374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5709957426223804, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33363093409300115, + -0.02669720187143658, + 1.2408877374261162 + ], + "held_position": [ + 0.3389930011072398, + -0.02226286588384362, + 1.2380291999455961 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007522388905366857, + "max_held_gripper_dist": 0.007524122887812177, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002858537480520118, + "max_held_gripper_z_dist": 0.0028620214419550205, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675919705418411, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3389930011072398, + -0.04786324102332826, + 1.2380291999455961 + ], + "held_grasp_finger_b": [ + 0.32947755670563195, + -0.02226286588384362, + 1.2380291999455961 + ], + "held_grasp_midpoint": [ + 0.3342352789064359, + -0.035063053453585936, + 1.2380291999455961 + ], + "held_grasp_object_position": [ + 0.3389930011072398, + -0.02226286588384362, + 1.2380291999455961 + ], + "held_grasp_finger_gap": 0.02731158892196558, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02523752180876691, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036291682802077695, + -0.9993155631244347, + 0.007163732036280845 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004291040753937258, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223613257148336, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3134427687740351, + -0.02591936255253087, + 0.7565939738765852 + ], + "target_position": [ + 0.30904159828314254, + -0.02458944733876576, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004597714232714703, + "xy_threshold": 0.08, + "gripper_dist": 0.21857028618841495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565939738765852, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759220725879095, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669476648325335, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18781595297650142, + "release_required_pad_clearance": 0.053347383241626675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7072651943044221, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f773a84526e737dc72aa12ab0a321b06c38d1c443995231069be8bac5e94b50b", + "visual_seed": 8641544360443196609, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d134afaaad918814295625829c5410fb7edde8d4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33880124696605546, + -0.01727306393674224, + 1.0458537409520883 + ], + "current_z": 1.0458537409520883, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18926729314816748, + "gripper_z": 1.0478902483488177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3339830554832442, + -0.021939918659170235, + 1.0478902483488177 + ], + "object_minus_gripper": [ + 0.004818191482811263, + 0.004666854722427994, + -0.002036507396729448 + ], + "object_to_gripper_xy": 0.006707794135577169, + "object_to_gripper_z": -0.002036507396729448, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33880124696605546, + -0.04163185285133089, + 1.0458537409520883 + ], + "finger_b": [ + 0.32737222415251227, + -0.01727306393674224, + 1.0458537409520883 + ], + "finger_midpoint": [ + 0.33308673555928386, + -0.029452458394036568, + 1.0458537409520883 + ], + "object_minus_finger_midpoint": [ + 0.005714511406771594, + 0.012179394457294327, + 0.0 + ], + "finger_gap": 0.026906749336513647, + "fingertip_max_gap": 0.09323738225033132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013453374668256825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458537409520883, + "object_top_z": 1.0916879581001464, + "finger_top_clearance": 0.04583421714805813, + "fingertip_min_top_clearance": 0.01375026514441744, + "object_projection_between_fingers": 0.8195754073284776, + "object_to_finger_line_xy": 0.010346740542058676, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911869112516566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9236798529698604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3393394593946415, + -0.020938338010040983, + 1.2404457234929596 + ], + "held_position": [ + 0.34449342149616496, + -0.016698334545964023, + 1.2382985225723786 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007010807835953611, + "max_held_gripper_dist": 0.007012020646157162, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021472009205809606, + "max_held_gripper_z_dist": 0.002151621065707099, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08709663424253888, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34449342149616496, + -0.042316060592685355, + 1.2382985225723786 + ], + "held_grasp_finger_b": [ + 0.33543163148429533, + -0.016654993193617074, + 1.2382985225723786 + ], + "held_grasp_midpoint": [ + 0.3399625264902302, + -0.029485526893151214, + 1.2382985225723786 + ], + "held_grasp_object_position": [ + 0.34449342149616496, + -0.016698334545964023, + 1.2382985225723786 + ], + "held_grasp_finger_gap": 0.02721408492451556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025150545788708893, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05241341192880428, + -0.9986141543879725, + 0.004754461691515387 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038549351415691937, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03219327402667586, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31892948969400164, + -0.018704089324957814, + 0.756586730483573 + ], + "target_position": [ + 0.3144858966156096, + -0.019974527152453823, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004621637341880733, + "xy_threshold": 0.08, + "gripper_dist": 0.21817206637866013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586730483573, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562899045154332, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509267183899626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18865475641358026, + "release_required_pad_clearance": 0.05254633591949813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15824908470644877, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf9f3c1593727a314ef15b3d965db5900df3faa1dc6dc4022de39ad43207fe9e", + "visual_seed": 1596445690575559522, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2249657d887dcae77e809861e0a1f40fc34ccda7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3351805781017069, + -0.012403005539942488, + 1.0489872473377566 + ], + "current_z": 1.0489872473377566, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19240073992919104, + "gripper_z": 1.0510819453618074, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3304852765662921, + -0.01695009461765362, + 1.0510819453618074 + ], + "object_minus_gripper": [ + 0.004695301535414809, + 0.004547089077711133, + -0.002094698024050823 + ], + "object_to_gripper_xy": 0.006536197334009167, + "object_to_gripper_z": -0.002094698024050823, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3351805781017069, + -0.036721549569447995, + 1.0489872473377566 + ], + "finger_b": [ + 0.3239785076599497, + -0.012403005539942488, + 1.0489872473377566 + ], + "finger_midpoint": [ + 0.3295795428808283, + -0.02456227755469524, + 1.0489872473377566 + ], + "object_minus_finger_midpoint": [ + 0.005601035220878625, + 0.012159272014752753, + 0.0 + ], + "finger_gap": 0.026774576857479734, + "fingertip_max_gap": 0.09210915962326757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013387288428739867, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0489872473377566, + "object_top_z": 1.0944641261809536, + "finger_top_clearance": 0.045476878843196955, + "fingertip_min_top_clearance": 0.01364306365295912, + "object_projection_between_fingers": 0.8249543323248053, + "object_to_finger_line_xy": 0.010174504146585349, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855457981163379, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5810756799222503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33583247627187285, + -0.01617539465080864, + 1.2430702322906608 + ], + "held_position": [ + 0.3408368008456819, + -0.012027958504421343, + 1.2408653786743793 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006863371656672753, + "max_held_gripper_dist": 0.00686526380449904, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022048536162815324, + "max_held_gripper_z_dist": 0.0022060720463770167, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695445269500088, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3408368008456819, + -0.037559969764028193, + 1.2408653786743793 + ], + "held_grasp_finger_b": [ + 0.3319561093177382, + -0.01186046403247922, + 1.2408653786743793 + ], + "held_grasp_midpoint": [ + 0.33639645508171007, + -0.024710216898253708, + 1.2408653786743793 + ], + "held_grasp_object_position": [ + 0.3408368008456819, + -0.012027958504421343, + 1.2408653786743793 + ], + "held_grasp_finger_gap": 0.027190646863589126, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025172868015444338, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05492476377450207, + -0.9984876039179854, + 0.002403153435696304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037371996667449007, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229326222772108, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3018588042396878, + -0.01733307535420014, + 0.7565900630284794 + ], + "target_position": [ + 0.31097622098154204, + -0.01691737666427273, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009126888486524378, + "xy_threshold": 0.08, + "gripper_dist": 0.2090916091764343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565900630284794, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526603092246116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696349721922463, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1810737236091755, + "release_required_pad_clearance": 0.053481748609612315, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9671402008260166, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8ab3485d0614bd86b5effdc551623fc60adf2118841fdeeb0b058fa6f0100fe8", + "visual_seed": 8344063011016773020, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..186d316887c1c9713df5be9b8d4714535071451e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_20_success.json @@ -0,0 +1,684 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3389834082969113, + -0.020419156291813963, + 1.0488862609275906 + ], + "current_z": 1.0488862609275906, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.19229981312366973, + "gripper_z": 1.0508759969715158, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.334083061304307, + -0.025144150881428184, + 1.0508759969715158 + ], + "object_minus_gripper": [ + 0.004900346992604332, + 0.004724994589614222, + -0.001989736043925161 + ], + "object_to_gripper_xy": 0.006807273648077473, + "object_to_gripper_z": -0.001989736043925161, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3389834082969113, + -0.044790624686628824, + 1.0488862609275906 + ], + "finger_b": [ + 0.3274159569120533, + -0.020419156291813963, + 1.0488862609275906 + ], + "finger_midpoint": [ + 0.3331996826044823, + -0.0326048904892214, + 1.0488862609275906 + ], + "object_minus_finger_midpoint": [ + 0.00578372569242902, + 0.012185734197407434, + 0.0 + ], + "finger_gap": 0.026977294216813403, + "fingertip_max_gap": 0.09384558119406602, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013488647108406705, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488862609275906, + "object_top_z": 1.0949253774069638, + "finger_top_clearance": 0.0460391164793732, + "fingertip_min_top_clearance": 0.01381173494381196, + "object_projection_between_fingers": 0.816143669052404, + "object_to_finger_line_xy": 0.010450113105076457, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049422790597033014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1436943850479895, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3393631911828739, + -0.024267877980281613, + 1.2415265005452283 + ], + "held_position": [ + 0.34458339778671526, + -0.019951707242187977, + 1.2394232160567817 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007092509602848957, + "max_held_gripper_dist": 0.0070964330438767365, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002103284488446544, + "max_held_gripper_z_dist": 0.002104731653721048, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694314193442217, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34458339778671526, + -0.04551957000854976, + 1.2394232160567817 + ], + "held_grasp_finger_b": [ + 0.33536331954506143, + -0.019951707242187977, + 1.2394232160567817 + ], + "held_grasp_midpoint": [ + 0.33997335866588835, + -0.032735638625368865, + 1.2394232160567817 + ], + "held_grasp_object_position": [ + 0.34458339778671526, + -0.019951707242187977, + 1.2394232160567817 + ], + "held_grasp_finger_gap": 0.02717950421221343, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02511157095881596, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04646557415862157, + -0.9989097415566295, + 0.004503181250787636 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004011467099875544, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032216023257116935, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3198710555931598, + -0.017573588523041386, + 0.7565908134149241 + ], + "target_position": [ + 0.3146062352846145, + -0.024594951543548512, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00877598265421121, + "xy_threshold": 0.08, + "gripper_dist": 0.2177106736256785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565908134149241, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548035661651123, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09219566807748202, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18967757807753768, + "release_required_pad_clearance": 0.05609783403874101, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.454401297619888, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b50640eea7c95ace38f6dfc4f4b90711abf77ef0ae797896a33a9f961947b781", + "visual_seed": 8053679769225692210, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..122dfd88b134c0855bc96ee4a515a7be376c76e3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3346631167353309, + -0.019738301687213803, + 1.0472354563251918 + ], + "current_z": 1.0472354563251918, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19064888931198143, + "gripper_z": 1.0493715505951218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3302053634407444, + -0.024285065410763015, + 1.0493715505951218 + ], + "object_minus_gripper": [ + 0.004457753294586475, + 0.004546763723549212, + -0.00213609426993 + ], + "object_to_gripper_xy": 0.00636746612030089, + "object_to_gripper_z": -0.00213609426993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3346631167353309, + -0.04366848623823425, + 1.0472354563251918 + ], + "finger_b": [ + 0.3231895491902023, + -0.019738301687213803, + 1.0472354563251918 + ], + "finger_midpoint": [ + 0.32892633296276663, + -0.03170339396272403, + 1.0472354563251918 + ], + "object_minus_finger_midpoint": [ + 0.005736783772564258, + 0.011965092275510226, + 0.0 + ], + "finger_gap": 0.0265385848314963, + "fingertip_max_gap": 0.09392453355714028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326929241574814, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472354563251918, + "object_top_z": 1.0934917114738718, + "finger_top_clearance": 0.04625625514868004, + "fingertip_min_top_clearance": 0.013876876544604011, + "object_projection_between_fingers": 0.8130861717433231, + "object_to_finger_line_xy": 0.010345863977180464, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049462266778570144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9278024615278244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33551195938947365, + -0.02319113212429795, + 1.2430139970595537 + ], + "held_position": [ + 0.34034587756277923, + -0.01909678059467833, + 1.2407826214038926 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00671636186271925, + "max_held_gripper_dist": 0.006717727893181018, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022313756556611164, + "max_held_gripper_z_dist": 0.002232788808550712, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869374329546922, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34034587756277923, + -0.044511079084317326, + 1.2407826214038926 + ], + "held_grasp_finger_b": [ + 0.3314974732686234, + -0.019076516197147425, + 1.2407826214038926 + ], + "held_grasp_midpoint": [ + 0.3359216754157013, + -0.031793797640732376, + 1.2407826214038926 + ], + "held_grasp_object_position": [ + 0.34034587756277923, + -0.01909678059467833, + 1.2407826214038926 + ], + "held_grasp_finger_gap": 0.026929746523393718, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02480375072239082, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06504729508138246, + -0.9978278612491657, + 0.01041195070636125 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035914151755623, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032243005219941806, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29923771475067934, + -0.019850537728807537, + 0.756586128448912 + ], + "target_position": [ + 0.31069336296460465, + -0.022395259480737277, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011734883245944735, + "xy_threshold": 0.08, + "gripper_dist": 0.20747211911000563, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586128448912, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564714410299442, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09168871412287759, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17952295308955768, + "release_required_pad_clearance": 0.055844357061438796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.892565949428096, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e88a9b43ff197c9b246bdc755deef77793df08a692fc4ccd024e0cedc7c6884", + "visual_seed": 7568973363158738413, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7740720946501f2dbedc8239f898a412db44034c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3307150429886508, + -0.0150916040426749, + 1.0492255201489586 + ], + "current_z": 1.0492255201489586, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.1926390127403933, + "gripper_z": 1.0513919793110291, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32594551049980713, + -0.019695867317848406, + 1.0513919793110291 + ], + "object_minus_gripper": [ + 0.004769532488843653, + 0.004604263275173506, + -0.0021664591620704776 + ], + "object_to_gripper_xy": 0.006629304674643231, + "object_to_gripper_z": -0.0021664591620704776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3307150429886508, + -0.03954665204106759, + 1.0492255201489586 + ], + "finger_b": [ + 0.3195515436137343, + -0.0150916040426749, + 1.0492255201489586 + ], + "finger_midpoint": [ + 0.32513329330119256, + -0.027319128041871244, + 1.0492255201489586 + ], + "object_minus_finger_midpoint": [ + 0.005581749687458226, + 0.012227523999196344, + 0.0 + ], + "finger_gap": 0.026882579692013405, + "fingertip_max_gap": 0.09322411362113889, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344128984600669, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492255201489586, + "object_top_z": 1.0950857077644347, + "finger_top_clearance": 0.045860187615476056, + "fingertip_min_top_clearance": 0.01375805628464285, + "object_projection_between_fingers": 0.8275517383122742, + "object_to_finger_line_xy": 0.010155420951833617, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049112056810569446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7674026899897972, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33114567539655315, + -0.018411178175913395, + 1.2418399673458622 + ], + "held_position": [ + 0.3361799962305172, + -0.014150030266682032, + 1.2395697467317226 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006975361596397403, + "max_held_gripper_dist": 0.006976522949214344, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022702206141396175, + "max_held_gripper_z_dist": 0.002271774657352177, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0866632755131683, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3361799962305172, + -0.039623179863918175, + 1.2395697467317226 + ], + "held_grasp_finger_b": [ + 0.32707901288456787, + -0.014150030266682032, + 1.2395697467317226 + ], + "held_grasp_midpoint": [ + 0.33162950455754253, + -0.026886605065300103, + 1.2395697467317226 + ], + "held_grasp_object_position": [ + 0.3361799962305172, + -0.014150030266682032, + 1.2395697467317226 + ], + "held_grasp_finger_gap": 0.02705012473661478, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025079669003064558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04089290119891321, + -0.9991632373016395, + 0.0007719173815496916 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004025862033730654, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228822485149964, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3089179496260768, + -0.011610844049551896, + 0.7565863778788946 + ], + "target_position": [ + 0.3064786082933507, + -0.01671641725706138, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005658379972640992, + "xy_threshold": 0.08, + "gripper_dist": 0.2159886568931666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863778788946, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547266795207133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09029188171627238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18751677460869956, + "release_required_pad_clearance": 0.05514594085813619, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.383182327856784, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cdbdc6805f6393567d621a8037032d19d679bb83bad3b38edeca1578252c181c", + "visual_seed": 1327428052235284121, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53db9d67aaece1cd6acdd7d172acfa194e43924b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3335762381676993, + -0.017015095705013045, + 1.0471726441450395 + ], + "current_z": 1.0471726441450395, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.19058631555040828, + "gripper_z": 1.0493637154501032, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32906202083141217, + -0.021613994951226734, + 1.0493637154501032 + ], + "object_minus_gripper": [ + 0.004514217336287152, + 0.004598899246213688, + -0.0021910713050636854 + ], + "object_to_gripper_xy": 0.00644422473506785, + "object_to_gripper_z": -0.0021910713050636854, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3335762381676993, + -0.04095202284537314, + 1.0471726441450395 + ], + "finger_b": [ + 0.3219845943091281, + -0.017015095705013045, + 1.0471726441450395 + ], + "finger_midpoint": [ + 0.3277804162384137, + -0.02898355927519309, + 1.0471726441450395 + ], + "object_minus_finger_midpoint": [ + 0.005795821929285627, + 0.011968463570180044, + 0.0 + ], + "finger_gap": 0.026595914879297893, + "fingertip_max_gap": 0.09367738650705962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013297957439648955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471726441450395, + "object_top_z": 1.0935918839614767, + "finger_top_clearance": 0.04641923981643714, + "fingertip_min_top_clearance": 0.013925771944931142, + "object_projection_between_fingers": 0.8100408619856135, + "object_to_finger_line_xy": 0.010432742612497999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04933869325352981, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4982545295979455, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344163045046924, + -0.02053655723911693, + 1.243358283805746 + ], + "held_position": [ + 0.3393265674935863, + -0.016416026227983903, + 1.2410686536783844 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006806751395043914, + "max_held_gripper_dist": 0.006807885452954968, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002289630127361608, + "max_held_gripper_z_dist": 0.002291002551549015, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692644736424318, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3393265674935863, + -0.041893646330937825, + 1.2410686536783844 + ], + "held_grasp_finger_b": [ + 0.33043200338596435, + -0.016335552843316035, + 1.2410686536783844 + ], + "held_grasp_midpoint": [ + 0.3348792854397753, + -0.02911459958712693, + 1.2410686536783844 + ], + "held_grasp_object_position": [ + 0.3393265674935863, + -0.016416026227983903, + 1.2410686536783844 + ], + "held_grasp_finger_gap": 0.027061585566751485, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024789788051370824, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07747415736351604, + -0.9969009199792018, + 0.013649567225164971 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034545734294622534, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032196456071980815, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.28786039244901396, + -0.02040492125491807, + 0.756587364235678 + ], + "target_position": [ + 0.30953903605530214, + -0.021784402784416405, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02172248968002256, + "xy_threshold": 0.08, + "gripper_dist": 0.19941534389800905, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587364235678, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580674515867648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0908063725493151, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17218102625041673, + "release_required_pad_clearance": 0.055403186274657554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.932594572906699, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "685c250db723f0d6d8c63b36a13ac1511d40124c18888f244d46c5c4cf534208", + "visual_seed": 6717996065378872042, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a44dfb82079a68c9b16fa4e553b2734ff2dfe5a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33761226175893894, + -0.017658970509037645, + 1.0464823954689415 + ], + "current_z": 1.0464823954689415, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1898960072696655, + "gripper_z": 1.0485817383779121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33282086552970397, + -0.022285878903821568, + 1.0485817383779121 + ], + "object_minus_gripper": [ + 0.004791396229234968, + 0.004626908394783923, + -0.002099342908970625 + ], + "object_to_gripper_xy": 0.006660762652973683, + "object_to_gripper_z": -0.002099342908970625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33761226175893894, + -0.0420331367095905, + 1.0464823954689415 + ], + "finger_b": [ + 0.3262795145738057, + -0.017658970509037645, + 1.0464823954689415 + ], + "finger_midpoint": [ + 0.3319458881663723, + -0.029846053609314076, + 1.0464823954689415 + ], + "object_minus_finger_midpoint": [ + 0.005666373592566609, + 0.01218708310027643, + 0.0 + ], + "finger_gap": 0.02687993929930494, + "fingertip_max_gap": 0.09292104217409072, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013439969649652472, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464823954689415, + "object_top_z": 1.092390728746621, + "finger_top_clearance": 0.045908333277679514, + "fingertip_min_top_clearance": 0.013772499983303854, + "object_projection_between_fingers": 0.8222482710674236, + "object_to_finger_line_xy": 0.010276297886075468, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048960521087045364, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5804088469995938, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33830016843370214, + -0.02157307056457547, + 1.242007110706476 + ], + "held_position": [ + 0.34342907776370263, + -0.01738416379743372, + 1.239796487331988 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069813685279467245, + "max_held_gripper_dist": 0.00698842497969915, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022106233744880743, + "max_held_gripper_z_dist": 0.0022124068238547068, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08710644700678954, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34342907776370263, + -0.04305446778673599, + 1.239796487331988 + ], + "held_grasp_finger_b": [ + 0.3345043109403395, + -0.017017745623938662, + 1.239796487331988 + ], + "held_grasp_midpoint": [ + 0.3389666943520211, + -0.030036106705337323, + 1.239796487331988 + ], + "held_grasp_object_position": [ + 0.34342907776370263, + -0.01738416379743372, + 1.239796487331988 + ], + "held_grasp_finger_gap": 0.027523850817683645, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025446994413342455, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06060965965881903, + -0.9981256984096777, + 0.008459274805528438 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003688935721904303, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03230153207477095, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3072962690771393, + -0.017020744117996464, + 0.7565873376937762 + ], + "target_position": [ + 0.3132912418335833, + -0.0216155738976737, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00755328796317965, + "xy_threshold": 0.08, + "gripper_dist": 0.21050465789023184, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873376937762, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523574891910756, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09283385149910321, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18316561447769636, + "release_required_pad_clearance": 0.05641692574955161, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.169416826242022, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99784f83c553b44695d0b4f7146475ad7523a2a15a7eeca1baf467086b511a04", + "visual_seed": 8509941382206735491, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50343438fee5d4c5a23e8cbf65841cdce98d3c3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.330408543329403, + -0.022024553594379076, + 1.046457005628499 + ], + "current_z": 1.046457005628499, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.18987043861528885, + "gripper_z": 1.0487534474569495, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3259256698760945, + -0.026582135724456585, + 1.0487534474569495 + ], + "object_minus_gripper": [ + 0.0044828734533085, + 0.004557582130077509, + -0.0022964418284505683 + ], + "object_to_gripper_xy": 0.006392785720699539, + "object_to_gripper_z": -0.0022964418284505683, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.330408543329403, + -0.04598473233044337, + 1.046457005628499 + ], + "finger_b": [ + 0.3189295907635251, + -0.022024553594379076, + 1.046457005628499 + ], + "finger_midpoint": [ + 0.32466906704646403, + -0.03400464296241122, + 1.046457005628499 + ], + "object_minus_finger_midpoint": [ + 0.005739476282938971, + 0.011980089368032146, + 0.0 + ], + "finger_gap": 0.02656796034839374, + "fingertip_max_gap": 0.09331749852548463, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013283980174196882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046457005628499, + "object_top_z": 1.0926868911749494, + "finger_top_clearance": 0.04622988554645047, + "fingertip_min_top_clearance": 0.013868965663935107, + "object_projection_between_fingers": 0.8133241688326103, + "object_to_finger_line_xy": 0.010352234479974538, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049158749262742316, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.527142421986972, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3313504440738441, + -0.025799885795574656, + 1.240345956764681 + ], + "held_position": [ + 0.33621791560535963, + -0.021716274497267908, + 1.2379470437623714 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006791387482571054, + "max_held_gripper_dist": 0.006795325172305096, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002398913002309655, + "max_held_gripper_z_dist": 0.002399259241582241, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08703829452958252, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33621791560535963, + -0.04719769909115799, + 1.2379470437623714 + ], + "held_grasp_finger_b": [ + 0.3275321918944524, + -0.021398325523472907, + 1.2379470437623714 + ], + "held_grasp_midpoint": [ + 0.331875053749906, + -0.03429801230731545, + 1.2379470437623714 + ], + "held_grasp_object_position": [ + 0.33621791560535963, + -0.021716274497267908, + 1.2379470437623714 + ], + "held_grasp_finger_gap": 0.02722222387805934, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02504787472088261, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07745216916030401, + -0.9969467977794514, + 0.00991180557020277 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033577121220800255, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03232053767451481, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29475790372583993, + -0.024871819010360476, + 0.7565864020515272 + ], + "target_position": [ + 0.3063594543853763, + -0.023963091146785007, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011637085719192223, + "xy_threshold": 0.08, + "gripper_dist": 0.20736792117960678, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864020515272, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591442218237136, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655281600200414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782701244634841, + "release_required_pad_clearance": 0.05327640800100207, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5721795720462524, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "edabcd7b202a8c54d1d0c0494688086f1d473565744ef84d046fa3fad31b9bb6", + "visual_seed": 4193866913254248128, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac6bf14c9c4fa6cc2aba605f9b888ae63fdb27f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33089468148103335, + -0.012812771679110007, + 1.0461774972310163 + ], + "current_z": 1.0461774972310163, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18959104942709548, + "gripper_z": 1.0482383114327323, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32642832749602313, + -0.01724526081474216, + 1.0482383114327323 + ], + "object_minus_gripper": [ + 0.0044663539850102185, + 0.004432489135632154, + -0.002060814201715999 + ], + "object_to_gripper_xy": 0.006292477878937179, + "object_to_gripper_z": -0.002060814201715999, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33089468148103335, + -0.03698843604037281, + 1.0461774972310163 + ], + "finger_b": [ + 0.31989344633206057, + -0.012812771679110007, + 1.0461774972310163 + ], + "finger_midpoint": [ + 0.32539406390654696, + -0.024900603859741407, + 1.0461774972310163 + ], + "object_minus_finger_midpoint": [ + 0.005500617574486388, + 0.0120878321806314, + 0.0 + ], + "finger_gap": 0.026561060259549626, + "fingertip_max_gap": 0.09396402672060336, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013280530129774813, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461774972310163, + "object_top_z": 1.092628878709559, + "finger_top_clearance": 0.046451381478542775, + "fingertip_min_top_clearance": 0.013935414443562832, + "object_projection_between_fingers": 0.8284494632598327, + "object_to_finger_line_xy": 0.010013236140498956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04948201336030168, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6680548948709724, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33146389203203486, + -0.015744331373620205, + 1.24096200809177 + ], + "held_position": [ + 0.3362044797774531, + -0.01165220853739809, + 1.2388131014519075 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006620909395663526, + "max_held_gripper_dist": 0.006622155042947444, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002148906639862558, + "max_held_gripper_z_dist": 0.0021502036216822784, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655360719834808, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3362044797774531, + -0.03694591522535316, + 1.2388131014519075 + ], + "held_grasp_finger_b": [ + 0.3272613080672303, + -0.01165220853739809, + 1.2388131014519075 + ], + "held_grasp_midpoint": [ + 0.33173289392234173, + -0.024299061881375626, + 1.2388131014519075 + ], + "held_grasp_object_position": [ + 0.3362044797774531, + -0.01165220853739809, + 1.2388131014519075 + ], + "held_grasp_finger_gap": 0.02682819260134444, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02484171643405249, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04718715970894672, + -0.9988144330731072, + 0.011962451398011333 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003872841155657436, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03235736387698972, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29885645575532865, + -0.018158953425771195, + 0.7565866647640122 + ], + "target_position": [ + 0.30699762578368145, + -0.016474128692640658, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00831368052140075, + "xy_threshold": 0.08, + "gripper_dist": 0.21126633294130182, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866647640122, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561972913426615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08968309332494666, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18216242390618662, + "release_required_pad_clearance": 0.05484154666247333, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.740345351550562, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "743a5575c6efd6cc97e5d25bdc61422a6c64eb9e4584d8e5867829c25c5b035e", + "visual_seed": 5039942808025753639, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5abf014e1cf8a0c7b87a4e3e5cd7e980f0ea5f4f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33508003129076586, + -0.0227666215454276, + 1.0485522822520534 + ], + "current_z": 1.0485522822520534, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19196589405277742, + "gripper_z": 1.0508449478910689, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3302507751754007, + -0.027410923326979128, + 1.0508449478910689 + ], + "object_minus_gripper": [ + 0.004829256115365166, + 0.004644301781551528, + -0.002292665639015423 + ], + "object_to_gripper_xy": 0.006700093556504607, + "object_to_gripper_z": -0.002292665639015423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33508003129076586, + -0.04715363726308274, + 1.0485522822520534 + ], + "finger_b": [ + 0.3237094682402149, + -0.0227666215454276, + 1.0485522822520534 + ], + "finger_midpoint": [ + 0.3293947497654904, + -0.03496012940425517, + 1.0485522822520534 + ], + "object_minus_finger_midpoint": [ + 0.005685281525275476, + 0.01219350785882757, + 0.0 + ], + "finger_gap": 0.02690754986429856, + "fingertip_max_gap": 0.09513565476838512, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01345377493214928, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485522822520534, + "object_top_z": 1.095340591184942, + "finger_top_clearance": 0.046788308932888656, + "fingertip_min_top_clearance": 0.01403649267986663, + "object_projection_between_fingers": 0.8214270661384921, + "object_to_finger_line_xy": 0.010305438482167188, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05006782738419256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.346401590154806, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3354476267490437, + -0.026491139220585574, + 1.2409974199996494 + ], + "held_position": [ + 0.34056299154722136, + -0.022225116093630332, + 1.2385973182062997 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007079999926313029, + "max_held_gripper_dist": 0.007081645317213243, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002400101793349707, + "max_held_gripper_z_dist": 0.0024035170282663554, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08699819711720816, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34056299154722136, + -0.04770355560050727, + 1.2385973182062997 + ], + "held_grasp_finger_b": [ + 0.33146214134864926, + -0.022225116093630332, + 1.2385973182062997 + ], + "held_grasp_midpoint": [ + 0.3360125664479353, + -0.0349643358470688, + 1.2385973182062997 + ], + "held_grasp_object_position": [ + 0.34056299154722136, + -0.022225116093630332, + 1.2385973182062997 + ], + "held_grasp_finger_gap": 0.027055061523538204, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02508438806235616, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.040790804258117465, + -0.9991043232658651, + 0.011254400003287812 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004029583415161266, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322867999356003, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.308616972256027, + -0.020194510969929913, + 0.7565876803617744 + ], + "target_position": [ + 0.31076458415801456, + -0.02508424669453068, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005340576030541603, + "xy_threshold": 0.08, + "gripper_dist": 0.2125790741497608, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565876803617744, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534344810299243, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08702028444986369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1848772720183023, + "release_required_pad_clearance": 0.05351014222493185, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.030199331072449, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99aa16aacd8bb35a04d8e25806f80d847e79a5b3a4bd3a0c6e914baded1ab5c8", + "visual_seed": 3479152392671222626, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4b3df2cc07a6a133d1b383017a92c0acb429bf64 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3360536778506308, + -0.013535883858481807, + 1.0457986104431785 + ], + "current_z": 1.0457986104431785, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18921216263925766, + "gripper_z": 1.0478729370950732, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3315708403983646, + -0.018038199340695477, + 1.0478729370950732 + ], + "object_minus_gripper": [ + 0.004482837452266186, + 0.00450231548221367, + -0.0020743266518947756 + ], + "object_to_gripper_xy": 0.006353477498568898, + "object_to_gripper_z": -0.0020743266518947756, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3360536778506308, + -0.03760250919421108, + 1.0457986104431785 + ], + "finger_b": [ + 0.3247917584811673, + -0.013535883858481807, + 1.0457986104431785 + ], + "finger_midpoint": [ + 0.3304227181658991, + -0.02556919652634644, + 1.0457986104431785 + ], + "object_minus_finger_midpoint": [ + 0.005630959684731707, + 0.012033312667864634, + 0.0 + ], + "finger_gap": 0.026571286813676574, + "fingertip_max_gap": 0.09336796433125069, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013285643406838273, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457986104431785, + "object_top_z": 1.092196894755279, + "finger_top_clearance": 0.04639828431210047, + "fingertip_min_top_clearance": 0.013919485293630157, + "object_projection_between_fingers": 0.8203614037044857, + "object_to_finger_line_xy": 0.010200348817376931, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04918398216562535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2345098174040037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3368662828136486, + -0.01707670442533707, + 1.2403313715858 + ], + "held_position": [ + 0.34168915637023434, + -0.01299440477939116, + 1.2381541952562196 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066832160306389155, + "max_held_gripper_dist": 0.0066847203091593135, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002177176329580366, + "max_held_gripper_z_dist": 0.0021790377368373637, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08684305068965956, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34168915637023434, + -0.03842372637422225, + 1.2381541952562196 + ], + "held_grasp_finger_b": [ + 0.332919774069636, + -0.01288022895869876, + 1.2381541952562196 + ], + "held_grasp_midpoint": [ + 0.3373044652199352, + -0.025651977666460504, + 1.2381541952562196 + ], + "held_grasp_object_position": [ + 0.34168915637023434, + -0.01299440477939116, + 1.2381541952562196 + ], + "held_grasp_finger_gap": 0.027006894048574006, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024844663897079268, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07193483323147226, + -0.9973375037880943, + 0.011970100488029267 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003466207285019407, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226094079193689, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3061219985080761, + -0.013418950745587473, + 0.756594245523702 + ], + "target_position": [ + 0.31206740553996487, + -0.01716188856273779, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0070254856257689815, + "xy_threshold": 0.08, + "gripper_dist": 0.21243887865937058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756594245523702, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523391298033542, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09201515429562483, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1851258905008583, + "release_required_pad_clearance": 0.05600757714781242, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.238720680781695, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8202585daa96474495f8f352f9d0c8f1b11f8dbda52c9d6ed0da2f7b931444f1", + "visual_seed": 2876753344099958289, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6bedbc346bdcc1279dfe5c376fcd6795b54fa447 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3331749789127789, + -0.01385574647762241, + 1.0456507237441985 + ], + "current_z": 1.0456507237441985, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18906421633563297, + "gripper_z": 1.0477091280859936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3285498684861292, + -0.01836678930519095, + 1.0477091280859936 + ], + "object_minus_gripper": [ + 0.004625110426649703, + 0.00451104282756854, + -0.0020584043417950504 + ], + "object_to_gripper_xy": 0.006460739419823505, + "object_to_gripper_z": -0.0020584043417950504, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3331749789127789, + -0.03824393341392883, + 1.0456507237441985 + ], + "finger_b": [ + 0.3221904277359715, + -0.01385574647762241, + 1.0456507237441985 + ], + "finger_midpoint": [ + 0.3276827033243752, + -0.02604983994577562, + 1.0456507237441985 + ], + "object_minus_finger_midpoint": [ + 0.0054922755884037056, + 0.012194093468153209, + 0.0 + ], + "finger_gap": 0.026747785452185164, + "fingertip_max_gap": 0.09309262255605513, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337389272609258, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456507237441985, + "object_top_z": 1.0914940200265046, + "finger_top_clearance": 0.0458432962823061, + "fingertip_min_top_clearance": 0.01375298888469183, + "object_projection_between_fingers": 0.83134898039478, + "object_to_finger_line_xy": 0.010015531491019879, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904631127802757, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6822565895671637, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33370129651121627, + -0.017161285315599725, + 1.2418498739161927 + ], + "held_position": [ + 0.33860174106384533, + -0.012998045348784563, + 1.2396947082589478 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006781715332041512, + "max_held_gripper_dist": 0.006782874340183026, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021551656572449396, + "max_held_gripper_z_dist": 0.002158058616184455, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870694166450089, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33860174106384533, + -0.03847823226229959, + 1.2396947082589478 + ], + "held_grasp_finger_b": [ + 0.32963676795389124, + -0.012998045348784563, + 1.2396947082589478 + ], + "held_grasp_midpoint": [ + 0.33411925450886826, + -0.025738138805542078, + 1.2396947082589478 + ], + "held_grasp_object_position": [ + 0.33860174106384533, + -0.012998045348784563, + 1.2396947082589478 + ], + "held_grasp_finger_gap": 0.027011306299582448, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02506660326451562, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.043418322428353764, + -0.9990447654080202, + 0.004940241729039396 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003925618292677875, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032277679240503454, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3032527656725066, + -0.013924748427944405, + 0.756586666083346 + ], + "target_position": [ + 0.3091010662839782, + -0.01713102777378721, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006669546257858742, + "xy_threshold": 0.08, + "gripper_dist": 0.2102041460538586, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586666083346, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558748065188105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0914352564956095, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18207685361111797, + "release_required_pad_clearance": 0.055717628247804754, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.615797556033488, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a931f23c0bc0eeaac5f5f2f1ac24de30c7aec2ee8e0b5fa421dc356e9e1e214d", + "visual_seed": 2043541638225072866, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0066fb041a6e6f499e5b5d9ce518dfe41c9395c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_30_success.json @@ -0,0 +1,684 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3381721821822299, + -0.011158400991044813, + 1.0492782594477765 + ], + "current_z": 1.0492782594477765, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1926916924345662, + "gripper_z": 1.0511433582288319, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333681404098765, + -0.015602706328455243, + 1.0511433582288319 + ], + "object_minus_gripper": [ + 0.004490778083464875, + 0.00444430533741043, + -0.001865098781055341 + ], + "object_to_gripper_xy": 0.006318143534857631, + "object_to_gripper_z": -0.001865098781055341, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3381721821822299, + -0.03537776283715552, + 1.0492782594477765 + ], + "finger_b": [ + 0.3271784979216038, + -0.011158400991044813, + 1.0492782594477765 + ], + "finger_midpoint": [ + 0.33267534005191685, + -0.023268081914100167, + 1.0492782594477765 + ], + "object_minus_finger_midpoint": [ + 0.00549684213031304, + 0.012109680923055354, + 0.0 + ], + "finger_gap": 0.026597717606125164, + "fingertip_max_gap": 0.09339840099201638, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013298858803062584, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492782594477765, + "object_top_z": 1.0955010396713587, + "finger_top_clearance": 0.04622278022358217, + "fingertip_min_top_clearance": 0.013866834067074684, + "object_projection_between_fingers": 0.8291567682025589, + "object_to_finger_line_xy": 0.010010634035330857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919920049600819, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4868309300584233, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33913856927194475, + -0.014752746650782994, + 1.242554879325993 + ], + "held_position": [ + 0.3439376220381476, + -0.010689447203113316, + 1.2405776411079132 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006591720627064485, + "max_held_gripper_dist": 0.006592846880974952, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019772382180798243, + "max_held_gripper_z_dist": 0.001980563660259227, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08702433972784335, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3439376220381476, + -0.03613573199452915, + 1.2405776411079132 + ], + "held_grasp_finger_b": [ + 0.33532042702981535, + -0.010413279059746832, + 1.2405776411079132 + ], + "held_grasp_midpoint": [ + 0.33962902453398147, + -0.02327450552713799, + 1.2405776411079132 + ], + "held_grasp_object_position": [ + 0.3439376220381476, + -0.010689447203113316, + 1.2405776411079132 + ], + "held_grasp_finger_gap": 0.027127488545637943, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025170797199183574, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05876369118656546, + -0.9982397654940026, + 0.008012439366927636 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035630633576340196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03238413020252601, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31818126816492975, + -0.011697733884614429, + 0.7565863632892063 + ], + "target_position": [ + 0.31416444602355914, + -0.015703029779607088, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00567249991818865, + "xy_threshold": 0.08, + "gripper_dist": 0.2193435616709473, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863632892063, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756987840979563, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09038969392727851, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1901742035533468, + "release_required_pad_clearance": 0.05519484696363926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.487762087191939, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14b3b1980b18d39f64f12d51a10b08dd5847173b4ce4c0d2f35ce6a993652191", + "visual_seed": 1438013890172969208, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e60a5fd458229e168999354058c553680f0d7fe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33923152298414505, + -0.020201841594070073, + 1.0457835716823436 + ], + "current_z": 1.0457835716823436, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18919706427377803, + "gripper_z": 1.0477492295558808, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33477133928831715, + -0.02475485747227056, + 1.0477492295558808 + ], + "object_minus_gripper": [ + 0.004460183695827902, + 0.0045530158782004886, + -0.0019656578735371966 + ], + "object_to_gripper_xy": 0.006373632573946729, + "object_to_gripper_z": -0.0019656578735371966, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33923152298414505, + -0.04413333606467746, + 1.0457835716823436 + ], + "finger_b": [ + 0.3277445124607712, + -0.020201841594070073, + 1.0457835716823436 + ], + "finger_midpoint": [ + 0.3334880177224581, + -0.03216758882937377, + 1.0457835716823436 + ], + "object_minus_finger_midpoint": [ + 0.005743505261686932, + 0.011965747235303695, + 0.0 + ], + "finger_gap": 0.026545580392238817, + "fingertip_max_gap": 0.09331918561218508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013272790196119408, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457835716823436, + "object_top_z": 1.0919395882502, + "finger_top_clearance": 0.046156016567856506, + "fingertip_min_top_clearance": 0.013846804970356985, + "object_projection_between_fingers": 0.8127466536985071, + "object_to_finger_line_xy": 0.010355822881322401, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915959280609254, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.577941645342768, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3401484049521167, + -0.02390814834025319, + 1.2381452984078405 + ], + "held_position": [ + 0.3449883280350087, + -0.0198152476396843, + 1.2360701132596674 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066695640781258055, + "max_held_gripper_dist": 0.006670883313990289, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020751851481730643, + "max_held_gripper_z_dist": 0.002076962290596507, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700214572390236, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3449883280350087, + -0.04523126274758367, + 1.2360701132596674 + ], + "held_grasp_finger_b": [ + 0.33628164993543064, + -0.019698059028941537, + 1.2360701132596674 + ], + "held_grasp_midpoint": [ + 0.34063498898521966, + -0.0324646608882626, + 1.2360701132596674 + ], + "held_grasp_object_position": [ + 0.3449883280350087, + -0.0198152476396843, + 1.2360701132596674 + ], + "held_grasp_finger_gap": 0.026976855555593433, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0248174148156641, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07407990164392327, + -0.9972271773453835, + 0.007079896622525726 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003405518005251883, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226339136822472, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30534236852280583, + -0.020179831935511854, + 0.7565864146450616 + ], + "target_position": [ + 0.3152434668541854, + -0.024038335463224855, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01062637274148716, + "xy_threshold": 0.08, + "gripper_dist": 0.20917050960638797, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864146450616, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752471264376478, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09388523591023433, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18209487315954143, + "release_required_pad_clearance": 0.05694261795511717, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.38738056234795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6c8981ecedd06084c481af108fee7265f8fc1011aeacd2fa94f202ac82faa307", + "visual_seed": 479854900845256412, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05c2a44895a8ebcf91b7a2947fe2621a14a1b2e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3303685107278186, + -0.022090677474640216, + 1.0469858500569982 + ], + "current_z": 1.0469858500569982, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1903994022530774, + "gripper_z": 1.0492790274348451, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3256199516395845, + -0.026629354619747928, + 1.0492790274348451 + ], + "object_minus_gripper": [ + 0.004748559088234072, + 0.004538677145107712, + -0.0022931773778469555 + ], + "object_to_gripper_xy": 0.006568744449434267, + "object_to_gripper_z": -0.0022931773778469555, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3303685107278186, + -0.046580232522978014, + 1.0469858500569982 + ], + "finger_b": [ + 0.31936542894938635, + -0.022090677474640216, + 1.0469858500569982 + ], + "finger_midpoint": [ + 0.32486696983860247, + -0.03433545499880911, + 1.0469858500569982 + ], + "object_minus_finger_midpoint": [ + 0.005501540889216117, + 0.012244777524168898, + 0.0 + ], + "finger_gap": 0.026847832595731723, + "fingertip_max_gap": 0.09343645969886896, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01342391629786586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469858500569982, + "object_top_z": 1.093018388853912, + "finger_top_clearance": 0.046032538796913824, + "fingertip_min_top_clearance": 0.013809761639074113, + "object_projection_between_fingers": 0.8320383164229763, + "object_to_finger_line_xy": 0.010036585856733823, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04921822984943448, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7644245133991505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3307382762359041, + -0.0254197973159737, + 1.2416711047676248 + ], + "held_position": [ + 0.3357245935456059, + -0.021202081155467067, + 1.239281849452863 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006954209580013224, + "max_held_gripper_dist": 0.006958935766356636, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023892553147617512, + "max_held_gripper_z_dist": 0.0023900288847098494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08672463891674026, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3357245935456059, + -0.046654086861237905, + 1.239281849452863 + ], + "held_grasp_finger_b": [ + 0.32663818800645195, + -0.021202081155467067, + 1.239281849452863 + ], + "held_grasp_midpoint": [ + 0.3311813907760289, + -0.03392808400835248, + 1.239281849452863 + ], + "held_grasp_object_position": [ + 0.3357245935456059, + -0.021202081155467067, + 1.239281849452863 + ], + "held_grasp_finger_gap": 0.027025309620216362, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025101405510683423, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036660229752245393, + -0.9993128054188677, + 0.005472155003742207 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004074213574944325, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032316412495781606, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30504623278277576, + -0.021760376034172257, + 0.7565865248726396 + ], + "target_position": [ + 0.30616834893819245, + -0.02526633513928434, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003681153883358509, + "xy_threshold": 0.08, + "gripper_dist": 0.2142656217799266, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865248726396, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563670694642434, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0927274125220988, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18544575178160036, + "release_required_pad_clearance": 0.056363706261049404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.053920896320914, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c3ab97810a71cf81f6c501627b11510744f122119072338757dcb15a44a8fe8a", + "visual_seed": 4867519970218824307, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0369581c83137a230f72d2dabe0237bcc6f3787d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_33_success.json @@ -0,0 +1,684 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33716310190517806, + -0.012681902439258493, + 1.0472613250652645 + ], + "current_z": 1.0472613250652645, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19067481765669891, + "gripper_z": 1.04930323801341, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33263858004346036, + -0.017281560102402893, + 1.04930323801341 + ], + "object_minus_gripper": [ + 0.004524521861717701, + 0.0045996576631444006, + -0.0020419129481454856 + ], + "object_to_gripper_xy": 0.00645198796459544, + "object_to_gripper_z": -0.0020419129481454856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33716310190517806, + -0.03663762124001181, + 1.0472613250652645 + ], + "finger_b": [ + 0.3255819734413193, + -0.012681902439258493, + 1.0472613250652645 + ], + "finger_midpoint": [ + 0.3313725376732487, + -0.024659761839635152, + 1.0472613250652645 + ], + "object_minus_finger_midpoint": [ + 0.005790564231929363, + 0.01197785940037666, + 0.0 + ], + "finger_gap": 0.026608250595579676, + "fingertip_max_gap": 0.09315393939692748, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013304125297789826, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472613250652645, + "object_top_z": 1.0933605760556113, + "finger_top_clearance": 0.04609925099034684, + "fingertip_min_top_clearance": 0.013829775297104052, + "object_projection_between_fingers": 0.8105611214953661, + "object_to_finger_line_xy": 0.0104266252258497, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04907696969846374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.472954147602961, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3380260123595545, + -0.016214126435859677, + 1.2396419423051273 + ], + "held_position": [ + 0.34293030812035935, + -0.012078104791133566, + 1.2374876053636277 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006767566742382467, + "max_held_gripper_dist": 0.006768486580607213, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021543369414995794, + "max_held_gripper_z_dist": 0.00215550936101061, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686809813952667, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34293030812035935, + -0.03750764526921, + 1.2374876053636277 + ], + "held_grasp_finger_b": [ + 0.3340976555229947, + -0.012078104791133566, + 1.2374876053636277 + ], + "held_grasp_midpoint": [ + 0.338513981821677, + -0.024792875030171784, + 1.2374876053636277 + ], + "held_grasp_object_position": [ + 0.34293030812035935, + -0.012078104791133566, + 1.2374876053636277 + ], + "held_grasp_finger_gap": 0.02691983062413024, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024697645936351355, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07474102824282332, + -0.9971791466484327, + 0.006894068951585619 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003454799899538945, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03219124046039642, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31525041023739786, + -0.015340541187318575, + 0.7565862551843665 + ], + "target_position": [ + 0.31311781520151366, + -0.015983099119757548, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0022272948353592925, + "xy_threshold": 0.08, + "gripper_dist": 0.21809494050125744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862551843665, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536990548414901, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08862450171988888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18908709739891572, + "release_required_pad_clearance": 0.05431225085994444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6456908566881143, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a37642ce7e084c6e654d92853689291eaf3affdd320666e23664be39f83644cf", + "visual_seed": 7945560032166568815, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d10198eb99d2d60483e4e7cda6ee86ddaed963b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3331497912037669, + -0.014487770095070105, + 1.0461391704112906 + ], + "current_z": 1.0461391704112906, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.18955278221201444, + "gripper_z": 1.0483557032734576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32855700458832027, + -0.01911362776412065, + 1.0483557032734576 + ], + "object_minus_gripper": [ + 0.0045927866154466535, + 0.004625857669050545, + -0.0022165328621670533 + ], + "object_to_gripper_xy": 0.006518607832147878, + "object_to_gripper_z": -0.0022165328621670533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3331497912037669, + -0.03853562636178081, + 1.0461391704112906 + ], + "finger_b": [ + 0.3215938503487641, + -0.014487770095070105, + 1.0461391704112906 + ], + "finger_midpoint": [ + 0.3273718207762655, + -0.02651169822842546, + 1.0461391704112906 + ], + "object_minus_finger_midpoint": [ + 0.005777970427501444, + 0.012023928133355354, + 0.0 + ], + "finger_gap": 0.026680314092392184, + "fingertip_max_gap": 0.09364897999671615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340157046196104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0461391704112906, + "object_top_z": 1.0924363317323649, + "finger_top_clearance": 0.04629716132107431, + "fingertip_min_top_clearance": 0.013889148396322276, + "object_projection_between_fingers": 0.8124017663885822, + "object_to_finger_line_xy": 0.010415754617632453, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049324489998358076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.606681235190207, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33368295862902025, + -0.017869513814342528, + 1.2409932294286266 + ], + "held_position": [ + 0.3386362807720938, + -0.013682734586439777, + 1.2386810888341815 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006885529368519268, + "max_held_gripper_dist": 0.006886824013096869, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002312140594445067, + "max_held_gripper_z_dist": 0.0023143899678963464, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08723441405442417, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3386362807720938, + -0.039121859137873215, + 1.2386810888341815 + ], + "held_grasp_finger_b": [ + 0.3295560769854873, + -0.013682734586439777, + 1.2386810888341815 + ], + "held_grasp_midpoint": [ + 0.3340961788787905, + -0.026402296862156498, + 1.2386810888341815 + ], + "held_grasp_object_position": [ + 0.3386362807720938, + -0.013682734586439777, + 1.2386810888341815 + ], + "held_grasp_finger_gap": 0.027011093253506913, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024788850963473743, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06543343470049925, + -0.9977937658071496, + 0.011227935682147526 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037009086259999404, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221165056253576, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2913475899379717, + -0.01162845911632875, + 0.7565867687053082 + ], + "target_position": [ + 0.30908790687175175, + -0.017401589654479698, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018656041410800246, + "xy_threshold": 0.08, + "gripper_dist": 0.20399164027227767, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867687053082, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527896331528297, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08974653318596042, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17835997579156057, + "release_required_pad_clearance": 0.05487326659298021, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.807257806879437, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4cb2e18bcc3607cb4073581f4c313bcd4554afb5fc3775bdc5225177183fbef6", + "visual_seed": 3601731921383682036, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db01b83b7c1ad3e68d9872820bb4b50000cd5df4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3312048454866687, + -0.014300956524752398, + 1.0474161574102123 + ], + "current_z": 1.0474161574102123, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19082970960629153, + "gripper_z": 1.0496453357210032, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.326578358288929, + -0.018966667383346625, + 1.0496453357210032 + ], + "object_minus_gripper": [ + 0.00462648719773967, + 0.004665710858594227, + -0.002229178310790836 + ], + "object_to_gripper_xy": 0.00657063479481649, + "object_to_gripper_z": -0.002229178310790836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3312048454866687, + -0.03831791779939333, + 1.0474161574102123 + ], + "finger_b": [ + 0.3195120661184641, + -0.014300956524752398, + 1.0474161574102123 + ], + "finger_midpoint": [ + 0.3253584558025664, + -0.026309437162072864, + 1.0474161574102123 + ], + "object_minus_finger_midpoint": [ + 0.005846389684102282, + 0.012008480637320466, + 0.0 + ], + "finger_gap": 0.026712085620952782, + "fingertip_max_gap": 0.09164734519084775, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013356042810476391, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474161574102123, + "object_top_z": 1.0930228835689713, + "finger_top_clearance": 0.04560672615875894, + "fingertip_min_top_clearance": 0.013682017847627714, + "object_projection_between_fingers": 0.8083892310023132, + "object_to_finger_line_xy": 0.010513032687302104, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048323672595423875, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8920282265262489, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320058695163948, + -0.01801793293772086, + 1.2430788483496056 + ], + "held_position": [ + 0.3370418949287875, + -0.013855709636493505, + 1.2407425843664517 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006938572199129073, + "max_held_gripper_dist": 0.0069402891245372795, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023362639831538967, + "max_held_gripper_z_dist": 0.002337916143906993, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08709223233621463, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3370418949287875, + -0.03943813361655821, + 1.2407425843664517 + ], + "held_grasp_finger_b": [ + 0.32814222508840823, + -0.013617636108992272, + 1.2407425843664517 + ], + "held_grasp_midpoint": [ + 0.33259206000859787, + -0.02652788486277524, + 1.2407425843664517 + ], + "held_grasp_object_position": [ + 0.3370418949287875, + -0.013855709636493505, + 1.2407425843664517 + ], + "held_grasp_finger_gap": 0.027311210423669893, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024930170010168427, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08859421394466753, + -0.9960547528763846, + 0.0050984829009217405 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033103061407421686, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032183814975452744, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3048910213173541, + -0.021835075633149268, + 0.7565953523671738 + ], + "target_position": [ + 0.30701863569185656, + -0.019156925535449502, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0034204138451945586, + "xy_threshold": 0.08, + "gripper_dist": 0.21450816720321275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565953523671738, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569694277581937, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08828204585608755, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1844106210142587, + "release_required_pad_clearance": 0.05414102292804378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2904073716365896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a4ac7b91e29c653068c619cb6fd0b495811d61dce7da01a53158c6ccb8422a8", + "visual_seed": 6307532163925803031, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bea63d7c24f32057ffbb0d17abdd31a1457058fe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3346659443857747, + -0.014893298897228674, + 1.049282686462595 + ], + "current_z": 1.049282686462595, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19269623865867425, + "gripper_z": 1.0512470662456177, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33003769889960466, + -0.01942681306045793, + 1.0512470662456177 + ], + "object_minus_gripper": [ + 0.004628245486170024, + 0.004533514163229257, + -0.001964379783022663 + ], + "object_to_gripper_xy": 0.006478688675067932, + "object_to_gripper_z": -0.001964379783022663, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3346659443857747, + -0.039148469865953495, + 1.049282686462595 + ], + "finger_b": [ + 0.3234701058990922, + -0.014893298897228674, + 1.049282686462595 + ], + "finger_midpoint": [ + 0.32906802514243344, + -0.027020884381591084, + 1.049282686462595 + ], + "object_minus_finger_midpoint": [ + 0.005597919243341243, + 0.01212758548436241, + 0.0 + ], + "finger_gap": 0.026714417795302075, + "fingertip_max_gap": 0.0917916511423558, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013357208897651036, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049282686462595, + "object_top_z": 1.0946321747974623, + "finger_top_clearance": 0.045349488334867294, + "fingertip_min_top_clearance": 0.013604846500460187, + "object_projection_between_fingers": 0.8243606497919106, + "object_to_finger_line_xy": 0.01016518416060963, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483958255711779, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4261205944917628, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3352577325063913, + -0.018306449587942697, + 1.2449130778828845 + ], + "held_position": [ + 0.3401912124797242, + -0.01415072220055999, + 1.2428534572930534 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006771361143786091, + "max_held_gripper_dist": 0.0067726812889123324, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020596205898311126, + "max_held_gripper_z_dist": 0.0020612132053663412, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704470019719365, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3401912124797242, + -0.03959559420540549, + 1.2428534572930534 + ], + "held_grasp_finger_b": [ + 0.33117184917039333, + -0.01415072220055999, + 1.2428534572930534 + ], + "held_grasp_midpoint": [ + 0.3356815308250588, + -0.02687315820298274, + 1.2428534572930534 + ], + "held_grasp_object_position": [ + 0.3401912124797242, + -0.01415072220055999, + 1.2428534572930534 + ], + "held_grasp_finger_gap": 0.026996118718228265, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024918703209698738, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05419207921372718, + -0.9985305194609351, + 0.00014232205960651445 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003813599989464211, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225209531004476, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3104854168597201, + -0.02241355005980806, + 0.7565915466679554 + ], + "target_position": [ + 0.31057011629964093, + -0.01648853357292415, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0059256218547059725, + "xy_threshold": 0.08, + "gripper_dist": 0.2132922191518824, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565915466679554, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518597051474607, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520479428530929, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1834289335911664, + "release_required_pad_clearance": 0.05260239714265465, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2593814905311512, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "250c43d4c0f2db15f6d4e70bbcc106fbfc25fb9fd330223baaa19787d2d8ec1c", + "visual_seed": 1674205855209748059, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2500dd5599876c450a722e46c8ffe32537c0d72a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33666060974847645, + -0.018417178330855724, + 1.0472867475890633 + ], + "current_z": 1.0472867475890633, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1907002401804977, + "gripper_z": 1.0496786748579285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3319487204655571, + -0.02292858946299231, + 1.0496786748579285 + ], + "object_minus_gripper": [ + 0.004711889282919324, + 0.004511411132136586, + -0.0023919272688652793 + ], + "object_to_gripper_xy": 0.006523398732076393, + "object_to_gripper_z": -0.0023919272688652793, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33666060974847645, + -0.04290103425124324, + 1.0472867475890633 + ], + "finger_b": [ + 0.325732226212781, + -0.018417178330855724, + 1.0472867475890633 + ], + "finger_midpoint": [ + 0.3311964179806287, + -0.03065910629104948, + 1.0472867475890633 + ], + "object_minus_finger_midpoint": [ + 0.005464191767847737, + 0.012241927960193758, + 0.0 + ], + "finger_gap": 0.026812101137985336, + "fingertip_max_gap": 0.09605863964432373, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013406050568992668, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472867475890633, + "object_top_z": 1.0942977878952875, + "finger_top_clearance": 0.04701104030622427, + "fingertip_min_top_clearance": 0.014103312091867281, + "object_projection_between_fingers": 0.8338691990839898, + "object_to_finger_line_xy": 0.009979410660645, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05052931982216187, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6429366827313574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3367176489418533, + -0.020957939464399472, + 1.2394019653226969 + ], + "held_position": [ + 0.34159370832220914, + -0.016681838162911647, + 1.23692206426606 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006943407425180393, + "max_held_gripper_dist": 0.006949255259750823, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024799010566367574, + "max_held_gripper_z_dist": 0.002482837963660778, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741406019478766, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34159370832220914, + -0.04186459998128524, + 1.23692206426606 + ], + "held_grasp_finger_b": [ + 0.3322337972284034, + -0.016681838162911647, + 1.23692206426606 + ], + "held_grasp_midpoint": [ + 0.3369137527753063, + -0.029273219072098445, + 1.23692206426606 + ], + "held_grasp_object_position": [ + 0.34159370832220914, + -0.016681838162911647, + 1.23692206426606 + ], + "held_grasp_finger_gap": 0.026865952960669064, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02510861684970618, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.007641785712258898, + -0.99989601879962, + 0.0122292558971504 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004586191362814772, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032574390106093025, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30854630096438695, + -0.03110055649409395, + 0.7565869380065229 + ], + "target_position": [ + 0.31261569386634047, + -0.02096967705461341, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010917631465100809, + "xy_threshold": 0.08, + "gripper_dist": 0.21096857096185903, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869380065229, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557688975744725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09532660951969128, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17982064256651328, + "release_required_pad_clearance": 0.05766330475984564, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.117881355670457, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4807b2f91585c4c1923e5a45b3a474816d53cb5414498ea858d00646a20cd4b0", + "visual_seed": 2577317284439500560, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d896cbda5239274cb7f750f82651748047d996 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_3_success.json @@ -0,0 +1,684 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.333822312671048, + -0.020852940582959705, + 1.0463419512147047 + ], + "current_z": 1.0463419512147047, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.18975550341078418, + "gripper_z": 1.0485643841088055, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32892374242133937, + -0.025556107700863057, + 1.0485643841088055 + ], + "object_minus_gripper": [ + 0.004898570249708634, + 0.004703167117903351, + -0.0022224328941007343 + ], + "object_to_gripper_xy": 0.006790859402922271, + "object_to_gripper_z": -0.0022224328941007343, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.333822312671048, + -0.045316313458503274, + 1.0463419512147047 + ], + "finger_b": [ + 0.32240930506656257, + -0.020852940582959705, + 1.0463419512147047 + ], + "finger_midpoint": [ + 0.3281158088688053, + -0.03308462702073149, + 1.0463419512147047 + ], + "object_minus_finger_midpoint": [ + 0.005706503802242691, + 0.012231686437771786, + 0.0 + ], + "finger_gap": 0.026994691237869777, + "fingertip_max_gap": 0.0933418628440362, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013497345618934876, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463419512147047, + "object_top_z": 1.0921956296117168, + "finger_top_clearance": 0.04585367839701204, + "fingertip_min_top_clearance": 0.013756103519103613, + "object_projection_between_fingers": 0.8212510561508082, + "object_to_finger_line_xy": 0.010342798819208639, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491709314220181, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9242193561383956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33405957730365027, + -0.024490090131674774, + 1.2425162179816909 + ], + "held_position": [ + 0.33926176674515274, + -0.02017856168276017, + 1.240194314365001 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007144458618837229, + "max_held_gripper_dist": 0.007147182817785892, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023219036166899354, + "max_held_gripper_z_dist": 0.002324169828797684, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08705137505116459, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33926176674515274, + -0.04577686636451699, + 1.240194314365001 + ], + "held_grasp_finger_b": [ + 0.32998844516019055, + -0.02017856168276017, + 1.240194314365001 + ], + "held_grasp_midpoint": [ + 0.33462510595267164, + -0.03297771402363858, + 1.240194314365001 + ], + "held_grasp_object_position": [ + 0.33926176674515274, + -0.02017856168276017, + 1.240194314365001 + ], + "held_grasp_finger_gap": 0.027226231759062417, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025161532515624092, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.044359221413184276, + -0.9990071670360325, + 0.004115785010987082 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004064683105420704, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032208101382575724, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30353302502642887, + -0.01477494266937469, + 0.7565863309208339 + ], + "target_position": [ + 0.3094676001866386, + -0.023704269310567662, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010721569689056585, + "xy_threshold": 0.08, + "gripper_dist": 0.21184204455171987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863309208339, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545678516615506, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09404762763258805, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18504711121620307, + "release_required_pad_clearance": 0.057023813816294025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.579240172408182, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5ab4dbf97a19e8cf35cb0573075fd83e91b671da279fc86ae744fb0b58683d5f", + "visual_seed": 701006746580979651, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca411fdac0c420d6bba0a3fca180c483b1d5382a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33570852742854423, + -0.018107200799843355, + 1.0476168922960654 + ], + "current_z": 1.0476168922960654, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19103044449214457, + "gripper_z": 1.0498631194707266, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33071330615601674, + -0.0228553149251889, + 1.0498631194707266 + ], + "object_minus_gripper": [ + 0.004995221272527495, + 0.004748114125345544, + -0.002246227174661275 + ], + "object_to_gripper_xy": 0.006891793910791085, + "object_to_gripper_z": -0.002246227174661275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33570852742854423, + -0.04257239412210495, + 1.0476168922960654 + ], + "finger_b": [ + 0.3241425825428164, + -0.018107200799843355, + 1.0476168922960654 + ], + "finger_midpoint": [ + 0.3299255549856803, + -0.030339797460974153, + 1.0476168922960654 + ], + "object_minus_finger_midpoint": [ + 0.0057829724428639095, + 0.012232596661130798, + 0.0 + ], + "finger_gap": 0.0270613518767139, + "fingertip_max_gap": 0.0932817857761993, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01353067593835695, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476168922960654, + "object_top_z": 1.0934253548550532, + "finger_top_clearance": 0.04580846255898785, + "fingertip_min_top_clearance": 0.013742538767696355, + "object_projection_between_fingers": 0.8173316692709066, + "object_to_finger_line_xy": 0.01045635409764735, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049140892888099655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0014018591127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.335944890264976, + -0.021684292103537187, + 1.2428496153132247 + ], + "held_position": [ + 0.34124855747813426, + -0.017338292991471424, + 1.2404999885019252 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007248264643511839, + "max_held_gripper_dist": 0.007250779203736294, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023496268112994656, + "max_held_gripper_z_dist": 0.002355521916369563, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08711494269221624, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34124855747813426, + -0.04294074826248171, + 1.2404999885019252 + ], + "held_grasp_finger_b": [ + 0.3318441198233151, + -0.017338292991471424, + 1.2404999885019252 + ], + "held_grasp_midpoint": [ + 0.3365463386507247, + -0.030139520626976567, + 1.2404999885019252 + ], + "held_grasp_object_position": [ + 0.34124855747813426, + -0.017338292991471424, + 1.2404999885019252 + ], + "held_grasp_finger_gap": 0.02727506486715409, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025167183038409514, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04366573980260925, + -0.9990383537549441, + 0.003958648014417032 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004139073968785778, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03220598171898083, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3136630634007358, + -0.015452343567247619, + 0.7565864245859188 + ], + "target_position": [ + 0.3112554660394939, + -0.02196674756037598, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006945069073777865, + "xy_threshold": 0.08, + "gripper_dist": 0.21834459462236347, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864245859188, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518556861286807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09011530116665999, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19076759321706577, + "release_required_pad_clearance": 0.055057650583329995, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.195334341309763, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 245, + "max_placed_release_frames": 245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d69f89bebfb5c336c7e0335a569e610c55b867fd0af69690f0954ef6b0679675", + "visual_seed": 5592069907195783460, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a0524d153b1574399858c9a79c9b3ba3c7b90a1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_41_success.json @@ -0,0 +1,684 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3391132720992364, + -0.020117714463222847, + 1.0469002960511533 + ], + "current_z": 1.0469002960511533, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.19031366943329808, + "gripper_z": 1.0490542450924043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3342574714986649, + -0.024780274547653858, + 1.0490542450924043 + ], + "object_minus_gripper": [ + 0.004855800600571503, + 0.00466256008443101, + -0.002153949041250991 + ], + "object_to_gripper_xy": 0.006731884284020328, + "object_to_gripper_z": -0.002153949041250991, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3391132720992364, + -0.04450542412376436, + 1.0469002960511533 + ], + "finger_b": [ + 0.3277000530939948, + -0.020117714463222847, + 1.0469002960511533 + ], + "finger_midpoint": [ + 0.3334066625966156, + -0.0323115692934936, + 1.0469002960511533 + ], + "object_minus_finger_midpoint": [ + 0.0057066095026208075, + 0.012193854830270755, + 0.0 + ], + "finger_gap": 0.026926231644039577, + "fingertip_max_gap": 0.09402263778852035, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013463115822019787, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469002960511533, + "object_top_z": 1.0930097006251305, + "finger_top_clearance": 0.046109404573977164, + "fingertip_min_top_clearance": 0.013832821372193148, + "object_projection_between_fingers": 0.8203343113086912, + "object_to_finger_line_xy": 0.010337215956233553, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04951131889426018, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.21195059768424, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33937557314189093, + -0.023511316408587585, + 1.2406465115681082 + ], + "held_position": [ + 0.34451399018442913, + -0.0192175022582084, + 1.2383886658922725 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007066684990639797, + "max_held_gripper_dist": 0.007068942162033374, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002257845675835757, + "max_held_gripper_z_dist": 0.0022630657577318303, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08714333255970262, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34451399018442913, + -0.044678579313433706, + 1.2383886658922725 + ], + "held_grasp_finger_b": [ + 0.3352213915429454, + -0.0192175022582084, + 1.2383886658922725 + ], + "held_grasp_midpoint": [ + 0.3398676908636873, + -0.03194804078582105, + 1.2383886658922725 + ], + "held_grasp_object_position": [ + 0.34451399018442913, + -0.0192175022582084, + 1.2383886658922725 + ], + "held_grasp_finger_gap": 0.027103852757935098, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025100329007603825, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.036914638779449165, + -0.9993042271774173, + 0.005326442445709677 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004173747562538523, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03230702753983609, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30031962074569923, + -0.015324073567811791, + 0.7565853668530194 + ], + "target_position": [ + 0.31482534261319073, + -0.022286726536259592, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016090198981244946, + "xy_threshold": 0.08, + "gripper_dist": 0.2051938291996703, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565853668530194, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534332187372192, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09141247640287363, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17930555893117817, + "release_required_pad_clearance": 0.05570623820143682, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.584948224031804, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "591894ade4f00246abf1b7b00dc91adf99ee695313e4be2df5c7206c917742fe", + "visual_seed": 6593476214490513252, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f8974f68e7ade96a9cbfb43ef9e00f668b0d94d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.34186752970962087, + -0.027553955879414564, + 1.0116417445393657 + ], + "current_z": 1.0116417445393657, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.15505523713080016, + "gripper_z": 1.051640498844286, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3351687846325021, + -0.03194527351040265, + 1.051640498844286 + ], + "object_minus_gripper": [ + 0.006698745077118762, + 0.0043913176309880834, + -0.03999875430492028 + ], + "object_to_gripper_xy": 0.008009797509578481, + "object_to_gripper_z": -0.03999875430492028, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34186752970962087, + -0.052099453498386294, + 1.03805493679794 + ], + "finger_b": [ + 0.3287681485539379, + -0.027553955879414564, + 1.038169404764683 + ], + "finger_midpoint": [ + 0.33531783913177937, + -0.03982670468890043, + 1.0381121707813115 + ], + "object_minus_finger_midpoint": [ + 0.006549690577841494, + 0.012272748809485864, + -0.026470426241945733 + ], + "finger_gap": 0.02782244315189124, + "fingertip_max_gap": 0.1110915415231791, + "finger_z_skew": 0.00011446796674308146, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013911103838524185, + "object_to_finger_midpoint_z": 0.026470426241945733, + "finger_midpoint_minus_object_z": 0.026470426241945733, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0116417445393657, + "object_top_z": 1.0616905768437033, + "finger_top_clearance": 0.02357840606239181, + "fingertip_min_top_clearance": 0.015014649691301262, + "object_projection_between_fingers": 0.7783241501738734, + "object_to_finger_line_xy": 0.011556625293688094, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05804577076158955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 12.764433373778662, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 201, + "max_stable_success_frames": 201, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3453972878469325, + -0.048459958644610474, + 1.210062525949593 + ], + "held_position": [ + 0.3485814300921339, + -0.04998421355476064, + 1.1693993431039085 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.040816131051464956, + "max_held_gripper_dist": 0.04083673632419046, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04066318284568449, + "max_held_gripper_z_dist": 0.04071439241673436, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09211330844416601, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3485814300921339, + -0.07380104389195263, + 1.197041082450558 + ], + "held_grasp_finger_b": [ + 0.3485814300921339, + -0.02135306859143967, + 1.192782054743378 + ], + "held_grasp_midpoint": [ + 0.3485814300921339, + -0.047577056241696156, + 1.194911568596968 + ], + "held_grasp_object_position": [ + 0.3485814300921339, + -0.04998421355476064, + 1.1693993431039085 + ], + "held_grasp_finger_gap": 0.052620617918585334, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.05021630980958372, + "held_grasp_world_z_skew": 0.0042590277071798965, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.29533516141547217, + -0.9474932325623867, + 0.12261205764595906 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.025611522188871378, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.044352883766820714, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31327415278874143, + -0.029040585895121512, + 0.7565961822244909 + ], + "target_position": [ + 0.31206732450446006, + -0.022681651980231497, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006472439651451373, + "xy_threshold": 0.08, + "gripper_dist": 0.21442594149625985, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565961822244909, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569589856951789, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09587776656997403, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18343877679139756, + "release_required_pad_clearance": 0.05793888328498702, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.799402473358212, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 195, + "max_placed_release_frames": 195 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94ae48279b534d1ae7e7e6ea7a27685692c9532de745c815cb167c522b63e26a", + "visual_seed": 5814916915899454231, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5249dfb63d0afce3e74b254ad20f20ddd72cea38 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33555718868902484, + -0.01998294317070335, + 1.0485245809712889 + ], + "current_z": 1.0485245809712889, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1919380735627233, + "gripper_z": 1.0510707156235324, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3305810911459943, + -0.024607739599057585, + 1.0510707156235324 + ], + "object_minus_gripper": [ + 0.004976097543030522, + 0.0046247964283542345, + -0.0025461346522435147 + ], + "object_to_gripper_xy": 0.006793400382832775, + "object_to_gripper_z": -0.0025461346522435147, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33555718868902484, + -0.044580835879111456, + 1.0485245809712889 + ], + "finger_b": [ + 0.32437131555415244, + -0.01998294317070335, + 1.0485245809712889 + ], + "finger_midpoint": [ + 0.32996425212158864, + -0.0322818895249074, + 1.0485245809712889 + ], + "object_minus_finger_midpoint": [ + 0.005592936567436202, + 0.012298946354204053, + 0.0 + ], + "finger_gap": 0.027021844561091992, + "fingertip_max_gap": 0.10011463993912603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013510922280545996, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485245809712889, + "object_top_z": 1.0973875727594304, + "finger_top_clearance": 0.048862991788141574, + "fingertip_min_top_clearance": 0.014658897536442488, + "object_projection_between_fingers": 0.8286398648502259, + "object_to_finger_line_xy": 0.010182462066917322, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05255731996956302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.858049296665064, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33515867906525354, + -0.0224675731371842, + 1.2405495986841568 + ], + "held_position": [ + 0.3402754481492019, + -0.018048416232258183, + 1.2379229898336208 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007253230153698364, + "max_held_gripper_dist": 0.007256471779803983, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026266088505360052, + "max_held_gripper_z_dist": 0.002633694116148, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08718838213752833, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3402754481492019, + -0.043220421573338844, + 1.2379229898336208 + ], + "held_grasp_finger_b": [ + 0.33046857957752607, + -0.018048416232258183, + 1.2379229898336208 + ], + "held_grasp_midpoint": [ + 0.335372013863364, + -0.030634418902798513, + 1.2379229898336208 + ], + "held_grasp_object_position": [ + 0.3402754481492019, + -0.018048416232258183, + 1.2379229898336208 + ], + "held_grasp_finger_gap": 0.02701489448570023, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025269610208397884, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011466161707494017, + -0.9994103658660229, + 0.0323642972307413 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005063761650893196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03267786700249881, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30005010264798004, + -0.02372226080389748, + 0.7565867727104179 + ], + "target_position": [ + 0.3112827742133676, + -0.02215973083640844, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011340829352175577, + "xy_threshold": 0.08, + "gripper_dist": 0.2074334198654181, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867727104179, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543272061256984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08718612612822017, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17912604430653242, + "release_required_pad_clearance": 0.05359306306411009, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1947142433217337, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 478, + "max_placed_release_frames": 478 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1af800138818f3e37cfdd7b182693c5a731f823974327a2bf7a5096950640563", + "visual_seed": 5896375097094461494, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0125b3a74d16565e0d8d789b0dfc2890d5b34c3f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33305770138687757, + -0.021260530073203575, + 1.0485918091094792 + ], + "current_z": 1.0485918091094792, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1920052420962689, + "gripper_z": 1.0509122384394856, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32818879557567476, + -0.025930917079507343, + 1.0509122384394856 + ], + "object_minus_gripper": [ + 0.004868905811202806, + 0.004670387006303768, + -0.002320429330006313 + ], + "object_to_gripper_xy": 0.0067467591173107355, + "object_to_gripper_z": -0.002320429330006313, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33305770138687757, + -0.04565946797769155, + 1.0485918091094792 + ], + "finger_b": [ + 0.3216336191365451, + -0.021260530073203575, + 1.0485918091094792 + ], + "finger_midpoint": [ + 0.3273456602617113, + -0.033459999025447565, + 1.0485918091094792 + ], + "object_minus_finger_midpoint": [ + 0.005712041125166267, + 0.01219946895224399, + 0.0 + ], + "finger_gap": 0.02694100640528155, + "fingertip_max_gap": 0.09526114778820835, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01347050320264079, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485918091094792, + "object_top_z": 1.0953908780527848, + "finger_top_clearance": 0.046799068943305544, + "fingertip_min_top_clearance": 0.014039720682991664, + "object_projection_between_fingers": 0.8201895151041795, + "object_to_finger_line_xy": 0.010346141834812132, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05013057389410418, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.359620987718107, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3334176872374373, + -0.02472667645231058, + 1.2440753901835828 + ], + "held_position": [ + 0.33859191215303236, + -0.02045712267512236, + 1.2416543377829783 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00713184321616367, + "max_held_gripper_dist": 0.007135714026235311, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024210524006045286, + "max_held_gripper_z_dist": 0.0024232996264219597, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701987850336605, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33859191215303236, + -0.046022835778755634, + 1.2416543377829783 + ], + "held_grasp_finger_b": [ + 0.32935215002869356, + -0.02045712267512236, + 1.2416543377829783 + ], + "held_grasp_midpoint": [ + 0.33397203109086293, + -0.033239979226939, + 1.2416543377829783 + ], + "held_grasp_object_position": [ + 0.33859191215303236, + -0.02045712267512236, + 1.2416543377829783 + ], + "held_grasp_finger_gap": 0.027184166174662266, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025159329105984448, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04124907402616024, + -0.9990122565447128, + 0.016523473164721577 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004094201376076572, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223942878096758, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30265305024169037, + -0.014735002812029644, + 0.7565884765228519 + ], + "target_position": [ + 0.3087085035501147, + -0.025220426378733313, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012108369920996462, + "xy_threshold": 0.08, + "gripper_dist": 0.2095609667978897, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565884765228519, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07612556629464556, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09270378916778331, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18342251614893312, + "release_required_pad_clearance": 0.05635189458389166, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.025568235737646, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ada258a91d44108c3fe6869933b61191695771be24528621b7bbdbb429de1821", + "visual_seed": 8010337169909081281, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53ba52980720081fec8715e801044f2236ce22c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3337391375789411, + -0.02136441585856301, + 1.0483432938941633 + ], + "current_z": 1.0483432938941633, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19175678648559769, + "gripper_z": 1.0504565967313668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.329041350277697, + -0.026032908545293873, + 1.0504565967313668 + ], + "object_minus_gripper": [ + 0.004697787301244094, + 0.004668492686730863, + -0.002113302837203568 + ], + "object_to_gripper_xy": 0.00662299248782526, + "object_to_gripper_z": -0.002113302837203568, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3337391375789411, + -0.04549709139450628, + 1.0483432938941633 + ], + "finger_b": [ + 0.32212648404194116, + -0.02136441585856301, + 1.0483432938941633 + ], + "finger_midpoint": [ + 0.3279328108104411, + -0.033430753626534644, + 1.0483432938941633 + ], + "object_minus_finger_midpoint": [ + 0.005806326768499959, + 0.012066337767971634, + 0.0 + ], + "finger_gap": 0.026781332130674743, + "fingertip_max_gap": 0.09168354094613171, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013390666065337372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483432938941633, + "object_top_z": 1.0940481941629545, + "finger_top_clearance": 0.04570490026879126, + "fingertip_min_top_clearance": 0.013711470080637377, + "object_projection_between_fingers": 0.8119823642791628, + "object_to_finger_line_xy": 0.010464169539899662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048341770473065857, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7781499673031961, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.334510600076315, + -0.025309879202976546, + 1.2441170817237153 + ], + "held_position": [ + 0.33960183709505, + -0.021128774994783384, + 1.2418987047702885 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006951512287855284, + "max_held_gripper_dist": 0.006952294067464614, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022183769534267483, + "max_held_gripper_z_dist": 0.0022205002974564625, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08711321005393684, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33960183709505, + -0.04674088526002191, + 1.2418987047702885 + ], + "held_grasp_finger_b": [ + 0.330667182185233, + -0.02086786017636261, + 1.2418987047702885 + ], + "held_grasp_midpoint": [ + 0.33513450964014146, + -0.03380437271819226, + 1.2418987047702885 + ], + "held_grasp_object_position": [ + 0.33960183709505, + -0.021128774994783384, + 1.2418987047702885 + ], + "held_grasp_finger_gap": 0.027372275852350678, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025003240375206872, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08645830887329405, + -0.996238957204713, + 0.005735937101819299 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003355500554522869, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032186063130960854, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2979659191122229, + -0.022225330133186283, + 0.7565865598400698 + ], + "target_position": [ + 0.30948405612529395, + -0.02275784766755233, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01153044037217504, + "xy_threshold": 0.08, + "gripper_dist": 0.20794539328944023, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865598400698, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548492097001623, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08868903393405013, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17967901302604733, + "release_required_pad_clearance": 0.05434451696702507, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7112365391498963, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "177403c3bf7a00dd1f08cb087c098e52fed4c3d36ecab7646e476f32721bd4e7", + "visual_seed": 6867857129706665409, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..182fd542f3c41aa5d3fb2c85a53c3d90abb83cd4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33437566213753733, + -0.020713923911416264, + 1.0457787016560485 + ], + "current_z": 1.0457787016560485, + "required_z": 0.8565866266178549, + "initial_z": 0.7565866266178549, + "lift_margin": 0.18919207503819357, + "gripper_z": 1.048079703470516, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32950515794160684, + -0.025419764093120953, + 1.048079703470516 + ], + "object_minus_gripper": [ + 0.004870504195930492, + 0.004705840181704689, + -0.0023010018144675737 + ], + "object_to_gripper_xy": 0.006772499017225691, + "object_to_gripper_z": -0.0023010018144675737, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33437566213753733, + -0.04513174776722731, + 1.0457787016560485 + ], + "finger_b": [ + 0.3229243327103144, + -0.020713923911416264, + 1.0457787016560485 + ], + "finger_midpoint": [ + 0.32864999742392587, + -0.03292283583932179, + 1.0457787016560485 + ], + "object_minus_finger_midpoint": [ + 0.005725664713611467, + 0.012208911927905526, + 0.0 + ], + "finger_gap": 0.026969669399238044, + "fingertip_max_gap": 0.0953982875831619, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013484834699619024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457787016560485, + "object_top_z": 1.092758575019166, + "finger_top_clearance": 0.046979873363117486, + "fingertip_min_top_clearance": 0.014093962008935212, + "object_projection_between_fingers": 0.8197145943899258, + "object_to_finger_line_xy": 0.010367815071425928, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050199143791580955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1109077025087046, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3347097064318364, + -0.024200479559929072, + 1.239729825268106 + ], + "held_position": [ + 0.33988717838826293, + -0.01988887769580858, + 1.2373223974686478 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071548469657899995, + "max_held_gripper_dist": 0.007156047774923571, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024074277994581283, + "max_held_gripper_z_dist": 0.0024099524004612682, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697928051862687, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33988717838826293, + -0.04543807792952954, + 1.2373223974686478 + ], + "held_grasp_finger_b": [ + 0.3306823464717674, + -0.01988887769580858, + 1.2373223974686478 + ], + "held_grasp_midpoint": [ + 0.33528476243001515, + -0.03266347781266906, + 1.2373223974686478 + ], + "held_grasp_object_position": [ + 0.33988717838826293, + -0.01988887769580858, + 1.2373223974686478 + ], + "held_grasp_finger_gap": 0.02715677748175769, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025090073827208674, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04660593947945079, + -0.9988208410823829, + 0.013594624846580472 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004005872081684876, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032226188212987734, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.295244209223668, + -0.016911758524486443, + 0.7565899979587996 + ], + "target_position": [ + 0.31003935990505954, + -0.024933231500003452, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016829750811643947, + "xy_threshold": 0.08, + "gripper_dist": 0.20637255665385681, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565899979587996, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07610659678324601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08821370998483412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1795214152356709, + "release_required_pad_clearance": 0.05410685499241706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.213856923873066, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dbe3732e54a43b84f170a32004d4e88a0b79f137b37f3d234a32b95b63119f11", + "visual_seed": 1355266903574828877, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..81c5e06aa2eebeae008b65db43015bac40be4024 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_47_success.json @@ -0,0 +1,684 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33674429141105244, + -0.015146888775454224, + 1.0458437627298258 + ], + "current_z": 1.0458437627298258, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1892573745305498, + "gripper_z": 1.0479893279197723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3318199873862198, + -0.01986335255931651, + 1.0479893279197723 + ], + "object_minus_gripper": [ + 0.004924304024832626, + 0.0047164637838622864, + -0.0021455651899464634 + ], + "object_to_gripper_xy": 0.006818636282532407, + "object_to_gripper_z": -0.0021455651899464634, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33674429141105244, + -0.03963039505960136, + 1.0458437627298258 + ], + "finger_b": [ + 0.3253120231223433, + -0.015146888775454224, + 1.0458437627298258 + ], + "finger_midpoint": [ + 0.3310281572666979, + -0.02738864191752779, + 1.0458437627298258 + ], + "object_minus_finger_midpoint": [ + 0.005716134144354568, + 0.012241753142073568, + 0.0 + ], + "finger_gap": 0.02702108136605374, + "fingertip_max_gap": 0.09328989130158952, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013510540683026871, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458437627298258, + "object_top_z": 1.0916708681717842, + "finger_top_clearance": 0.04582710544195834, + "fingertip_min_top_clearance": 0.013748131632587502, + "object_projection_between_fingers": 0.8209973892789231, + "object_to_finger_line_xy": 0.010358653256575577, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04914494565079476, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.917107498297167, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3369808227775184, + -0.0186956015224672, + 1.239814219821916 + ], + "held_position": [ + 0.3421989789378933, + -0.014359705873924412, + 1.2375598977326874 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007149203652931905, + "max_held_gripper_dist": 0.007149514812878414, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022543220892285998, + "max_held_gripper_z_dist": 0.0022562920698141475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08669119414814318, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3421989789378933, + -0.03993084533196674, + 1.2375598977326874 + ], + "held_grasp_finger_b": [ + 0.3329038748651517, + -0.014359705873924412, + 1.2375598977326874 + ], + "held_grasp_midpoint": [ + 0.3375514269015225, + -0.027145275602945575, + 1.2375598977326874 + ], + "held_grasp_object_position": [ + 0.3421989789378933, + -0.014359705873924412, + 1.2375598977326874 + ], + "held_grasp_finger_gap": 0.027208126229230606, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02515287566308275, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0425058052140917, + -0.9990939820324813, + 0.0021146133409470913 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004099981257857767, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032228691251108735, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31578986218955885, + -0.012014181539265006, + 0.7565875508432831 + ], + "target_position": [ + 0.3123755075682343, + -0.018344202740954406, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007192147516145484, + "xy_threshold": 0.08, + "gripper_dist": 0.21865488482572118, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875508432831, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517122849403347, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0940316228430078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19110602627324721, + "release_required_pad_clearance": 0.0570158114215039, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.559095899467735, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "400c8ab0115bb523355df7c142c86d2b6366de613efed5337efa573a5e017b55", + "visual_seed": 4182721929569693526, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0805ad5f02bfe7e3cbcc93f1eb5cb437ef710e46 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33595668665544104, + -0.020666126407761796, + 1.047570187314962 + ], + "current_z": 1.047570187314962, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19098356069710698, + "gripper_z": 1.049972442626737, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33130308774536954, + -0.025169353582437562, + 1.049972442626737 + ], + "object_minus_gripper": [ + 0.004653598910071499, + 0.0045032271746757654, + -0.002402255311774848 + ], + "object_to_gripper_xy": 0.006475726816547848, + "object_to_gripper_z": -0.002402255311774848, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33595668665544104, + -0.045022785285549795, + 1.047570187314962 + ], + "finger_b": [ + 0.32491930058137164, + -0.020666126407761796, + 1.047570187314962 + ], + "finger_midpoint": [ + 0.3304379936184063, + -0.032844455846655796, + 1.047570187314962 + ], + "object_minus_finger_midpoint": [ + 0.005518693037034728, + 0.012178329438894, + 0.0 + ], + "finger_gap": 0.026740806327352772, + "fingertip_max_gap": 0.0971484198672615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013370403163676397, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047570187314962, + "object_top_z": 1.0954136241319332, + "finger_top_clearance": 0.04784343681697112, + "fingertip_min_top_clearance": 0.014353031045091336, + "object_projection_between_fingers": 0.8296337866684562, + "object_to_finger_line_xy": 0.010053318670259026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05107420993363075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5714096781301974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3364154035067779, + -0.02392511384028434, + 1.2437242524983034 + ], + "held_position": [ + 0.34131895624377423, + -0.019750978625856667, + 1.241227845022012 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006906539257870986, + "max_held_gripper_dist": 0.006909975586532192, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002496407476291429, + "max_held_gripper_z_dist": 0.002498112946978326, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870660453703074, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34131895624377423, + -0.045157367795778974, + 1.241227845022012 + ], + "held_grasp_finger_b": [ + 0.332259869605638, + -0.019750978625856667, + 1.241227845022012 + ], + "held_grasp_midpoint": [ + 0.3367894129247061, + -0.032454173210817824, + 1.241227845022012 + ], + "held_grasp_object_position": [ + 0.34131895624377423, + -0.019750978625856667, + 1.241227845022012 + ], + "held_grasp_finger_gap": 0.02697316557934577, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02507307208419908, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03409426156458705, + -0.9990374776918199, + 0.027598903882799945 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004108970935373172, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03235482605433436, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30043940124745955, + -0.014277337832524047, + 0.7565898099287447 + ], + "target_position": [ + 0.31186805605100215, + -0.024462261948215065, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015308390831858254, + "xy_threshold": 0.08, + "gripper_dist": 0.21041214037024722, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565898099287447, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751760283665638, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532222297393093, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18496376150534885, + "release_required_pad_clearance": 0.052661111486965465, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36680029190063035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37516c08fe632300e32c56d57b7c6a613bfa60c985039e93e4b2ec9d4679ffb6", + "visual_seed": 358938373121341456, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fec8a3667e42ae744c06292214df14f25e03c996 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3388715722698363, + -0.018853997599365537, + 1.0468615365919283 + ], + "current_z": 1.0468615365919283, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1902750291833627, + "gripper_z": 1.0488828737443114, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3343586850414872, + -0.02335938124262793, + 1.0488828737443114 + ], + "object_minus_gripper": [ + 0.004512887228349083, + 0.004505383643262393, + -0.0020213371523831736 + ], + "object_to_gripper_xy": 0.006376882695233822, + "object_to_gripper_z": -0.0020213371523831736, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3388715722698363, + -0.042962173476948834, + 1.0468615365919283 + ], + "finger_b": [ + 0.3276308932934317, + -0.018853997599365537, + 1.0468615365919283 + ], + "finger_midpoint": [ + 0.333251232781634, + -0.030908085538157187, + 1.0468615365919283 + ], + "object_minus_finger_midpoint": [ + 0.005620339488202286, + 0.01205408793879165, + 0.0 + ], + "finger_gap": 0.026599943759246427, + "fingertip_max_gap": 0.09406447217664518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013299971879623215, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468615365919283, + "object_top_z": 1.0934902399786863, + "finger_top_clearance": 0.046628703386758064, + "fingertip_min_top_clearance": 0.013988611016027386, + "object_projection_between_fingers": 0.8214237687948057, + "object_to_finger_line_xy": 0.010187700703405213, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04953223608832259, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5793232528333823, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33958444236887025, + -0.022421771974448307, + 1.2420815691106275 + ], + "held_position": [ + 0.34442433935465083, + -0.018321214644305188, + 1.23996392594011 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006687569502322763, + "max_held_gripper_dist": 0.006689629774768807, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002117643170517436, + "max_held_gripper_z_dist": 0.0021192038021631276, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695791064684041, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34442433935465083, + -0.04373102055275605, + 1.23996392594011 + ], + "held_grasp_finger_b": [ + 0.3355473978801468, + -0.018321214644305188, + 1.23996392594011 + ], + "held_grasp_midpoint": [ + 0.3399858686173988, + -0.03102611759853062, + 1.23996392594011 + ], + "held_grasp_object_position": [ + 0.34442433935465083, + -0.018321214644305188, + 1.23996392594011 + ], + "held_grasp_finger_gap": 0.02691576352710274, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02480356519682903, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06236419153913609, + -0.9979284598468082, + 0.015795462685445738 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036431522538351202, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03224483908899859, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31196988722575, + -0.023122644617212494, + 0.7565871988452415 + ], + "target_position": [ + 0.3148875267347147, + -0.020206493931572183, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004125112740960229, + "xy_threshold": 0.08, + "gripper_dist": 0.21390347733527748, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565871988452415, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556159568022922, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08632039900826759, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18411810021448652, + "release_required_pad_clearance": 0.053160199504133795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3440425790296076, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1116819734aa88ffd2dff6cd9f839f543129dbe0cd84241bed61292772700c5", + "visual_seed": 6807424204895987236, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..91c9479582951d573da1b56076194cb0df62b793 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_51_success.json @@ -0,0 +1,684 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33308315402079225, + -0.013678712807632599, + 1.04668195867597 + ], + "current_z": 1.04668195867597, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19009551087204912, + "gripper_z": 1.0487344757758434, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3283279329714508, + -0.01826014893255304, + 1.0487344757758434 + ], + "object_minus_gripper": [ + 0.0047552210493414515, + 0.00458143612492044, + -0.00205251709987353 + ], + "object_to_gripper_xy": 0.006603157138432042, + "object_to_gripper_z": -0.00205251709987353, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33308315402079225, + -0.03813945423968233, + 1.04668195867597 + ], + "finger_b": [ + 0.3219717032542979, + -0.013678712807632599, + 1.04668195867597 + ], + "finger_midpoint": [ + 0.3275274286375451, + -0.025909083523657464, + 1.04668195867597 + ], + "object_minus_finger_midpoint": [ + 0.005555725383247168, + 0.012230370716024865, + 0.0 + ], + "finger_gap": 0.026866190826796085, + "fingertip_max_gap": 0.09303846789980633, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013433095413398039, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04668195867597, + "object_top_z": 1.092493757905428, + "finger_top_clearance": 0.045811799229457995, + "fingertip_min_top_clearance": 0.013743539768837364, + "object_projection_between_fingers": 0.8289475329546712, + "object_to_finger_line_xy": 0.010116593226274687, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049019233949903165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6914864929815037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33347596851913236, + -0.01700604361328982, + 1.2423646709811282 + ], + "held_position": [ + 0.33850498085017666, + -0.012774490155807644, + 1.2402135372395329 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006915517772629544, + "max_held_gripper_dist": 0.00691648803262383, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002151133741595368, + "max_held_gripper_z_dist": 0.0021534923982260423, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0871143749833106, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33850498085017666, + -0.03829281848050662, + 1.2402135372395329 + ], + "held_grasp_finger_b": [ + 0.3293937218288491, + -0.012774490155807644, + 1.2402135372395329 + ], + "held_grasp_midpoint": [ + 0.33394935133951287, + -0.025533654318157132, + 1.2402135372395329 + ], + "held_grasp_object_position": [ + 0.33850498085017666, + -0.012774490155807644, + 1.2402135372395329 + ], + "held_grasp_finger_gap": 0.027096127425166452, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025111358417920594, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04215587502695374, + -0.9991035145466426, + 0.0038793583565649437 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004014015824507986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226045266020919, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3097439405872695, + -0.0174342411763276, + 0.7565865340057951 + ], + "target_position": [ + 0.3088813134622552, + -0.016696598820931538, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0011350074014228528, + "xy_threshold": 0.08, + "gripper_dist": 0.21492934630963065, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865340057951, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582324083577073, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09000244129395578, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18497353322253224, + "release_required_pad_clearance": 0.05500122064697789, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.076889211632669, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "796f809ddd8fac900e9f745e4e1ab6b261099fc9747d87c6758f895dd1ff5367", + "visual_seed": 4566925327144348690, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8129992fe9b95c666842755533329df3731d3e29 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_53_success.json @@ -0,0 +1,684 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33841413347011584, + -0.020025521247348816, + 1.0465061985721231 + ], + "current_z": 1.0465061985721231, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18991975076820222, + "gripper_z": 1.0485826970838925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3336282450773193, + -0.024615668151116196, + 1.0485826970838925 + ], + "object_minus_gripper": [ + 0.0047858883927965334, + 0.00459014690376738, + -0.002076498511769387 + ], + "object_to_gripper_xy": 0.0066313027608811415, + "object_to_gripper_z": -0.002076498511769387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33841413347011584, + -0.04449096856365415, + 1.0465061985721231 + ], + "finger_b": [ + 0.32727207548668885, + -0.020025521247348816, + 1.0465061985721231 + ], + "finger_midpoint": [ + 0.3328431044784024, + -0.032258244905501485, + 1.0465061985721231 + ], + "object_minus_finger_midpoint": [ + 0.005571028991713467, + 0.012232723658152669, + 0.0 + ], + "finger_gap": 0.02688314655119376, + "fingertip_max_gap": 0.09410212374118379, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344157327559687, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465061985721231, + "object_top_z": 1.0927311951284575, + "finger_top_clearance": 0.046224996556334386, + "fingertip_min_top_clearance": 0.013867498966900316, + "object_projection_between_fingers": 0.8282207788666007, + "object_to_finger_line_xy": 0.01014001214737444, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495510618705919, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.065764829538993, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3386175096645591, + -0.023132225694988656, + 1.2415132149203336 + ], + "held_position": [ + 0.3436476665113054, + -0.018856588205661204, + 1.2393428113714409 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006949403241146481, + "max_held_gripper_dist": 0.0069504573582082315, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002170403548892752, + "max_held_gripper_z_dist": 0.002172726820363735, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08677390117763778, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3436476665113054, + -0.04425840143932729, + 1.2393428113714409 + ], + "held_grasp_finger_b": [ + 0.33433552804188643, + -0.018856588205661204, + 1.2393428113714409 + ], + "held_grasp_midpoint": [ + 0.3389915972765959, + -0.031557494822494245, + 1.2393428113714409 + ], + "held_grasp_object_position": [ + 0.3436476665113054, + -0.018856588205661204, + 1.2393428113714409 + ], + "held_grasp_finger_gap": 0.02705490784371084, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025117413406032005, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02928558499039692, + -0.9995398594211347, + 0.007900882238640383 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004283306957693961, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03236880684020626, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2951137245757951, + -0.019162181821597336, + 0.7565885302662773 + ], + "target_position": [ + 0.3142350128390929, + -0.021377121609564908, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019249146035927193, + "xy_threshold": 0.08, + "gripper_dist": 0.20160854639692286, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565885302662773, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522414715733171, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09470393754396038, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1752874615440131, + "release_required_pad_clearance": 0.05735196877198019, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.35125180166711, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "553f6b064f8baaebff0ed85dae99325e85e61ea4e4c1740532d2c767a624bbd7", + "visual_seed": 6581700663917342300, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11825c6df061a78d217507a20b23bbb487d4626a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.32999305936872425, + -0.02113329270028826, + 1.0479815623653996 + ], + "current_z": 1.0479815623653996, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.1913951741661235, + "gripper_z": 1.050058259331014, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3254499349009198, + -0.025682758873218164, + 1.050058259331014 + ], + "object_minus_gripper": [ + 0.004543124467804471, + 0.004549466172929905, + -0.0020766969656142997 + ], + "object_to_gripper_xy": 0.006429434064410112, + "object_to_gripper_z": -0.0020766969656142997, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32999305936872425, + -0.04523946213121604, + 1.0479815623653996 + ], + "finger_b": [ + 0.3186666676932251, + -0.02113329270028826, + 1.0479815623653996 + ], + "finger_midpoint": [ + 0.3243298635309747, + -0.03318637741575215, + 1.0479815623653996 + ], + "object_minus_finger_midpoint": [ + 0.005663195837749546, + 0.012053084715463892, + 0.0 + ], + "finger_gap": 0.02663446175576697, + "fingertip_max_gap": 0.09110010396909576, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013317230877883475, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479815623653996, + "object_top_z": 1.0933972800613594, + "finger_top_clearance": 0.045415717695959756, + "fingertip_min_top_clearance": 0.013624715308787927, + "object_projection_between_fingers": 0.81915966532195, + "object_to_finger_line_xy": 0.010251227123503383, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048050051984547884, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9854250750313321, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3306740229119265, + -0.024585579221135176, + 1.2424573580941838 + ], + "held_position": [ + 0.3355533969390359, + -0.02045234104922626, + 1.2402858437386959 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006753326830403292, + "max_held_gripper_dist": 0.006758643196411547, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021715143554879024, + "max_held_gripper_z_dist": 0.0021723086524598756, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686591552272217, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3355533969390359, + -0.045867560254097425, + 1.2402858437386959 + ], + "held_grasp_finger_b": [ + 0.32664421565802043, + -0.02045234104922626, + 1.2402858437386959 + ], + "held_grasp_midpoint": [ + 0.33109880629852817, + -0.03315995065166184, + 1.2402858437386959 + ], + "held_grasp_object_position": [ + 0.3355533969390359, + -0.02045234104922626, + 1.2402858437386959 + ], + "held_grasp_finger_gap": 0.02693152202029526, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024709109488889016, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07184301915336379, + -0.9974012722834709, + -0.005411344217762126 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003530813324981239, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032205607739953485, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29840013100780804, + -0.023134718411762414, + 0.7565873268966711 + ], + "target_position": [ + 0.3059459480353877, + -0.0221801186211073, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007605959201443963, + "xy_threshold": 0.08, + "gripper_dist": 0.2104111958811869, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873268966711, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525939360984307, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498541145038745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18192855460934412, + "release_required_pad_clearance": 0.052492705725193725, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.055922581153586566, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ce12cdefd93855d3ce15ae0b853756e1787757f77b0b2bc9a3ae8ec6556ea402", + "visual_seed": 5098592003238129360, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2196067cf753c7f1c254fa85219ea42b2de537f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33564433458362725, + -0.015206564805540732, + 1.0487644242196803 + ], + "current_z": 1.0487644242196803, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1921779764157595, + "gripper_z": 1.050890889626234, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33098080155145837, + -0.019770806948602268, + 1.050890889626234 + ], + "object_minus_gripper": [ + 0.004663533032168876, + 0.004564242143061536, + -0.0021264654065535904 + ], + "object_to_gripper_xy": 0.0065254001166694135, + "object_to_gripper_z": -0.0021264654065535904, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33564433458362725, + -0.03951964717192546, + 1.0487644242196803 + ], + "finger_b": [ + 0.3244485500137727, + -0.015206564805540732, + 1.0487644242196803 + ], + "finger_midpoint": [ + 0.33004644229869995, + -0.027363105988733094, + 1.0487644242196803 + ], + "object_minus_finger_midpoint": [ + 0.005597892284927297, + 0.012156541183192362, + 0.0 + ], + "finger_gap": 0.02676698649996299, + "fingertip_max_gap": 0.09523987458267777, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013383493249981506, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487644242196803, + "object_top_z": 1.0957065566205642, + "finger_top_clearance": 0.04694213240088385, + "fingertip_min_top_clearance": 0.014082639720265189, + "object_projection_between_fingers": 0.8250515470086391, + "object_to_finger_line_xy": 0.010169394018394584, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05011993729133889, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0453462420980113, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3362591269599361, + -0.018595292852651837, + 1.2437908015493013 + ], + "held_position": [ + 0.34122463933799135, + -0.014410706602177418, + 1.2415623064630064 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006865367114286051, + "max_held_gripper_dist": 0.006866011201193366, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002228495086294968, + "max_held_gripper_z_dist": 0.002231402841520236, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08763575909423006, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34122463933799135, + -0.039906158514351274, + 1.2415623064630064 + ], + "held_grasp_finger_b": [ + 0.3322392648034179, + -0.014410706602177418, + 1.2415623064630064 + ], + "held_grasp_midpoint": [ + 0.3367319520707046, + -0.027158432558264348, + 1.2415623064630064 + ], + "held_grasp_object_position": [ + 0.34122463933799135, + -0.014410706602177418, + 1.2415623064630064 + ], + "held_grasp_finger_gap": 0.02703248090228735, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02503531674367647, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04760239653709558, + -0.9987288004550794, + 0.016576941379024435 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038866175431102436, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032254841232343456, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30409506721601914, + -0.007450431509732996, + 0.7565862981226577 + ], + "target_position": [ + 0.31150295493607383, + -0.01649577822146803, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011691667871113719, + "xy_threshold": 0.08, + "gripper_dist": 0.20822393982967877, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862981226577, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757841698385505, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09329155682591588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18145148300877012, + "release_required_pad_clearance": 0.05664577841295794, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.697771156811005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "375f02af717d04dcbc30af691ca81930853b8917612e4dc01663f9734f4ca15c", + "visual_seed": 3169703255523808969, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8273c5b8e8532b2d14310a57d4fa0b8f072f6bad --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3367936247689989, + -0.015032624284943917, + 1.0465923976174085 + ], + "current_z": 1.0465923976174085, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1900060094181325, + "gripper_z": 1.048927186761054, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33203872178485605, + -0.019634192388125526, + 1.048927186761054 + ], + "object_minus_gripper": [ + 0.004754902984142828, + 0.004601568103181609, + -0.002334789143645377 + ], + "object_to_gripper_xy": 0.006616912527518311, + "object_to_gripper_z": -0.002334789143645377, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3367936247689989, + -0.03937898293346018, + 1.0465923976174085 + ], + "finger_b": [ + 0.3255100124555198, + -0.015032624284943917, + 1.0465923976174085 + ], + "finger_midpoint": [ + 0.33115181861225934, + -0.027205803609202047, + 1.0465923976174085 + ], + "object_minus_finger_midpoint": [ + 0.005641806156739537, + 0.01217317932425813, + 0.0 + ], + "finger_gap": 0.02683402851386797, + "fingertip_max_gap": 0.09569306094040961, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013417014256933984, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465923976174085, + "object_top_z": 1.0935160942244064, + "finger_top_clearance": 0.04692369660699791, + "fingertip_min_top_clearance": 0.014077108982099372, + "object_projection_between_fingers": 0.823182779909366, + "object_to_finger_line_xy": 0.010237556097579661, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050346530470204806, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4540182319183623, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33707761330373204, + -0.018082520336058602, + 1.2422718664377397 + ], + "held_position": [ + 0.34210459109355784, + -0.013830957469564177, + 1.2398439557156598 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007017196233649655, + "max_held_gripper_dist": 0.007021011490239881, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002427910722079929, + "max_held_gripper_z_dist": 0.0024327151946368364, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08667793543712035, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34210459109355784, + -0.039241994617874816, + 1.2398439557156598 + ], + "held_grasp_finger_b": [ + 0.3328157551893156, + -0.013830957469564177, + 1.2398439557156598 + ], + "held_grasp_midpoint": [ + 0.3374601731414367, + -0.026536476043719497, + 1.2398439557156598 + ], + "held_grasp_object_position": [ + 0.34210459109355784, + -0.013830957469564177, + 1.2398439557156598 + ], + "held_grasp_finger_gap": 0.02705555915904831, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02509904349627135, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03186409976464805, + -0.9993698305977985, + 0.015640359238719204 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004241921153187251, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03235472282372488, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31807630467278014, + -0.01801289440881349, + 0.75658641178726 + ], + "target_position": [ + 0.3126288265427675, + -0.01639065542220977, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0056838963138522176, + "xy_threshold": 0.08, + "gripper_dist": 0.21820150016535847, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658641178726, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548279457472035, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08799609969727244, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18828356539446317, + "release_required_pad_clearance": 0.05399804984863622, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0072624002228134, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d05790df5fc8148beca2b97a03c03e184492901c55eee9f569b73e0ba61d31a5", + "visual_seed": 8305327930959171029, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d496658a147be804b1c5adf77060f49e89f2ae3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33049660401625097, + -0.015967776226778366, + 1.046110687443702 + ], + "current_z": 1.046110687443702, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18952423963978116, + "gripper_z": 1.0482451573000797, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.326169501686135, + -0.020355517893201988, + 1.0482451573000797 + ], + "object_minus_gripper": [ + 0.004327102330115962, + 0.004387741666423622, + -0.002134469856377663 + ], + "object_to_gripper_xy": 0.006162474462954384, + "object_to_gripper_z": -0.002134469856377663, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33049660401625097, + -0.03999340149595802, + 1.046110687443702 + ], + "finger_b": [ + 0.31948494311665226, + -0.015967776226778366, + 1.046110687443702 + ], + "finger_midpoint": [ + 0.3249907735664516, + -0.027980588861368193, + 1.046110687443702 + ], + "object_minus_finger_midpoint": [ + 0.005505830449799354, + 0.012012812634589826, + 0.0 + ], + "finger_gap": 0.02642891116453334, + "fingertip_max_gap": 0.09475178865220121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013214455582266669, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046110687443702, + "object_top_z": 1.093209089624717, + "finger_top_clearance": 0.04709840218101502, + "fingertip_min_top_clearance": 0.014129520654304489, + "object_projection_between_fingers": 0.8264010413699876, + "object_to_finger_line_xy": 0.010010326824211699, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04987589432610061, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6999511647163625, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33152718211376125, + -0.019517556922919344, + 1.2386513969692907 + ], + "held_position": [ + 0.3361765295338158, + -0.0155328906279521, + 1.2364139749531784 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006519206561599365, + "max_held_gripper_dist": 0.006523357862867767, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022374220161123226, + "max_held_gripper_z_dist": 0.002238155289162602, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08693365286874141, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3361765295338158, + -0.040905350357505935, + 1.2364139749531784 + ], + "held_grasp_finger_b": [ + 0.327727570770344, + -0.015136260661312644, + 1.2364139749531784 + ], + "held_grasp_midpoint": [ + 0.3319520501520799, + -0.02802080550940929, + 1.2364139749531784 + ], + "held_grasp_object_position": [ + 0.3361765295338158, + -0.0155328906279521, + 1.2364139749531784 + ], + "held_grasp_finger_gap": 0.027118829029980314, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025120460146163273, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06894713548269389, + -0.9974349871781852, + 0.01922859489366524 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033622071947272394, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03245307599386586, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2979858694874335, + -0.0088348814778541, + 0.7565877485944764 + ], + "target_position": [ + 0.3066245531115366, + -0.018533287869080938, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012987915201707176, + "xy_threshold": 0.08, + "gripper_dist": 0.209535745865526, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565877485944764, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0764728877237723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08953336424615703, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18265919827184737, + "release_required_pad_clearance": 0.05476668212307852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5826400853266005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f746adf381d215cbc35b83aaebf971e8fb3c2f77741bf66973b9a218a99adab5", + "visual_seed": 5514057014803249078, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d53c82baba3f04339d518cdba5d62e080ce45594 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_59_success.json @@ -0,0 +1,684 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3385278932350634, + -0.021962603153149997, + 1.0485238796716871 + ], + "current_z": 1.0485238796716871, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19193725305383202, + "gripper_z": 1.0506329397524983, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3336938356603758, + -0.026665622765731783, + 1.0506329397524983 + ], + "object_minus_gripper": [ + 0.004834057574687578, + 0.004703019612581787, + -0.0021090600808111315 + ], + "object_to_gripper_xy": 0.006744368473899042, + "object_to_gripper_z": -0.0021090600808111315, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3385278932350634, + -0.04633384330382874, + 1.0485238796716871 + ], + "finger_b": [ + 0.3270537029090713, + -0.021962603153149997, + 1.0485238796716871 + ], + "finger_midpoint": [ + 0.33279079807206735, + -0.03414822322848937, + 1.0485238796716871 + ], + "object_minus_finger_midpoint": [ + 0.005737095162996031, + 0.012185620075339375, + 0.0 + ], + "finger_gap": 0.026937230557708514, + "fingertip_max_gap": 0.09359049374591424, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013468615278854262, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485238796716871, + "object_top_z": 1.0943842782928233, + "finger_top_clearance": 0.04586039862113611, + "fingertip_min_top_clearance": 0.013758119586340866, + "object_projection_between_fingers": 0.8185578381163695, + "object_to_finger_line_xy": 0.010381180328477528, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049295246872957124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.150263087190083, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3389362896071213, + -0.025655274853741875, + 1.2436198273559875 + ], + "held_position": [ + 0.3440951254371055, + -0.02136576783584177, + 1.2414074267090538 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007064571763376462, + "max_held_gripper_dist": 0.0070678322633338335, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002212400646933732, + "max_held_gripper_z_dist": 0.0022159231578859906, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870042215281549, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3440951254371055, + -0.04694863382304157, + 1.2414074267090538 + ], + "held_grasp_finger_b": [ + 0.33490095842031514, + -0.02136576783584177, + 1.2414074267090538 + ], + "held_grasp_midpoint": [ + 0.33949804192871036, + -0.03415720082944167, + 1.2414074267090538 + ], + "held_grasp_object_position": [ + 0.3440951254371055, + -0.02136576783584177, + 1.2414074267090538 + ], + "held_grasp_finger_gap": 0.02718484392546075, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025137784505488023, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0455056803390094, + -0.9989565415979741, + 0.0038808575726504415 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004010550705729379, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221294588781723, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3167815352517691, + -0.01778125865002921, + 0.756586649302329 + ], + "target_position": [ + 0.31422443743176137, + -0.024066800362694943, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006785778060233713, + "xy_threshold": 0.08, + "gripper_dist": 0.21808325799430195, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586649302329, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536079632769095, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09400599435594896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19011351445373478, + "release_required_pad_clearance": 0.05700299717797448, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.530362185313592, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "054cb31980c16cba9c695d0b4d46b926e699abdc48d4db7e0ee6de6c84a33265", + "visual_seed": 6954949298974449235, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bead436cef195dc2ebb5a8123b94f7a412b2d7e2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_5_success.json @@ -0,0 +1,684 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33326613479480616, + -0.017327102189674107, + 1.045407695450634 + ], + "current_z": 1.045407695450634, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18882118804206838, + "gripper_z": 1.0475648415798027, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32877054364304603, + -0.021882849975389, + 1.0475648415798027 + ], + "object_minus_gripper": [ + 0.0044955911517601255, + 0.004555747785714895, + -0.00215714612916873 + ], + "object_to_gripper_xy": 0.006400404494313629, + "object_to_gripper_z": -0.00215714612916873, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33326613479480616, + -0.04130592636345376, + 1.045407695450634 + ], + "finger_b": [ + 0.3218074224636462, + -0.017327102189674107, + 1.045407695450634 + ], + "finger_midpoint": [ + 0.32753677862922614, + -0.029316514276563933, + 1.045407695450634 + ], + "object_minus_finger_midpoint": [ + 0.005729356165580013, + 0.011989412086889827, + 0.0 + ], + "finger_gap": 0.02657604366803526, + "fingertip_max_gap": 0.09387041728952969, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013288021834017642, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045407695450634, + "object_top_z": 1.0916980353298913, + "finger_top_clearance": 0.04629033987925735, + "fingertip_min_top_clearance": 0.01388710196377722, + "object_projection_between_fingers": 0.8140950404693398, + "object_to_finger_line_xy": 0.01033887706082021, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943520864476485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8259147390024546, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3339947830226066, + -0.020907714988447415, + 1.241397506407726 + ], + "held_position": [ + 0.33886142820383003, + -0.016801675822947452, + 1.2391431234430574 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006754704693762188, + "max_held_gripper_dist": 0.006755802791084663, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002254382964668622, + "max_held_gripper_z_dist": 0.0022557191037537727, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869734446821684, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33886142820383003, + -0.0422408134749364, + 1.2391431234430574 + ], + "held_grasp_finger_b": [ + 0.3299912413929337, + -0.01676302517499107, + 1.2391431234430574 + ], + "held_grasp_midpoint": [ + 0.33442633479838185, + -0.029501919324963734, + 1.2391431234430574 + ], + "held_grasp_object_position": [ + 0.33886142820383003, + -0.016801675822947452, + 1.2391431234430574 + ], + "held_grasp_finger_gap": 0.026977729902959414, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024839378513330457, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06560646819016011, + -0.9977836318796501, + 0.011118241077990308 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035951579875917344, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032237159064188114, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29770016012945877, + -0.018663210779916665, + 0.756587087987968 + ], + "target_position": [ + 0.30926777348807283, + -0.021164643884332035, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011834984004647052, + "xy_threshold": 0.08, + "gripper_dist": 0.2073857826146823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587087987968, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593889509510196, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09186147270707322, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17915272219014908, + "release_required_pad_clearance": 0.05593073635353661, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.081989020488786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69ea55e2556a439795ca5e8a96aceed73e885d3458e279e64c69bb431838e792", + "visual_seed": 6844835861371569448, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75cba4f9f35f7afae4afd4ab5a6c4fe7801550d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_60_success.json @@ -0,0 +1,684 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33718351223254706, + -0.013766170364077499, + 1.047934807559021 + ], + "current_z": 1.047934807559021, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19134830015045534, + "gripper_z": 1.0499537841029516, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33287328042822306, + -0.018187881017257518, + 1.0499537841029516 + ], + "object_minus_gripper": [ + 0.004310231804323994, + 0.004421710653180019, + -0.002018976543930684 + ], + "object_to_gripper_xy": 0.006174918890758951, + "object_to_gripper_z": -0.002018976543930684, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33718351223254706, + -0.037689254497970844, + 1.047934807559021 + ], + "finger_b": [ + 0.32600927257498813, + -0.013766170364077499, + 1.047934807559021 + ], + "finger_midpoint": [ + 0.3315963924037676, + -0.02572771243102417, + 1.047934807559021 + ], + "object_minus_finger_midpoint": [ + 0.005587119828779463, + 0.011961542066946673, + 0.0 + ], + "finger_gap": 0.026404120632997838, + "fingertip_max_gap": 0.09364796046280507, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013202060316498919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047934807559021, + "object_top_z": 1.0943144538285678, + "finger_top_clearance": 0.04637964626954694, + "fingertip_min_top_clearance": 0.013913893880864081, + "object_projection_between_fingers": 0.820901253339228, + "object_to_finger_line_xy": 0.010124263525973691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04932398023140254, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4973856777993018, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3382108213582854, + -0.017261882566560846, + 1.24107888591776 + ], + "held_position": [ + 0.3428633275775069, + -0.013254179859117664, + 1.2389560175875032 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006497235185734743, + "max_held_gripper_dist": 0.006498432165036657, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021228683302567664, + "max_held_gripper_z_dist": 0.002123300960847452, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686632901563748, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3428633275775069, + -0.03858471047232966, + 1.2389560175875032 + ], + "held_grasp_finger_b": [ + 0.33428797150755185, + -0.013096673461458397, + 1.2389560175875032 + ], + "held_grasp_midpoint": [ + 0.3385756495425294, + -0.02584069196689403, + 1.2389560175875032 + ], + "held_grasp_object_position": [ + 0.3428633275775069, + -0.013254179859117664, + 1.2389560175875032 + ], + "held_grasp_finger_gap": 0.026891946050705568, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02483019588199018, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06938504413332126, + -0.9975345425981018, + 0.01051436989139598 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034066612617537225, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03234724363778822, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2979495576261345, + -0.011877743562728133, + 0.7565875455448677 + ], + "target_position": [ + 0.3133595294132711, + -0.015696035721326627, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01587597510355697, + "xy_threshold": 0.08, + "gripper_dist": 0.20317063519555292, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875455448677, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522831643797455, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08518148760736398, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17686264426554313, + "release_required_pad_clearance": 0.05259074380368199, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.24389039067726848, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01e1b82190323de324d138d2d1da211512aae8f9234117fd209ffdaa7bc4ceac", + "visual_seed": 3338540589291624593, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe65ed722cb34530723ffab4079c91195b0c8056 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3299155213427405, + -0.010991373209620667, + 1.0462724163073787 + ], + "current_z": 1.0462724163073787, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1896859088988131, + "gripper_z": 1.0483785016678409, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3255217151549349, + -0.015462380001169854, + 1.0483785016678409 + ], + "object_minus_gripper": [ + 0.0043938061878056045, + 0.004471006791549187, + -0.0021060853604621954 + ], + "object_to_gripper_xy": 0.0062686070658542455, + "object_to_gripper_z": -0.0021060853604621954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3299155213427405, + -0.03497122371231993, + 1.0462724163073787 + ], + "finger_b": [ + 0.31866560427439816, + -0.010991373209620667, + 1.0462724163073787 + ], + "finger_midpoint": [ + 0.3242905628085693, + -0.022981298460970297, + 1.0462724163073787 + ], + "object_minus_finger_midpoint": [ + 0.005624958534171165, + 0.01198992525134963, + 0.0 + ], + "finger_gap": 0.0264876171857037, + "fingertip_max_gap": 0.09312261219941834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01324380859285185, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0462724163073787, + "object_top_z": 1.0926261433134254, + "finger_top_clearance": 0.046353727006046785, + "fingertip_min_top_clearance": 0.01390611810181402, + "object_projection_between_fingers": 0.8196098333996238, + "object_to_finger_line_xy": 0.01018480928560907, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906130609970917, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2085528141675255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3308376818072015, + -0.014386543278978092, + 1.2405710482867403 + ], + "held_position": [ + 0.3355870390368675, + -0.010348547736766318, + 1.2383640679836756 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006613060120097039, + "max_held_gripper_dist": 0.006613467146290267, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002206980303064654, + "max_held_gripper_z_dist": 0.0022084948372613766, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08755461531124041, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3355870390368675, + -0.035768846861150054, + 1.2383640679836756 + ], + "held_grasp_finger_b": [ + 0.3269193331232805, + -0.01009942436506446, + 1.2383640679836756 + ], + "held_grasp_midpoint": [ + 0.331253186080074, + -0.022934135613107257, + 1.2383640679836756 + ], + "held_grasp_object_position": [ + 0.3355870390368675, + -0.010348547736766318, + 1.2383640679836756 + ], + "held_grasp_finger_gap": 0.02709332716900928, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02492398088220595, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07695807875705896, + -0.9969461089531428, + 0.013263105111949836 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003356700988646307, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0323195471064344, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29925074908493465, + -0.01968139346818612, + 0.7565896702088264 + ], + "target_position": [ + 0.30599431645658465, + -0.015411864028290898, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007981515052552016, + "xy_threshold": 0.08, + "gripper_dist": 0.20846538253392702, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565896702088264, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577620135400755, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09218179969955768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1785401629415143, + "release_required_pad_clearance": 0.056090899849778844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.417524214638754, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8d75ed759fa7b01a69f8da8fb25a5ac3a21756b0ce0f2904535163f423970c13", + "visual_seed": 8727224483152711759, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..11baf4ebc131ad2195bfa1ae149f3ef6e090805b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3350720257754394, + -0.015514217450626618, + 1.046653030296885 + ], + "current_z": 1.046653030296885, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19006658249296426, + "gripper_z": 1.0488656012376842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3302870007343204, + -0.020090907915145728, + 1.0488656012376842 + ], + "object_minus_gripper": [ + 0.004785025041118995, + 0.00457669046451911, + -0.0022125709407991856 + ], + "object_to_gripper_xy": 0.006621371478187581, + "object_to_gripper_z": -0.0022125709407991856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3350720257754394, + -0.03997495712597026, + 1.046653030296885 + ], + "finger_b": [ + 0.3239457470757953, + -0.015514217450626618, + 1.046653030296885 + ], + "finger_midpoint": [ + 0.3295088864256174, + -0.02774458728829844, + 1.046653030296885 + ], + "object_minus_finger_midpoint": [ + 0.005563139349821999, + 0.01223036983767182, + 0.0 + ], + "finger_gap": 0.026872325228142868, + "fingertip_max_gap": 0.09544018437421223, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01343616261407142, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046653030296885, + "object_top_z": 1.0934218904103712, + "finger_top_clearance": 0.04676886011348613, + "fingertip_min_top_clearance": 0.014030658034045839, + "object_projection_between_fingers": 0.8285689936609638, + "object_to_finger_line_xy": 0.010127780328525102, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050220092187106116, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5175133317229337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33516154988618496, + -0.018377503870625908, + 1.242223700070412 + ], + "held_position": [ + 0.34016912760172036, + -0.014094433088958178, + 1.2399236394585018 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00697931291148082, + "max_held_gripper_dist": 0.006984793856091432, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023000606119101263, + "max_held_gripper_z_dist": 0.0023103016980050572, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08650023210429589, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34016912760172036, + -0.03943352949208764, + 1.2399236394585018 + ], + "held_grasp_finger_b": [ + 0.33075705465836547, + -0.014094433088958178, + 1.2399236394585018 + ], + "held_grasp_midpoint": [ + 0.3354630911300429, + -0.02676398129052291, + 1.2399236394585018 + ], + "held_grasp_object_position": [ + 0.34016912760172036, + -0.014094433088958178, + 1.2399236394585018 + ], + "held_grasp_finger_gap": 0.02703066635542161, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02515661099290174, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.018665149142796357, + -0.9997313374996163, + 0.013742817349643329 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00447215187302922, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032446241724129306, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30768658617129474, + -0.02803773693560981, + 0.7565863969211752 + ], + "target_position": [ + 0.31091835517125554, + -0.018991182164893844, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009606481358367978, + "xy_threshold": 0.08, + "gripper_dist": 0.21335237463108678, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863969211752, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567743765442755, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0917999049248273, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18242373095902875, + "release_required_pad_clearance": 0.05589995246241365, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.016774449920919, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "05bd10c24f3b02d2f643fd083afa45c0eb18116ebcfe11cde10acb7a01332183", + "visual_seed": 7318680646945133989, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fe1ddf85d5d9692a9b900a6427e8890b2d7de1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_63_success.json @@ -0,0 +1,684 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33162296986743744, + -0.013931989133409508, + 1.0457380353004277 + ], + "current_z": 1.0457380353004277, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18915164710115173, + "gripper_z": 1.047811655969426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3272839190508594, + -0.01830738891496754, + 1.047811655969426 + ], + "object_minus_gripper": [ + 0.004339050816578038, + 0.004375399781558032, + -0.0020736206689981884 + ], + "object_to_gripper_xy": 0.006162100716257778, + "object_to_gripper_z": -0.0020736206689981884, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33162296986743744, + -0.03800075996731441, + 1.0457380353004277 + ], + "finger_b": [ + 0.3206726449341938, + -0.013931989133409508, + 1.0457380353004277 + ], + "finger_midpoint": [ + 0.3261478074008156, + -0.025966374550361958, + 1.0457380353004277 + ], + "object_minus_finger_midpoint": [ + 0.00547516246662183, + 0.01203438541695245, + 0.0 + ], + "finger_gap": 0.02644268037848374, + "fingertip_max_gap": 0.09408177177326024, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322134018924187, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457380353004277, + "object_top_z": 1.0925136955471861, + "finger_top_clearance": 0.04677566024675839, + "fingertip_min_top_clearance": 0.014032698074027532, + "object_projection_between_fingers": 0.8285083173611494, + "object_to_finger_line_xy": 0.009967252094061357, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04954088588663012, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5039343177306668, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3326025292958185, + -0.01726030957222023, + 1.2412100777311834 + ], + "held_position": [ + 0.337255739410144, + -0.013271649459777317, + 1.2390397417482177 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006501702249381268, + "max_held_gripper_dist": 0.0065035884734592165, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021703359829656765, + "max_held_gripper_z_dist": 0.0021713483507153075, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08691616237191889, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.337255739410144, + -0.038647498851592396, + 1.2390397417482177 + ], + "held_grasp_finger_b": [ + 0.3286866588701703, + -0.012958369315064808, + 1.2390397417482177 + ], + "held_grasp_midpoint": [ + 0.33297119914015716, + -0.0258029340833286, + 1.2390397417482177 + ], + "held_grasp_object_position": [ + 0.337255739410144, + -0.013271649459777317, + 1.2390397417482177 + ], + "held_grasp_finger_gap": 0.027080629934420834, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025069130284978494, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06544762181021718, + -0.9976965623135083, + 0.01783755440621482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034625960414105196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03241739240430079, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2986002756857381, + -0.018268883817903144, + 0.7565865235990858 + ], + "target_position": [ + 0.3077738882113557, + -0.017214833953941425, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00923396923786764, + "xy_threshold": 0.08, + "gripper_dist": 0.21048768975773802, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865235990858, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558588732001965, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725353858054867, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1815999645504616, + "release_required_pad_clearance": 0.05362676929027434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2635377430289916, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d9d929d83b138fd5bc4df2fc49a8b8edc47599e8d316ea3472587abf8bad330c", + "visual_seed": 8733104862828006397, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4c584e4be8b26f9cfba83010d8b5ea07eb7732c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3341318814347541, + -0.01828033468493566, + 1.0493011978514113 + ], + "current_z": 1.0493011978514113, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1927147500474905, + "gripper_z": 1.0513293462105453, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32966920443351655, + -0.022720988177318505, + 1.0513293462105453 + ], + "object_minus_gripper": [ + 0.004462677001237536, + 0.004440653492382846, + -0.0020281483591340077 + ], + "object_to_gripper_xy": 0.006295624628008441, + "object_to_gripper_z": -0.0020281483591340077, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3341318814347541, + -0.042451284355947014, + 1.0493011978514113 + ], + "finger_b": [ + 0.32311191080024737, + -0.01828033468493566, + 1.0493011978514113 + ], + "finger_midpoint": [ + 0.3286218961175007, + -0.030365809520441336, + 1.0493011978514113 + ], + "object_minus_finger_midpoint": [ + 0.005509985317253385, + 0.012085474835505677, + 0.0 + ], + "finger_gap": 0.026564535772039273, + "fingertip_max_gap": 0.09390965027767087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013282267886019649, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493011978514113, + "object_top_z": 1.0956184336667305, + "finger_top_clearance": 0.04631723581531921, + "fingertip_min_top_clearance": 0.013895170744595764, + "object_projection_between_fingers": 0.8279096916141069, + "object_to_finger_line_xy": 0.01002702090744033, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945482513883544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8098613532436423, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3350427261209158, + -0.02182971228669678, + 1.243263229954516 + ], + "held_position": [ + 0.33980273173443654, + -0.017775854484008688, + 1.241130437096697 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066060746210990316, + "max_held_gripper_dist": 0.006614811922287635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002132792857819199, + "max_held_gripper_z_dist": 0.002133744259276593, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08708585496207087, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33980273173443654, + -0.04318552778403134, + 1.241130437096697 + ], + "held_grasp_finger_b": [ + 0.3311597743780111, + -0.017564437728382853, + 1.241130437096697 + ], + "held_grasp_midpoint": [ + 0.3354812530562238, + -0.0303749827562071, + 1.241130437096697 + ], + "held_grasp_object_position": [ + 0.33980273173443654, + -0.017775854484008688, + 1.241130437096697 + ], + "held_grasp_finger_gap": 0.027039618479272942, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0251157570035542, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05399829409822444, + -0.9984923319499789, + 0.009861403124037159 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036370045256613917, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03238673952016114, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2974368187120649, + -0.014839417032554963, + 0.7565890279523741 + ], + "target_position": [ + 0.3101467100380984, + -0.019597743990388543, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01357140423674822, + "xy_threshold": 0.08, + "gripper_dist": 0.20604706490661856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565890279523741, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535863444677318, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08921120735120268, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.179428663498449, + "release_required_pad_clearance": 0.05460560367560134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.230871683925667, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6278bca1f7f13691257e2e454610e9e6f4be2204090f82b32d4e607c469d440b", + "visual_seed": 7546381531157555756, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bae3045a8a3453f9f51905684c57a1a02dde18e4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3325617761100303, + -0.016862103953731215, + 1.0468086193852728 + ], + "current_z": 1.0468086193852728, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1902222311859968, + "gripper_z": 1.0492561958560371, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277508564556938, + -0.021456344598354438, + 1.0492561958560371 + ], + "object_minus_gripper": [ + 0.0048109196543364985, + 0.004594240644623222, + -0.0024475764707643233 + ], + "object_to_gripper_xy": 0.006652217301110151, + "object_to_gripper_z": -0.0024475764707643233, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3325617761100303, + -0.041351488963765975, + 1.0468086193852728 + ], + "finger_b": [ + 0.32142704972904135, + -0.016862103953731215, + 1.0468086193852728 + ], + "finger_midpoint": [ + 0.3269944129195358, + -0.029106796458748595, + 1.0468086193852728 + ], + "object_minus_finger_midpoint": [ + 0.005567363190494501, + 0.01224469250501738, + 0.0 + ], + "finger_gap": 0.02690189788377776, + "fingertip_max_gap": 0.09571409236881415, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013450948941888892, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468086193852728, + "object_top_z": 1.0937213452009076, + "finger_top_clearance": 0.04691272581563477, + "fingertip_min_top_clearance": 0.014073817744690447, + "object_projection_between_fingers": 0.8286858408069809, + "object_to_finger_line_xy": 0.0101361845362539, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050357046184407075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5013296871290076, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3325855879156455, + -0.019480298220599976, + 1.2416407055452667 + ], + "held_position": [ + 0.337606411920325, + -0.015164298185690414, + 1.2391102057760248 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00708801517136061, + "max_held_gripper_dist": 0.007091029246651147, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025304997692419118, + "max_held_gripper_z_dist": 0.0025361587925145646, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08707100191589215, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.337606411920325, + -0.04049334026140935, + 1.2391102057760248 + ], + "held_grasp_finger_b": [ + 0.32813403376332884, + -0.015164298185690414, + 1.2391102057760248 + ], + "held_grasp_midpoint": [ + 0.3328702228418269, + -0.02782881922354988, + 1.2391102057760248 + ], + "held_grasp_object_position": [ + 0.337606411920325, + -0.015164298185690414, + 1.2391102057760248 + ], + "held_grasp_finger_gap": 0.027042306122494024, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025160223619253307, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.017169455646375956, + -0.9997558976050142, + 0.013905214734035611 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004521500763647113, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03245747757955188, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29992601113775225, + -0.01764376433976004, + 0.7565865430000118 + ], + "target_position": [ + 0.30838702593313966, + -0.021585312861658663, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009334054645128553, + "xy_threshold": 0.08, + "gripper_dist": 0.21056692876464164, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865430000118, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575280711494115, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09491217325882272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18250073450497, + "release_required_pad_clearance": 0.05745608662941136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.611627724654955, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd499fc97340598908e0f4e17440bc918f47b1545a5774d9d0d0d65b31356298", + "visual_seed": 7731624899281995966, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8fbf64a339b4bc2e7ecb2beb8d5a716054951283 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3344473061627893, + -0.015913997513655836, + 1.045493310043932 + ], + "current_z": 1.045493310043932, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.18890680263536674, + "gripper_z": 1.0476379898578227, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32950266099788494, + -0.0206466144026171, + 1.0476379898578227 + ], + "object_minus_gripper": [ + 0.004944645164904338, + 0.004732616888961264, + -0.0021446798138906598 + ], + "object_to_gripper_xy": 0.006844499866644256, + "object_to_gripper_z": -0.0021446798138906598, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3344473061627893, + -0.04035722359253284, + 1.045493310043932 + ], + "finger_b": [ + 0.32291891510069604, + -0.015913997513655836, + 1.045493310043932 + ], + "finger_midpoint": [ + 0.32868311063174266, + -0.02813561055309434, + 1.045493310043932 + ], + "object_minus_finger_midpoint": [ + 0.005764195531046623, + 0.012221613039438504, + 0.0 + ], + "finger_gap": 0.027025452847707184, + "fingertip_max_gap": 0.09350913507616673, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013512726423853594, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045493310043932, + "object_top_z": 1.0915535884109062, + "finger_top_clearance": 0.04606027836697413, + "fingertip_min_top_clearance": 0.013818083510092222, + "object_projection_between_fingers": 0.8180335006148176, + "object_to_finger_line_xy": 0.0104268768647241, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04925456753808337, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.792543420591132, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3347600130152195, + -0.01978651363738816, + 1.2392674982960619 + ], + "held_position": [ + 0.34003392413394146, + -0.015478108642205468, + 1.2370055774660589 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007175846844233473, + "max_held_gripper_dist": 0.007178934694989823, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022619208300029836, + "max_held_gripper_z_dist": 0.00226452261968646, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08693692063733845, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34003392413394146, + -0.04113318102914333, + 1.2370055774660589 + ], + "held_grasp_finger_b": [ + 0.3308747093782354, + -0.015478108642205468, + 1.2370055774660589 + ], + "held_grasp_midpoint": [ + 0.3354543167560884, + -0.0283056448356744, + 1.2370055774660589 + ], + "held_grasp_object_position": [ + 0.34003392413394146, + -0.015478108642205468, + 1.2370055774660589 + ], + "held_grasp_finger_gap": 0.027241034380510693, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025123719118620633, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05389909518264553, + -0.9985312892580135, + 0.005491075597864992 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003882209164113532, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032144692018584366, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.301465966042185, + -0.011484420634274007, + 0.7565864439324016 + ], + "target_position": [ + 0.3100077139599299, + -0.01996769563783082, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012038580160312538, + "xy_threshold": 0.08, + "gripper_dist": 0.20748111625469778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864439324016, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568521926264526, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09424084885843763, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18058008277261764, + "release_required_pad_clearance": 0.057120424429218816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.807293488514556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "61222e07b001cbe6c9bb3649a6a65f161b4ccaf347de503481c226f94e665429", + "visual_seed": 2295574267017080498, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f7bc277959c33d0ab773212215f8fa2a96aeec9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3378568688537618, + -0.01356088995894346, + 1.0481414941324252 + ], + "current_z": 1.0481414941324252, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1915550463285044, + "gripper_z": 1.0501832464625511, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33324114813246886, + -0.018190654610114224, + 1.0501832464625511 + ], + "object_minus_gripper": [ + 0.00461572072129296, + 0.004629764651170763, + -0.0020417523301259344 + ], + "object_to_gripper_xy": 0.006537552944504812, + "object_to_gripper_z": -0.0020417523301259344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3378568688537618, + -0.03762294855323707, + 1.0481414941324252 + ], + "finger_b": [ + 0.32628213933974226, + -0.01356088995894346, + 1.0481414941324252 + ], + "finger_midpoint": [ + 0.33206950409675207, + -0.025591919256090265, + 1.0481414941324252 + ], + "object_minus_finger_midpoint": [ + 0.00578736475700975, + 0.012031029297146804, + 0.0 + ], + "finger_gap": 0.026701255159972057, + "fingertip_max_gap": 0.09316878160267458, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013350627579986014, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481414941324252, + "object_top_z": 1.0944756004504321, + "finger_top_clearance": 0.04633410631800694, + "fingertip_min_top_clearance": 0.013900231895402114, + "object_projection_between_fingers": 0.8120863414948095, + "object_to_finger_line_xy": 0.010430663956088332, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049084390801337294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2641140495846563, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33871415320957576, + -0.017314722459894794, + 1.2428860678508458 + ], + "held_position": [ + 0.34372402938802243, + -0.01317071418253966, + 1.2407336981004906 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068486757456021514, + "max_held_gripper_dist": 0.006849507399857889, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002152369750355154, + "max_held_gripper_z_dist": 0.0021548504497941323, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08717443518365708, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34372402938802243, + -0.03874573230665403, + 1.2407336981004906 + ], + "held_grasp_finger_b": [ + 0.3348632120849858, + -0.012898916047043638, + 1.2407336981004906 + ], + "held_grasp_midpoint": [ + 0.33929362073650415, + -0.02582232417684883, + 1.2407336981004906 + ], + "held_grasp_object_position": [ + 0.34372402938802243, + -0.01317071418253966, + 1.2407336981004906 + ], + "held_grasp_finger_gap": 0.02732346965588106, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025036846530220144, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08144221217989474, + -0.9965827448293089, + 0.013784004633120794 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033899331316193304, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032231026469731625, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3057753093951416, + -0.0073586204727399025, + 0.7565862392507614 + ], + "target_position": [ + 0.31369951533843965, + -0.015503278099500431, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011363471638938026, + "xy_threshold": 0.08, + "gripper_dist": 0.20975853831351007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862392507614, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552033552812079, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625630184081189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18271489946084082, + "release_required_pad_clearance": 0.053128150920405945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2820488771087604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e91a860ee8cbab473559a72e4c602b9f5bdf0c63a6fe63ac672cf80e6e4f63dd", + "visual_seed": 929057769612707023, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f7ac2e79761313070e47bf8e8d5931c0bcfd15 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33665712219759736, + -0.01915083664997569, + 1.0458537105553356 + ], + "current_z": 1.0458537105553356, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1892672627514148, + "gripper_z": 1.0478747116647338, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33211444031268234, + -0.023714385596399767, + 1.0478747116647338 + ], + "object_minus_gripper": [ + 0.004542681884915023, + 0.004563548946424079, + -0.0020210011093981795 + ], + "object_to_gripper_xy": 0.006439094477792931, + "object_to_gripper_z": -0.0020210011093981795, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33665712219759736, + -0.04320276454614979, + 1.0458537105553356 + ], + "finger_b": [ + 0.3252293882581384, + -0.01915083664997569, + 1.0458537105553356 + ], + "finger_midpoint": [ + 0.3309432552278679, + -0.03117680059806274, + 1.0458537105553356 + ], + "object_minus_finger_midpoint": [ + 0.005713866969729475, + 0.01202596394808705, + 0.0 + ], + "finger_gap": 0.026628712670983927, + "fingertip_max_gap": 0.09308722009210488, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013314356335491963, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458537105553356, + "object_top_z": 1.092131463057073, + "finger_top_clearance": 0.04627775250173749, + "fingertip_min_top_clearance": 0.01388332575052123, + "object_projection_between_fingers": 0.8158295717219487, + "object_to_finger_line_xy": 0.01032190463446735, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904361004605244, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2558471803286515, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33755266670573614, + -0.02291921723430583, + 1.2385540116512135 + ], + "held_position": [ + 0.3424569955074544, + -0.01881432651936904, + 1.2364181551176736 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006742733266917986, + "max_held_gripper_dist": 0.006749501105886703, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021358565335398705, + "max_held_gripper_z_dist": 0.0021368743493836995, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593773891837989, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3424569955074544, + -0.044287348545869534, + 1.2364181551176736 + ], + "held_grasp_finger_b": [ + 0.3337439959854799, + -0.01858205368704494, + 1.2364181551176736 + ], + "held_grasp_midpoint": [ + 0.33810049574646717, + -0.031434701116457235, + 1.2364181551176736 + ], + "held_grasp_object_position": [ + 0.3424569955074544, + -0.01881432651936904, + 1.2364181551176736 + ], + "held_grasp_finger_gap": 0.02714182279157099, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024948731268608918, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07773127895259818, + -0.9969153828308644, + 0.010842866207070532 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033651789822085757, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228014309470745, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3058645497493975, + -0.026886217725351054, + 0.7565868077434084 + ], + "target_position": [ + 0.3125736825495183, + -0.02136435775194796, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00868926927281737, + "xy_threshold": 0.08, + "gripper_dist": 0.21210028768756453, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868077434084, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556857393725505, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08908211118155722, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18221792094465328, + "release_required_pad_clearance": 0.05454105559077861, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.113235038698894, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "76ab6f4e14046caf9fca616747b16a79140aa9b273309964a84ebc83fff44436", + "visual_seed": 1506324540824083892, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0c87cf2356a3ac9bf16a314d6b9dddf4b207b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33598349328062727, + -0.016236162822724203, + 1.047547306877771 + ], + "current_z": 1.047547306877771, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1909607994692054, + "gripper_z": 1.0495984995897767, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33139472083921484, + -0.020878746312362265, + 1.0495984995897767 + ], + "object_minus_gripper": [ + 0.004588772441412425, + 0.0046425834896380615, + -0.0020511927120057116 + ], + "object_to_gripper_xy": 0.006527665277672108, + "object_to_gripper_z": -0.0020511927120057116, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33598349328062727, + -0.04022427963490879, + 1.047547306877771 + ], + "finger_b": [ + 0.3243251106078272, + -0.016236162822724203, + 1.047547306877771 + ], + "finger_midpoint": [ + 0.33015430194422724, + -0.028230221228816493, + 1.047547306877771 + ], + "object_minus_finger_midpoint": [ + 0.00582919133640003, + 0.01199405840609229, + 0.0 + ], + "finger_gap": 0.026671101116010516, + "fingertip_max_gap": 0.09242708340614667, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013335550558005256, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047547306877771, + "object_top_z": 1.0934041067855134, + "finger_top_clearance": 0.045856799907742385, + "fingertip_min_top_clearance": 0.013757039972322716, + "object_projection_between_fingers": 0.8089290244213215, + "object_to_finger_line_xy": 0.01048560553161403, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048713541703073335, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.235472015112456, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33670643984105436, + -0.020002531767274775, + 1.2397740472101557 + ], + "held_position": [ + 0.34168056377951467, + -0.015831937389363452, + 1.2376100018922818 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006842430749232439, + "max_held_gripper_dist": 0.006843180158023564, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021640453178739527, + "max_held_gripper_z_dist": 0.0021664531858522906, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701670484463957, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34168056377951467, + -0.04128572763169573, + 1.2376100018922818 + ], + "held_grasp_finger_b": [ + 0.3327952239464214, + -0.015831937389363452, + 1.2376100018922818 + ], + "held_grasp_midpoint": [ + 0.33723789386296804, + -0.02855883251052959, + 1.2376100018922818 + ], + "held_grasp_object_position": [ + 0.34168056377951467, + -0.015831937389363452, + 1.2376100018922818 + ], + "held_grasp_finger_gap": 0.0269600575231249, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024669623035144174, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07922939035560957, + -0.9968496971041918, + 0.0036585635377199823 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034206855539930894, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032161433390160296, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31039730216574984, + -0.02429432523192591, + 0.7565866742897218 + ], + "target_position": [ + 0.3118757006361135, + -0.020750938774515944, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0038394335029701804, + "xy_threshold": 0.08, + "gripper_dist": 0.21355408866719627, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866742897218, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573197796939071, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08527951177188557, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18346076197427613, + "release_required_pad_clearance": 0.05263975588594279, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3380398126587224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67a4f344d941fe739e63d4d1a0a46923f7eed2f45e659a4e9b3503280a3dce2c", + "visual_seed": 4371081781144956377, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7bf1a13aabdca0acec2a4a6973692616010947 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3375797372998429, + -0.021906685060947787, + 1.0489664315353584 + ], + "current_z": 1.0489664315353584, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19237992412679283, + "gripper_z": 1.0511587141774719, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33274970016047534, + -0.026578702851338926, + 1.0511587141774719 + ], + "object_minus_gripper": [ + 0.004830037139367582, + 0.0046720177903911385, + -0.0021922826421134634 + ], + "object_to_gripper_xy": 0.006719896502283459, + "object_to_gripper_z": -0.0021922826421134634, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3375797372998429, + -0.0462422709591775, + 1.0489664315353584 + ], + "finger_b": [ + 0.3261032724568039, + -0.021906685060947787, + 1.0489664315353584 + ], + "finger_midpoint": [ + 0.3318415048783234, + -0.034074478010062643, + 1.0489664315353584 + ], + "object_minus_finger_midpoint": [ + 0.005738232421519496, + 0.012167792949114856, + 0.0 + ], + "finger_gap": 0.02690594704342568, + "fingertip_max_gap": 0.09612030946188074, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013452973521712838, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0489664315353584, + "object_top_z": 1.0961394503614494, + "finger_top_clearance": 0.04717301882609104, + "fingertip_min_top_clearance": 0.014151905647827277, + "object_projection_between_fingers": 0.8180635589278255, + "object_to_finger_line_xy": 0.010380102790844942, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050560154730940374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6569034885197444, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3380347569209595, + -0.025800733111631696, + 1.2441436614740617 + ], + "held_position": [ + 0.3431938241457369, + -0.021554127899231116, + 1.241845975213453 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0070660450474045455, + "max_held_gripper_dist": 0.007069279905368517, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002297686260608778, + "max_held_gripper_z_dist": 0.0023025625272965478, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08713904641599018, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3431938241457369, + -0.04713852977321239, + 1.241845975213453 + ], + "held_grasp_finger_b": [ + 0.334069468121612, + -0.021554127899231116, + 1.241845975213453 + ], + "held_grasp_midpoint": [ + 0.33863164613367447, + -0.034346328836221754, + 1.241845975213453 + ], + "held_grasp_object_position": [ + 0.3431938241457369, + -0.021554127899231116, + 1.241845975213453 + ], + "held_grasp_finger_gap": 0.027162759287383917, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025158668764878295, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04343508333851719, + -0.9988502391054634, + 0.020287764153171687 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00401077797481048, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032224573419053465, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30809301423670116, + -0.015912230038767506, + 0.756586596722203 + ], + "target_position": [ + 0.3132535612525467, + -0.02509662182247365, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0105349085396771, + "xy_threshold": 0.08, + "gripper_dist": 0.21006779079682228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586596722203, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07643386777799814, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09086539392247898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18273890137807638, + "release_required_pad_clearance": 0.055432696961239494, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.996789776548067, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8f3a5b858308230468242d9ad34c00e6abe9ec00436d93dadb042ecd2ceab58", + "visual_seed": 1349947556827659883, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a596d9360592545d32870184c912e0d8cb7289d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33986954850978096, + -0.016263656055578384, + 1.045597315083842 + ], + "current_z": 1.045597315083842, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1890108672799211, + "gripper_z": 1.0478840053368337, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33492219640509485, + -0.021000154412384092, + 1.0478840053368337 + ], + "object_minus_gripper": [ + 0.004947352104686109, + 0.004736498356805709, + -0.0022866902529916633 + ], + "object_to_gripper_xy": 0.006849139327810849, + "object_to_gripper_z": -0.0022866902529916633, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33986954850978096, + -0.04068720710541912, + 1.045597315083842 + ], + "finger_b": [ + 0.32831408853098787, + -0.016263656055578384, + 1.045597315083842 + ], + "finger_midpoint": [ + 0.3340918185203844, + -0.028475431580498752, + 1.045597315083842 + ], + "object_minus_finger_midpoint": [ + 0.005777729989396574, + 0.012211775524920369, + 0.0 + ], + "finger_gap": 0.02701922465959498, + "fingertip_max_gap": 0.09574736730802533, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013509612329797503, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045597315083842, + "object_top_z": 1.0925543879798616, + "finger_top_clearance": 0.04695707289601958, + "fingertip_min_top_clearance": 0.014087121868805874, + "object_projection_between_fingers": 0.8170936805374442, + "object_to_finger_line_xy": 0.01044535401189691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050373683654012666, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.458074998147963, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33996362510863076, + -0.019686781185155336, + 1.238634679280111 + ], + "held_position": [ + 0.34519627543992026, + -0.015328104049569812, + 1.2362403034771066 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007218845568914298, + "max_held_gripper_dist": 0.007222497693778686, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023943758030045004, + "max_held_gripper_z_dist": 0.002400274261052937, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08724697848474462, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34519627543992026, + -0.04081542939312569, + 1.2362403034771066 + ], + "held_grasp_finger_b": [ + 0.3357800714121295, + -0.015328104049569812, + 1.2362403034771066 + ], + "held_grasp_midpoint": [ + 0.3404881734260249, + -0.02807176672134775, + 1.2362403034771066 + ], + "held_grasp_object_position": [ + 0.34519627543992026, + -0.015328104049569812, + 1.2362403034771066 + ], + "held_grasp_finger_gap": 0.02717109956297773, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025136807310392334, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03529580153080284, + -0.999287270657857, + 0.013384957806015226 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004258832504482413, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229946884207616, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3132554468006891, + -0.013922718384068437, + 0.7565863376607146 + ], + "target_position": [ + 0.31551143610438265, + -0.01893746880431952, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005498837105769548, + "xy_threshold": 0.08, + "gripper_dist": 0.21404988291686383, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863376607146, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525040561890671, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09379621038176321, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18674729998061365, + "release_required_pad_clearance": 0.05689810519088161, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.284146962439051, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7867ccadd2980abb8d1874b1da4d3d0420d7f5177c50863797f9761aee96355d", + "visual_seed": 8783453562998622430, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f7ce01d45ed655a3a2853273b0c1370a9d22e66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33734636406656876, + -0.016071517444433716, + 1.0491841840958207 + ], + "current_z": 1.0491841840958207, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1925977958965447, + "gripper_z": 1.0511200970298715, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33274067754014286, + -0.020605661003419498, + 1.0511200970298715 + ], + "object_minus_gripper": [ + 0.004605686526425901, + 0.004534143558985782, + -0.0019359129340508208 + ], + "object_to_gripper_xy": 0.006463033822686783, + "object_to_gripper_z": -0.0019359129340508208, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33734636406656876, + -0.040382235396207604, + 1.0491841840958207 + ], + "finger_b": [ + 0.3262448629335669, + -0.016071517444433716, + 1.0491841840958207 + ], + "finger_midpoint": [ + 0.3317956135000678, + -0.028226876420320658, + 1.0491841840958207 + ], + "object_minus_finger_midpoint": [ + 0.0055507505665009504, + 0.012155358975886942, + 0.0 + ], + "finger_gap": 0.026725537127188715, + "fingertip_max_gap": 0.09340443377662402, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362768563594368, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491841840958207, + "object_top_z": 1.0950456153680648, + "finger_top_clearance": 0.04586143127224407, + "fingertip_min_top_clearance": 0.01375842938167322, + "object_projection_between_fingers": 0.8274517613512756, + "object_to_finger_line_xy": 0.010098411178840022, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049202216888312014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9597029008747897, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.337998916633627, + -0.01936886164878278, + 1.242062414532593 + ], + "held_position": [ + 0.34288745021796957, + -0.015189945326302478, + 1.240021842090417 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006747224475834867, + "max_held_gripper_dist": 0.0067487675746427805, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020405724421759253, + "max_held_gripper_z_dist": 0.0020419689873834024, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875306042927102, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34288745021796957, + -0.04060420548804906, + 1.240021842090417 + ], + "held_grasp_finger_b": [ + 0.33396078598466433, + -0.015189945326302478, + 1.240021842090417 + ], + "held_grasp_midpoint": [ + 0.33842411810131695, + -0.027897075407175766, + 1.240021842090417 + ], + "held_grasp_object_position": [ + 0.34288745021796957, + -0.015189945326302478, + 1.240021842090417 + ], + "held_grasp_finger_gap": 0.026936405734676448, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025017341396798634, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.041954047910221406, + -0.9991182483423567, + 0.0016073870870636497 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003926340704248576, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231704456848891, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3036840647467655, + -0.011141612551461504, + 0.7565866132583111 + ], + "target_position": [ + 0.3132773351433606, + -0.019038719295270994, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012425583761952949, + "xy_threshold": 0.08, + "gripper_dist": 0.2098802523918879, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866132583111, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576944423482074, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09571236837651602, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18279786690980018, + "release_required_pad_clearance": 0.05785618418825801, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.595101967091802, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "816f58e038529bd7a5d238962179f836fa45d0e30b06d3b5d49873ee81d8d665", + "visual_seed": 8636198464748235403, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..81ec0ea552c307a235860454ce3fa7c043c4e85d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33271915904825206, + -0.01604402181096315, + 1.048348831222387 + ], + "current_z": 1.048348831222387, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1917623238138214, + "gripper_z": 1.0505604436803306, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32805212593260213, + -0.020705476486102506, + 1.0505604436803306 + ], + "object_minus_gripper": [ + 0.004667033115649921, + 0.0046614546751393565, + -0.002211612457943657 + ], + "object_to_gripper_xy": 0.006596238154505307, + "object_to_gripper_z": -0.002211612457943657, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33271915904825206, + -0.04013407386758555, + 1.048348831222387 + ], + "finger_b": [ + 0.32108777737031924, + -0.01604402181096315, + 1.048348831222387 + ], + "finger_midpoint": [ + 0.3269034682092856, + -0.02808904783927435, + 1.048348831222387 + ], + "object_minus_finger_midpoint": [ + 0.005815690838966436, + 0.012045026028311201, + 0.0 + ], + "finger_gap": 0.026751068162384255, + "fingertip_max_gap": 0.09277269458856205, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337553408119214, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048348831222387, + "object_top_z": 1.094429739090807, + "finger_top_clearance": 0.04608090786842012, + "fingertip_min_top_clearance": 0.013824272360526002, + "object_projection_between_fingers": 0.8109483995467823, + "object_to_finger_line_xy": 0.010474370160136163, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888634729428103, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2272178690189472, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33347324155863267, + -0.019942682352239685, + 1.2416910553297453 + ], + "held_position": [ + 0.33852480370511534, + -0.015762569421047763, + 1.2393646424983282 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006957285454793173, + "max_held_gripper_dist": 0.006958839755167895, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023264128314171018, + "max_held_gripper_z_dist": 0.0023269955482108085, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08707262475372252, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33852480370511534, + -0.041315912039287285, + 1.2393646424983282 + ], + "held_grasp_finger_b": [ + 0.3296583916423797, + -0.01559854616616836, + 1.2393646424983282 + ], + "held_grasp_midpoint": [ + 0.3340915976737475, + -0.028457229102727823, + 1.2393646424983282 + ], + "held_grasp_object_position": [ + 0.33852480370511534, + -0.015762569421047763, + 1.2393646424983282 + ], + "held_grasp_finger_gap": 0.027202870626426283, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024921124368692406, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08034531202473813, + -0.9967389015998025, + 0.0074961905836927745 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034002868523797494, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321907764966495, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2981880342017797, + -0.012696066243605473, + 0.7565859694040293 + ], + "target_position": [ + 0.3084944956068427, + -0.017454094078156988, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01135173887862211, + "xy_threshold": 0.08, + "gripper_dist": 0.20765416337731, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565859694040293, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575567122463586, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09283784880003514, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18004746037654698, + "release_required_pad_clearance": 0.05641892440001757, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.17603076126788, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8701154b5d37b60046ff320376c2c43ec971eb9622a7a3a2118a52d4231ae651", + "visual_seed": 3128219760496168543, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..76a0f4cb7d3b80cd413bede674fd104b13951349 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33054465270645184, + -0.017557030480502094, + 1.0453347989423365 + ], + "current_z": 1.0453347989423365, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18874841074306048, + "gripper_z": 1.0476305834782345, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3259520069420351, + -0.022147326130566802, + 1.0476305834782345 + ], + "object_minus_gripper": [ + 0.004592645764416758, + 0.004590295650064708, + -0.00229578453589796 + ], + "object_to_gripper_xy": 0.006493320358061673, + "object_to_gripper_z": -0.00229578453589796, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33054465270645184, + -0.041652540988052676, + 1.0453347989423365 + ], + "finger_b": [ + 0.31909244610921506, + -0.017557030480502094, + 1.0453347989423365 + ], + "finger_midpoint": [ + 0.32481854940783345, + -0.029604785734277383, + 1.0453347989423365 + ], + "object_minus_finger_midpoint": [ + 0.00572610329861839, + 0.01204775525377529, + 0.0 + ], + "finger_gap": 0.026678580595025553, + "fingertip_max_gap": 0.09334714961595839, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339290297512777, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0453347989423365, + "object_top_z": 1.0916963631173637, + "finger_top_clearance": 0.04636156417502724, + "fingertip_min_top_clearance": 0.01390846925250817, + "object_projection_between_fingers": 0.8157307327960029, + "object_to_finger_line_xy": 0.010343382527997423, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049173574807979195, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3841632097275902, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3313131338609676, + -0.021256978294036485, + 1.2408297458930917 + ], + "held_position": [ + 0.3362841340116234, + -0.01713797907532339, + 1.2384305762161265 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006887162855664732, + "max_held_gripper_dist": 0.006887961126527561, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002399169676965185, + "max_held_gripper_z_dist": 0.0024001723608029213, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08715976357593595, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3362841340116234, + -0.04270805404345772, + 1.2384305762161265 + ], + "held_grasp_finger_b": [ + 0.3274735888647985, + -0.016779192753969732, + 1.2384305762161265 + ], + "held_grasp_midpoint": [ + 0.33187886143821094, + -0.029743623398713726, + 1.2384305762161265 + ], + "held_grasp_object_position": [ + 0.3362841340116234, + -0.01713797907532339, + 1.2384305762161265 + ], + "held_grasp_finger_gap": 0.02738487819132574, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02517313328777713, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07679945136508277, + -0.996950002264871, + 0.013875779404995844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003428739961976775, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322947053123049, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29890675794312266, + -0.02278786475806074, + 0.7565863428202698 + ], + "target_position": [ + 0.30640804597640536, + -0.022301380496431003, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007517046567308449, + "xy_threshold": 0.08, + "gripper_dist": 0.2098404536886552, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863428202698, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577732956711593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09422524160386468, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18073451440952873, + "release_required_pad_clearance": 0.05711262080193234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.78865828239774, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac40184c7e3529d027537e6be87aeae62122fb329c122d83f334d87ca1301bd1", + "visual_seed": 6047986728089286617, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f0234f4937e4e06028166fa8498ace253b29f3f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_81_success.json @@ -0,0 +1,684 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3336945758733851, + -0.016815728477627735, + 1.0492154191961933 + ], + "current_z": 1.0492154191961933, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19262891178762775, + "gripper_z": 1.0513762623260157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32917968764791106, + -0.02133570797522792, + 1.0513762623260157 + ], + "object_minus_gripper": [ + 0.004514888225474023, + 0.004519979497600187, + -0.002160843129822343 + ], + "object_to_gripper_xy": 0.006388617248454474, + "object_to_gripper_z": -0.002160843129822343, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3336945758733851, + -0.04090678277082997, + 1.0492154191961933 + ], + "finger_b": [ + 0.3224115661772988, + -0.016815728477627735, + 1.0492154191961933 + ], + "finger_midpoint": [ + 0.328053071025342, + -0.02886125562422885, + 1.0492154191961933 + ], + "object_minus_finger_midpoint": [ + 0.0056415048480431, + 0.012045527146601117, + 0.0 + ], + "finger_gap": 0.026602353368828, + "fingertip_max_gap": 0.09338544377242555, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013301176684413987, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492154191961933, + "object_top_z": 1.0956505599947621, + "finger_top_clearance": 0.04643514079856881, + "fingertip_min_top_clearance": 0.013930542239570609, + "object_projection_between_fingers": 0.8201088464960189, + "object_to_finger_line_xy": 0.010217877922697367, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919272188621278, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.205662914321968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344733559515406, + -0.0205007327663375, + 1.2414394618895028 + ], + "held_position": [ + 0.3393140996810184, + -0.01638950921012773, + 1.2391704024356662 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006744152266123438, + "max_held_gripper_dist": 0.006745618440630843, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002269059453836597, + "max_held_gripper_z_dist": 0.00226925454695448, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08696390838550389, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3393140996810184, + -0.04177479127954488, + 1.2391704024356662 + ], + "held_grasp_finger_b": [ + 0.3305696708425879, + -0.01638950921012773, + 1.2391704024356662 + ], + "held_grasp_midpoint": [ + 0.33494188526180313, + -0.029082150244836305, + 1.2391704024356662 + ], + "held_grasp_object_position": [ + 0.3393140996810184, + -0.01638950921012773, + 1.2391704024356662 + ], + "held_grasp_finger_gap": 0.0268491635149821, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024691290174517357, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07177305266524416, + -0.9973851957535815, + 0.008449864064128065 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034516568336048613, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222696552700395, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3008510244009991, + -0.010002967458509626, + 0.7565876670953642 + ], + "target_position": [ + 0.30966183362240235, + -0.02020095698262374, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013476993339387903, + "xy_threshold": 0.08, + "gripper_dist": 0.21015438954181967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565876670953642, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07620597294020656, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09311472253520324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1839164723914249, + "release_required_pad_clearance": 0.05655736126760162, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.492878224990315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01d9cfc15ec773002312ac123ab5f0b599d6d87939b309e7a5a53d922f48859e", + "visual_seed": 6464813838973756542, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5c8a1a464886ab24d21cb11371de621b7d8bc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3328602255504276, + -0.01982793135190345, + 1.0482166141132379 + ], + "current_z": 1.0482166141132379, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19163022591396184, + "gripper_z": 1.0503483269909188, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.328429285361837, + -0.024290086138585562, + 1.0503483269909188 + ], + "object_minus_gripper": [ + 0.004430940188590582, + 0.004462154786682111, + -0.0021317128776809913 + ], + "object_to_gripper_xy": 0.006288406498881669, + "object_to_gripper_z": -0.0021317128776809913, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3328602255504276, + -0.04388200668764373, + 1.0482166141132379 + ], + "finger_b": [ + 0.32168845037691296, + -0.01982793135190345, + 1.0482166141132379 + ], + "finger_midpoint": [ + 0.3272743379636703, + -0.03185496901977359, + 1.0482166141132379 + ], + "object_minus_finger_midpoint": [ + 0.005585887586757321, + 0.012027037667870139, + 0.0 + ], + "finger_gap": 0.0265218231044743, + "fingertip_max_gap": 0.09306238421281568, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326091155223715, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482166141132379, + "object_top_z": 1.0944365745326614, + "finger_top_clearance": 0.046219960419423556, + "fingertip_min_top_clearance": 0.0138659881258271, + "object_projection_between_fingers": 0.8225656801185722, + "object_to_finger_line_xy": 0.010132286932127966, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903119210640784, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2011470780574316, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337138471707025, + -0.023494722826778613, + 1.2434674041063833 + ], + "held_position": [ + 0.3384794291162415, + -0.019443608821408206, + 1.2412391471089401 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066398362337342495, + "max_held_gripper_dist": 0.00664107664887923, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002228256997443223, + "max_held_gripper_z_dist": 0.0022290656975560985, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700531850404002, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3384794291162415, + -0.044845205894419475, + 1.2412391471089401 + ], + "held_grasp_finger_b": [ + 0.32977877600919053, + -0.019268092355676777, + 1.2412391471089401 + ], + "held_grasp_midpoint": [ + 0.334129102562716, + -0.032056649125048124, + 1.2412391471089401 + ], + "held_grasp_object_position": [ + 0.3384794291162415, + -0.019443608821408206, + 1.2412391471089401 + ], + "held_grasp_finger_gap": 0.027016478331991587, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024895044228115084, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07087003922917692, + -0.9974409276671385, + 0.009435748734100358 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034476064383242126, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231115453113709, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30097143628152323, + -0.02473809865662048, + 0.7565876777752247 + ], + "target_position": [ + 0.30891171249668054, + -0.024153035091672336, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007961801664700185, + "xy_threshold": 0.08, + "gripper_dist": 0.21026922405739332, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565876777752247, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543738647182424, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08887703091907566, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18183296960340237, + "release_required_pad_clearance": 0.05443851545953783, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9032800582179403, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "834e2e63ba3e97de79e11aaf120600215924894860267046983acac9191e0d75", + "visual_seed": 6295754000046667787, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a7c9911a2451a5f01cb0997e1399416194a6718a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_83_success.json @@ -0,0 +1,684 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33005738518862593, + -0.015122718412206852, + 1.0479378453345511 + ], + "current_z": 1.0479378453345511, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19135139753063035, + "gripper_z": 1.0500321890471747, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3255723504029631, + -0.019577864630722405, + 1.0500321890471747 + ], + "object_minus_gripper": [ + 0.0044850347856628114, + 0.004455146218515553, + -0.0020943437126235143 + ], + "object_to_gripper_xy": 0.0063216979409774785, + "object_to_gripper_z": -0.0020943437126235143, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33005738518862593, + -0.03927712339015973, + 1.0479378453345511 + ], + "finger_b": [ + 0.318972323712967, + -0.015122718412206852, + 1.0479378453345511 + ], + "finger_midpoint": [ + 0.3245148544507965, + -0.02719992090118329, + 1.0479378453345511 + ], + "object_minus_finger_midpoint": [ + 0.005542530737829454, + 0.012077202488976438, + 0.0 + ], + "finger_gap": 0.02657656613932831, + "fingertip_max_gap": 0.09280747809654402, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013288283069664154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479378453345511, + "object_top_z": 1.0939119284176646, + "finger_top_clearance": 0.04597408308311346, + "fingertip_min_top_clearance": 0.013792224924934038, + "object_projection_between_fingers": 0.8260283515186163, + "object_to_finger_line_xy": 0.010074780266377058, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890373904827201, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3860035030810502, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3308492050893999, + -0.01845752112944994, + 1.2393408654475153 + ], + "held_position": [ + 0.3356260656089197, + -0.014371670028790752, + 1.2371442773186303 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006658646637843425, + "max_held_gripper_dist": 0.006660299662443561, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002196588128885013, + "max_held_gripper_z_dist": 0.0021974413048142516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08698407643640388, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3356260656089197, + -0.0397039178386608, + 1.2371442773186303 + ], + "held_grasp_finger_b": [ + 0.3268814074177707, + -0.014371670028790752, + 1.2371442773186303 + ], + "held_grasp_midpoint": [ + 0.3312537365133452, + -0.027037793933725775, + 1.2371442773186303 + ], + "held_grasp_object_position": [ + 0.3356260656089197, + -0.014371670028790752, + 1.2371442773186303 + ], + "held_grasp_finger_gap": 0.026799101215911985, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02478058304354455, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05815886229323059, + -0.9982991878530295, + 0.00403463365608825 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036286479813871105, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032301354072498095, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2954812386824186, + -0.017719564410713286, + 0.7565865911334098 + ], + "target_position": [ + 0.30607600837453086, + -0.017343993182050058, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010601424365466187, + "xy_threshold": 0.08, + "gripper_dist": 0.2076943587501864, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865911334098, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585879383113525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08777944059915792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1789442345803895, + "release_required_pad_clearance": 0.05388972029957896, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.787905164204065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb8bcaa17f1c32ce48a83e7bf469d2764f273538ddaa6f61473b31d6f93de851", + "visual_seed": 2775210116962306110, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce518b6e49d737c4255587a07feed50433f7818 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33055187744473213, + -0.01207718681685178, + 1.047701931342014 + ], + "current_z": 1.047701931342014, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19111548353809316, + "gripper_z": 1.049917047813443, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3258202699270745, + -0.016659091948837343, + 1.049917047813443 + ], + "object_minus_gripper": [ + 0.00473160751765761, + 0.004581905131985562, + -0.002215116471429024 + ], + "object_to_gripper_xy": 0.006586498640375601, + "object_to_gripper_z": -0.002215116471429024, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33055187744473213, + -0.03644650934429263, + 1.047701931342014 + ], + "finger_b": [ + 0.3193407779666969, + -0.01207718681685178, + 1.047701931342014 + ], + "finger_midpoint": [ + 0.3249463277057145, + -0.024261848080572204, + 1.047701931342014 + ], + "object_minus_finger_midpoint": [ + 0.005605549739017612, + 0.012184661263720423, + 0.0 + ], + "finger_gap": 0.0268244782233101, + "fingertip_max_gap": 0.09286723918104697, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01341223911165505, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047701931342014, + "object_top_z": 1.0934002951986783, + "finger_top_clearance": 0.04569836385666437, + "fingertip_min_top_clearance": 0.013709509156999278, + "object_projection_between_fingers": 0.8253237554488719, + "object_to_finger_line_xy": 0.010184984654428486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04893361959052349, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7716157475634944, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3309765571108998, + -0.015588258229664365, + 1.239545163164495 + ], + "held_position": [ + 0.33598320293556116, + -0.011366019251451805, + 1.2372195862639526 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069499721095176185, + "max_held_gripper_dist": 0.006952705554778892, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023255769005423588, + "max_held_gripper_z_dist": 0.0023266094203266974, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08719289878715256, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33598320293556116, + -0.03683306774138652, + 1.2372195862639526 + ], + "held_grasp_finger_b": [ + 0.32699207039432904, + -0.011366019251451805, + 1.2372195862639526 + ], + "held_grasp_midpoint": [ + 0.3314876366649451, + -0.024099543496419164, + 1.2372195862639526 + ], + "held_grasp_object_position": [ + 0.33598320293556116, + -0.011366019251451805, + 1.2372195862639526 + ], + "held_grasp_finger_gap": 0.027007610467471743, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025027291302826507, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04592189288348512, + -0.9989450147056049, + -0.00019325841955519785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039060768497071103, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03227368948893784, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31028362049935904, + -0.010056917834859456, + 0.7565879352800768 + ], + "target_position": [ + 0.30634305824427305, + -0.015552259313330041, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006762160072876687, + "xy_threshold": 0.08, + "gripper_dist": 0.21670715025937848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879352800768, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520738876581633, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.088154567587836, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18878021220067462, + "release_required_pad_clearance": 0.054077283793918005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.166758604803683, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07b25e6164d07b2b8bb4f8785ae72501e6af437a42ae9c430e35f9e7e1439424", + "visual_seed": 765887810187957750, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef76a84398f3f0f1bed863929317225974ea319 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3327607312298937, + -0.02017267977876678, + 1.0487101216754424 + ], + "current_z": 1.0487101216754424, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19212355466223208, + "gripper_z": 1.0508927543327873, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3283482414685956, + -0.024707917036649457, + 1.0508927543327873 + ], + "object_minus_gripper": [ + 0.0044124897612980996, + 0.004535237257882678, + -0.002182632657344863 + ], + "object_to_gripper_xy": 0.0063275937668949445, + "object_to_gripper_z": -0.002182632657344863, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3327607312298937, + -0.04406999571509989, + 1.0487101216754424 + ], + "finger_b": [ + 0.3213057571319461, + -0.02017267977876678, + 1.0487101216754424 + ], + "finger_midpoint": [ + 0.3270332441809199, + -0.032121337746933334, + 1.0487101216754424 + ], + "object_minus_finger_midpoint": [ + 0.0057274870489738006, + 0.011948657968166555, + 0.0 + ], + "finger_gap": 0.026500908296614493, + "fingertip_max_gap": 0.09390057893590634, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013250454148307247, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487101216754424, + "object_top_z": 1.094961493300135, + "finger_top_clearance": 0.04625137162469262, + "fingertip_min_top_clearance": 0.013875411487407785, + "object_projection_between_fingers": 0.813161356966264, + "object_to_finger_line_xy": 0.01032957557519404, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04945028946795317, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8985858794397847, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3335194515698189, + -0.023486949727527018, + 1.243695224203551 + ], + "held_position": [ + 0.3382899210294575, + -0.019377050096769023, + 1.2414227562630396 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006694233666440239, + "max_held_gripper_dist": 0.006695661807186684, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022724679405115022, + "max_held_gripper_z_dist": 0.0022733795689138248, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08708927113324848, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3382899210294575, + -0.04468776879592309, + 1.2414227562630396 + ], + "held_grasp_finger_b": [ + 0.32938313856635437, + -0.019377050096769023, + 1.2414227562630396 + ], + "held_grasp_midpoint": [ + 0.3338365297979059, + -0.032032409446346055, + 1.2414227562630396 + ], + "held_grasp_object_position": [ + 0.3382899210294575, + -0.019377050096769023, + 1.2414227562630396 + ], + "held_grasp_finger_gap": 0.026832131016986862, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024711995528378244, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06171580503970073, + -0.9980627211208521, + 0.007871728980465844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003665249844057097, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229453795159776, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3099568320512752, + -0.026678443290489046, + 0.7565864394883788 + ], + "target_position": [ + 0.30886714253412945, + -0.024439547768653747, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002489995261335159, + "xy_threshold": 0.08, + "gripper_dist": 0.21783746883622493, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864394883788, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530101207389403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08813252706229695, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18837897320713023, + "release_required_pad_clearance": 0.054066263531148476, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1451798719271555, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1f85f7b0fc405bed78a52e5d539b5ca2841d96784883930d0904286cde24fa78", + "visual_seed": 4965165285810757375, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f68905401821e750aac9ef863893b8e145367f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3386538208862465, + -0.018604616076310518, + 1.046422218753602 + ], + "current_z": 1.046422218753602, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1898357113450364, + "gripper_z": 1.0484828548097738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33386701106382355, + -0.02327380176672901, + 1.0484828548097738 + ], + "object_minus_gripper": [ + 0.004786809822422966, + 0.0046691856904184925, + -0.002060636056171683 + ], + "object_to_gripper_xy": 0.00668691582776797, + "object_to_gripper_z": -0.002060636056171683, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3386538208862465, + -0.042957208743032514, + 1.046422218753602 + ], + "finger_b": [ + 0.32724562998153295, + -0.018604616076310518, + 1.046422218753602 + ], + "finger_midpoint": [ + 0.33294972543388973, + -0.030780912409671516, + 1.046422218753602 + ], + "object_minus_finger_midpoint": [ + 0.005704095452356783, + 0.012176296333360998, + 0.0 + ], + "finger_gap": 0.0268922960959021, + "fingertip_max_gap": 0.09357901366567697, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344614804795105, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046422218753602, + "object_top_z": 1.092284517143528, + "finger_top_clearance": 0.04586229838992595, + "fingertip_min_top_clearance": 0.013758689516977785, + "object_projection_between_fingers": 0.8200392512866106, + "object_to_finger_line_xy": 0.010330803482750076, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04928950683283849, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.140752016095255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3390944124298373, + -0.022244979068072504, + 1.2388286023266932 + ], + "held_position": [ + 0.3441895826937346, + -0.017967666331882133, + 1.236658499150423 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069975361418815095, + "max_held_gripper_dist": 0.006998966202708274, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021701031762701994, + "max_held_gripper_z_dist": 0.00217152978510593, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695817564883727, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3441895826937346, + -0.043468969868092656, + 1.236658499150423 + ], + "held_grasp_finger_b": [ + 0.33506384582143733, + -0.017967666331882133, + 1.236658499150423 + ], + "held_grasp_midpoint": [ + 0.33962671425758595, + -0.030718318099987395, + 1.236658499150423 + ], + "held_grasp_object_position": [ + 0.3441895826937346, + -0.017967666331882133, + 1.236658499150423 + ], + "held_grasp_finger_gap": 0.027084969180494734, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025082452572070514, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04327812421679865, + -0.9990625502662261, + 0.0010122350616198483 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040067901348121585, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226405390584641, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3056351166363686, + -0.014307522687145538, + 0.7565863762897546 + ], + "target_position": [ + 0.31440910218210594, + -0.022944486992772153, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012311781949558552, + "xy_threshold": 0.08, + "gripper_dist": 0.21243316201045148, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863762897546, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521590154154198, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09295734068400167, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1862540440643327, + "release_required_pad_clearance": 0.05647867034200084, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.315775530813173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "116f84745b1fa1ad116a30b73100665ca548f9593e9039a4f5c4e9b941ee01a0", + "visual_seed": 684791282247905774, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd0d0fffbbb58c70b96e606259033c9514efad3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3357772734377447, + -0.01731962653175972, + 1.046351552304641 + ], + "current_z": 1.046351552304641, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18976516410536493, + "gripper_z": 1.0484398230724286, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33119749789274666, + -0.021916865317930245, + 1.0484398230724286 + ], + "object_minus_gripper": [ + 0.004579775544998055, + 0.0045972387861705245, + -0.0020882707677876144 + ], + "object_to_gripper_xy": 0.006489140813669624, + "object_to_gripper_z": -0.0020882707677876144, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3357772734377447, + -0.041371154636005464, + 1.046351552304641 + ], + "finger_b": [ + 0.32426957018284325, + -0.01731962653175972, + 1.046351552304641 + ], + "finger_midpoint": [ + 0.330023421810294, + -0.029345390583882594, + 1.046351552304641 + ], + "object_minus_finger_midpoint": [ + 0.0057538516274507345, + 0.012025764052122873, + 0.0 + ], + "finger_gap": 0.02666276876755662, + "fingertip_max_gap": 0.09272547066517586, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013331384383778311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046351552304641, + "object_top_z": 1.0923255253262192, + "finger_top_clearance": 0.04597397302157824, + "fingertip_min_top_clearance": 0.013792191906473438, + "object_projection_between_fingers": 0.8137197482602219, + "object_to_finger_line_xy": 0.010380686666996375, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048862735332587934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3220120020461161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33655318007053636, + -0.02087860487140729, + 1.2390851397152287 + ], + "held_position": [ + 0.341494889111075, + -0.01673172667161083, + 1.2368866237268783 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00681546473810267, + "max_held_gripper_dist": 0.006818445189125579, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021985159883504135, + "max_held_gripper_z_dist": 0.0021998062838330945, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08689001353006882, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.341494889111075, + -0.042190432328439394, + 1.2368866237268783 + ], + "held_grasp_finger_b": [ + 0.33266245810883005, + -0.016703738754772334, + 1.2368866237268783 + ], + "held_grasp_midpoint": [ + 0.33707867360995253, + -0.029447085541605862, + 1.2368866237268783 + ], + "held_grasp_object_position": [ + 0.341494889111075, + -0.01673172667161083, + 1.2368866237268783 + ], + "held_grasp_finger_gap": 0.02697375366402347, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024764518590312874, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07384038543083817, + -0.9972540622558651, + 0.005650910864664516 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034660165798819404, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032193686624918554, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30245468975377826, + -0.02065194921077745, + 0.7565869373957094 + ], + "target_position": [ + 0.3116705001114672, + -0.019947517454995664, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00924269358182128, + "xy_threshold": 0.08, + "gripper_dist": 0.2076514692777828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869373957094, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544206199278916, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09305263094796727, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17923120789260988, + "release_required_pad_clearance": 0.05652631547398364, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.417458309346133, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1db37444ed5d7f06788d9d6174b7b9e4582651cfc21d80539207b3b486c6ad9f", + "visual_seed": 5273951586396681690, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..567a429ea62d147455a8b53d8a5e8dec8a75f305 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_89_success.json @@ -0,0 +1,684 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3312985001657656, + -0.014215476426741702, + 1.0476611323262086 + ], + "current_z": 1.0476611323262086, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1910747441269326, + "gripper_z": 1.0502577644909479, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3264978429442651, + -0.01882390152412476, + 1.0502577644909479 + ], + "object_minus_gripper": [ + 0.004800657221500526, + 0.004608425097383059, + -0.0025966321647392654 + ], + "object_to_gripper_xy": 0.0066546143116288274, + "object_to_gripper_z": -0.0025966321647392654, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3312985001657656, + -0.038623988186408484, + 1.0476611323262086 + ], + "finger_b": [ + 0.32002637448815685, + -0.014215476426741702, + 1.0476611323262086 + ], + "finger_midpoint": [ + 0.3256624373269612, + -0.026419732306575093, + 1.0476611323262086 + ], + "object_minus_finger_midpoint": [ + 0.005636062838804412, + 0.01220425587983339, + 0.0 + ], + "finger_gap": 0.02688561443622962, + "fingertip_max_gap": 0.09235845238408238, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344280721811482, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476611323262086, + "object_top_z": 1.0931734769532513, + "finger_top_clearance": 0.04551234462704268, + "fingertip_min_top_clearance": 0.013653703388112769, + "object_projection_between_fingers": 0.8242190884881656, + "object_to_finger_line_xy": 0.010233569807785281, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048679226192041194, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.793446337691727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3318711486032666, + -0.017878297264129678, + 1.2416022968559648 + ], + "held_position": [ + 0.33697205356134324, + -0.013674137631650313, + 1.2388942574423698 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007143365248416442, + "max_held_gripper_dist": 0.007145277268430397, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002708039413594987, + "max_held_gripper_z_dist": 0.002711566564938206, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704116517268563, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33697205356134324, + -0.03927634629001331, + 1.2388942574423698 + ], + "held_grasp_finger_b": [ + 0.3280201840084223, + -0.013509974051462956, + 1.2388942574423698 + ], + "held_grasp_midpoint": [ + 0.3324961187848828, + -0.02639316017073813, + 1.2388942574423698 + ], + "held_grasp_object_position": [ + 0.33697205356134324, + -0.013674137631650313, + 1.2388942574423698 + ], + "held_grasp_finger_gap": 0.02727713157258386, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02527700255054333, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05092395333719163, + -0.9986996578213163, + 0.002396756995920346 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038225482300875404, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032269809214505375, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3077161406246601, + -0.014881391742257586, + 0.7565889001396318 + ], + "target_position": [ + 0.30696357540326047, + -0.01790020046851299, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003111199212229267, + "xy_threshold": 0.08, + "gripper_dist": 0.21722774178500487, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565889001396318, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581172127257137, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08988885755679903, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18788374652499132, + "release_required_pad_clearance": 0.054944428778399515, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.955457576585475, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37d1039a050b75056fb108c0ce2720fa47837878d899c1b1ef7fe03dfc8bb9c9", + "visual_seed": 2122757145698891203, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4875febdff45f9a81d5b2860f1c089f18345b91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_8_success.json @@ -0,0 +1,684 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3362564518108386, + -0.015006403840543494, + 1.0490669804271593 + ], + "current_z": 1.0490669804271593, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19248041341394884, + "gripper_z": 1.050973844972694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33180665239189167, + -0.01943124517393638, + 1.050973844972694 + ], + "object_minus_gripper": [ + 0.004449799418946909, + 0.004424841333392885, + -0.001906864545534681 + ], + "object_to_gripper_xy": 0.0062753434722381835, + "object_to_gripper_z": -0.001906864545534681, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3362564518108386, + -0.03915854845786484, + 1.0490669804271593 + ], + "finger_b": [ + 0.32524546051286707, + -0.015006403840543494, + 1.0490669804271593 + ], + "finger_midpoint": [ + 0.3307509561618528, + -0.027082476149204164, + 1.0490669804271593 + ], + "object_minus_finger_midpoint": [ + 0.005505495648985781, + 0.01207607230866067, + 0.0 + ], + "finger_gap": 0.026543700174994606, + "fingertip_max_gap": 0.09304875511923824, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013271850087497311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490669804271593, + "object_top_z": 1.095154594565374, + "finger_top_clearance": 0.046087614138214716, + "fingertip_min_top_clearance": 0.013826284241464414, + "object_projection_between_fingers": 0.8279201920922779, + "object_to_finger_line_xy": 0.010018914185114306, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902437755961912, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4016693607544581, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33704198727656365, + -0.01836940588082374, + 1.2437647381939054 + ], + "held_position": [ + 0.34178951859624407, + -0.0143094836781585, + 1.2417622891930375 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0065598646269658225, + "max_held_gripper_dist": 0.0065612065606408965, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0020024490008678786, + "max_held_gripper_z_dist": 0.0020034273319173845, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697260274718452, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34178951859624407, + -0.039661084227096285, + 1.2417622891930375 + ], + "held_grasp_finger_b": [ + 0.3329955624229142, + -0.0143094836781585, + 1.2417622891930375 + ], + "held_grasp_midpoint": [ + 0.3373925405095791, + -0.026985283952627392, + 1.2417622891930375 + ], + "held_grasp_object_position": [ + 0.34178951859624407, + -0.0143094836781585, + 1.2417622891930375 + ], + "held_grasp_finger_gap": 0.026833511055606357, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024814592000743284, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.056381341919764995, + -0.9983751125188705, + 0.00826310996293711 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036768266370401917, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229711391560319, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3123848970300021, + -0.021808724253423093, + 0.7565862929515225 + ], + "target_position": [ + 0.31233627219320276, + -0.017633491342871836, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004175516043808727, + "xy_threshold": 0.08, + "gripper_dist": 0.2138131721253165, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862929515225, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752603175284468, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08519611581644825, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18415004149155137, + "release_required_pad_clearance": 0.052598057908224125, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2594430021210459, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e1acd258f3de667c78836a0761fbf319a442d3c5ab5ed12ff26915450bbc96ea", + "visual_seed": 937095045117059746, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..56a6e89463edc70518f4b1219938fce1d727bf30 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3388779256510923, + -0.016287608306948455, + 1.047550344862458 + ], + "current_z": 1.047550344862458, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.19096383745389223, + "gripper_z": 1.0500031125529037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3339949503518209, + -0.02088951741931716, + 1.0500031125529037 + ], + "object_minus_gripper": [ + 0.004882975299271397, + 0.004601909112368706, + -0.0024527676904457785 + ], + "object_to_gripper_xy": 0.006709770134050549, + "object_to_gripper_z": -0.0024527676904457785, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3388779256510923, + -0.040815427503197735, + 1.047550344862458 + ], + "finger_b": [ + 0.3277190962200756, + -0.016287608306948455, + 1.047550344862458 + ], + "finger_midpoint": [ + 0.33329851093558394, + -0.028551517905073095, + 1.047550344862458 + ], + "object_minus_finger_midpoint": [ + 0.0055794147155083795, + 0.01226390959812464, + 0.0 + ], + "finger_gap": 0.026946862318170166, + "fingertip_max_gap": 0.0961812119461902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013473431159085095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047550344862458, + "object_top_z": 1.0945049213624527, + "finger_top_clearance": 0.04695457649999479, + "fingertip_min_top_clearance": 0.014086372949998437, + "object_projection_between_fingers": 0.8285170793795048, + "object_to_finger_line_xy": 0.01015709166781939, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0505906059730951, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8959524363372107, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3387456295532181, + -0.018755740111639774, + 1.2428355426272577 + ], + "held_position": [ + 0.3438061610185708, + -0.01440339723014675, + 1.2402976646013015 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007140916757989783, + "max_held_gripper_dist": 0.007146674027601997, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002537878025956175, + "max_held_gripper_z_dist": 0.0025425042773594697, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08730474188268786, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3438061610185708, + -0.0396734470668434, + 1.2402976646013015 + ], + "held_grasp_finger_b": [ + 0.33415291663637725, + -0.01440339723014675, + 1.2402976646013015 + ], + "held_grasp_midpoint": [ + 0.338979538827474, + -0.027038422148495077, + 1.2402976646013015 + ], + "held_grasp_object_position": [ + 0.3438061610185708, + -0.01440339723014675, + 1.2402976646013015 + ], + "held_grasp_finger_gap": 0.02705107291497851, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025235708728289476, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003238339279549667, + -0.9998780917343206, + 0.015274646589823467 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004789575149313651, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032551110121208086, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30461678066480397, + -0.0193449669948352, + 0.7565859885136156 + ], + "target_position": [ + 0.3146855097861081, + -0.018452803448918455, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01010817797186321, + "xy_threshold": 0.08, + "gripper_dist": 0.21131201186342013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565859885136156, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592454807542645, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09448021586535747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1819872387012436, + "release_required_pad_clearance": 0.05724010793267874, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.092332919250293, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4f296478ac320a166aaba498a43ffaa913d4ceedb8a2e377657b21f38515c2e", + "visual_seed": 4513683467321681330, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..15c3c9ed3d0e742d4f715a82a4e71cdf640b1cac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_91_success.json @@ -0,0 +1,684 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33266435537924516, + -0.017921931335255256, + 1.0459106587307643 + ], + "current_z": 1.0459106587307643, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1893241513221987, + "gripper_z": 1.0481327961348876, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3282717463447431, + -0.022342470545842735, + 1.0481327961348876 + ], + "object_minus_gripper": [ + 0.00439260903450206, + 0.004420539210587479, + -0.002222137404123359 + ], + "object_to_gripper_xy": 0.006231868182361569, + "object_to_gripper_z": -0.002222137404123359, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33266435537924516, + -0.04198935906247969, + 1.0459106587307643 + ], + "finger_b": [ + 0.3216039659627419, + -0.017921931335255256, + 1.0459106587307643 + ], + "finger_midpoint": [ + 0.32713416067099355, + -0.029955645198867474, + 1.0459106587307643 + ], + "object_minus_finger_midpoint": [ + 0.005530194708251612, + 0.012033713863612218, + 0.0 + ], + "finger_gap": 0.026487228836740723, + "fingertip_max_gap": 0.09345731988284325, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01324361441837035, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459106587307643, + "object_top_z": 1.0922865264258814, + "finger_top_clearance": 0.046375867695117146, + "fingertip_min_top_clearance": 0.01391276030853516, + "object_projection_between_fingers": 0.8256315975314761, + "object_to_finger_line_xy": 0.010049942353629998, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922865994142163, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3432770953501771, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333544025776097, + -0.021314105976877676, + 1.2386086942830412 + ], + "held_position": [ + 0.3382438533199217, + -0.017277328450810377, + 1.2362863921743352 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066164219046819855, + "max_held_gripper_dist": 0.006617766886452124, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002322302108705987, + "max_held_gripper_z_dist": 0.0023231523457722947, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686848802863115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3382438533199217, + -0.04261340491504413, + 1.2362863921743352 + ], + "held_grasp_finger_b": [ + 0.3296088563631209, + -0.01718790833235389, + 1.2362863921743352 + ], + "held_grasp_midpoint": [ + 0.3339263548415213, + -0.02990065662369901, + 1.2362863921743352 + ], + "held_grasp_object_position": [ + 0.3382438533199217, + -0.017277328450810377, + 1.2362863921743352 + ], + "held_grasp_finger_gap": 0.026851797871285124, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02480895307008021, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06503832038404217, + -0.9978392628895283, + 0.009317849414198442 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034893844900198722, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032323369637267146, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2979505479809857, + -0.01803724944807584, + 0.7565867100276331 + ], + "target_position": [ + 0.30876707585057084, + -0.02009505640997101, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011010533349749068, + "xy_threshold": 0.08, + "gripper_dist": 0.20970155254862088, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867100276331, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539668573054725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575284053335373, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18194468581091072, + "release_required_pad_clearance": 0.05287642026667687, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7932707502667998, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "67ea15878532b93dbdb474b8340bb81970d35d9b71ec85d7bad29fe5eef69ace", + "visual_seed": 4091908326603714630, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64da29ec93e76712ed76a04d0660064706c88a57 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3394086262735674, + -0.017389567381330264, + 1.0484389941186696 + ], + "current_z": 1.0484389941186696, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19185248671010402, + "gripper_z": 1.0504217111907936, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3347702746198985, + -0.02201806539348121, + 1.0504217111907936 + ], + "object_minus_gripper": [ + 0.004638351653668882, + 0.004628498012150945, + -0.0019827170721240517 + ], + "object_to_gripper_xy": 0.006552655943323905, + "object_to_gripper_z": -0.0019827170721240517, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3394086262735674, + -0.04147909468320558, + 1.0484389941186696 + ], + "finger_b": [ + 0.32784849972158264, + -0.017389567381330264, + 1.0484389941186696 + ], + "finger_midpoint": [ + 0.33362856299757504, + -0.029434331032267926, + 1.0484389941186696 + ], + "object_minus_finger_midpoint": [ + 0.005780063275992342, + 0.012044763650937661, + 0.0 + ], + "finger_gap": 0.026719690333641574, + "fingertip_max_gap": 0.09305641463496087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359845166820776, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484389941186696, + "object_top_z": 1.0945089600436242, + "finger_top_clearance": 0.0460699659249546, + "fingertip_min_top_clearance": 0.013820989777486381, + "object_projection_between_fingers": 0.8128187532187385, + "object_to_finger_line_xy": 0.010422201032642612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049028207317480435, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5093522995679018, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3402114937985636, + -0.02130310901038579, + 1.2398933465346647 + ], + "held_position": [ + 0.3452220614735079, + -0.01713190873858857, + 1.237794405881765 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006849105926836984, + "max_held_gripper_dist": 0.00684984587324157, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002098940652899728, + "max_held_gripper_z_dist": 0.002102281813063378, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581489776926271, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3452220614735079, + -0.04262374066488602, + 1.237794405881765 + ], + "held_grasp_finger_b": [ + 0.33637153483348636, + -0.017081255640591465, + 1.237794405881765 + ], + "held_grasp_midpoint": [ + 0.34079679815349717, + -0.029852498152738743, + 1.237794405881765 + ], + "held_grasp_object_position": [ + 0.3452220614735079, + -0.01713190873858857, + 1.237794405881765 + ], + "held_grasp_finger_gap": 0.027032394696401632, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024842935041822747, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07158849534821014, + -0.9974178668516127, + 0.00571718627980089 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003504034994569091, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032195683864654705, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3019501130123686, + -0.02560231832944435, + 0.7565903103556573 + ], + "target_position": [ + 0.3152328496517881, + -0.021220868753383706, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013986714875900584, + "xy_threshold": 0.08, + "gripper_dist": 0.20693191403161645, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565903103556573, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577746122321088, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08825342973101595, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17738746130547003, + "release_required_pad_clearance": 0.05412671486550798, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2605344503383975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2274211db0d4dc156ca4445e60dff5395940800284459bf9783dcba026bcc64", + "visual_seed": 3452745439313603742, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af49ed8f36bd604674b96964d9aa2c24cb481bd0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33945787217297085, + -0.014759858302093622, + 1.0491936661960963 + ], + "current_z": 1.0491936661960963, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.19260721839217543, + "gripper_z": 1.0512381475631296, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.334919782532733, + -0.019321597363803455, + 1.0512381475631296 + ], + "object_minus_gripper": [ + 0.00453808964023783, + 0.004561739061709834, + -0.0020444813670332795 + ], + "object_to_gripper_xy": 0.006434572312901863, + "object_to_gripper_z": -0.0020444813670332795, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33945787217297085, + -0.038804828105415405, + 1.0491936661960963 + ], + "finger_b": [ + 0.32803171339087883, + -0.014759858302093622, + 1.0491936661960963 + ], + "finger_midpoint": [ + 0.3337447927819248, + -0.026782343203754513, + 1.0491936661960963 + ], + "object_minus_finger_midpoint": [ + 0.005713079391046039, + 0.012022484901660892, + 0.0 + ], + "finger_gap": 0.026621751958806828, + "fingertip_max_gap": 0.0929650680116513, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013310875979403424, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491936661960963, + "object_top_z": 1.095267401950793, + "finger_top_clearance": 0.046073735754696754, + "fingertip_min_top_clearance": 0.013822120726409025, + "object_projection_between_fingers": 0.8157840439360814, + "object_to_finger_line_xy": 0.010320193926698923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048982534005825654, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3197777096973082, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34028390491836236, + -0.018465814331358243, + 1.2417442671711059 + ], + "held_position": [ + 0.3451760072856602, + -0.014341772039914914, + 1.2395890099555364 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006751705270448243, + "max_held_gripper_dist": 0.006752853857382323, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002155257215569417, + "max_held_gripper_z_dist": 0.002156303314984953, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686407646474857, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3451760072856602, + -0.03977380877252476, + 1.2395890099555364 + ], + "held_grasp_finger_b": [ + 0.3363626104809649, + -0.014327866820715655, + 1.2395890099555364 + ], + "held_grasp_midpoint": [ + 0.3407693088833126, + -0.02705083779662021, + 1.2395890099555364 + ], + "held_grasp_object_position": [ + 0.3451760072856602, + -0.014341772039914914, + 1.2395890099555364 + ], + "held_grasp_finger_gap": 0.02692901641448964, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02474589926603651, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07189362615810742, + -0.9973899323185382, + 0.006680525986777817 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034826553400086123, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032207517203368716, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.30711502162226073, + -0.01810437541334607, + 0.7565864098629348 + ], + "target_position": [ + 0.3154098756480888, + -0.018749657367921498, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008319915390837637, + "xy_threshold": 0.08, + "gripper_dist": 0.21062850049239382, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864098629348, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526348466690275, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08772629736117275, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1827771149674268, + "release_required_pad_clearance": 0.05386314868058638, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.735469874811884, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "506990d0dcacefaccfc9478e995dbd879ea9c4c17217355495d4425f8bd40bf9", + "visual_seed": 5344747890433324521, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..819d3c6baf72d6f567e8115cfc0119071f950a5a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_95_success.json @@ -0,0 +1,684 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3337972547251244, + -0.012949358372448578, + 1.047356925704896 + ], + "current_z": 1.047356925704896, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19077053750562, + "gripper_z": 1.049510854490798, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32922071453512, + -0.01757132758834999, + 1.049510854490798 + ], + "object_minus_gripper": [ + 0.004576540190004419, + 0.004621969215901413, + -0.0021539287859020373 + ], + "object_to_gripper_xy": 0.006504407701202778, + "object_to_gripper_z": -0.0021539287859020373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3337972547251244, + -0.03697113159771866, + 1.047356925704896 + ], + "finger_b": [ + 0.3222219417429411, + -0.012949358372448578, + 1.047356925704896 + ], + "finger_midpoint": [ + 0.32800959823403275, + -0.02496024498508362, + 1.047356925704896 + ], + "object_minus_finger_midpoint": [ + 0.005787656491091642, + 0.01201088661263504, + 0.0 + ], + "finger_gap": 0.02666521065961796, + "fingertip_max_gap": 0.09269420659837077, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013332605329808981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047356925704896, + "object_top_z": 1.0934738702991653, + "finger_top_clearance": 0.046116944594269293, + "fingertip_min_top_clearance": 0.013835083378280788, + "object_projection_between_fingers": 0.8115589796215599, + "object_to_finger_line_xy": 0.010427802240866146, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04884710329918539, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1336965757811333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33460545696297195, + -0.01683120619990168, + 1.2433329649689306 + ], + "held_position": [ + 0.3395831983344693, + -0.012700628374875268, + 1.241074349663965 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006851344789597287, + "max_held_gripper_dist": 0.006852223713732916, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022586153049657387, + "max_held_gripper_z_dist": 0.0022605950137439823, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08702608813823937, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3395831983344693, + -0.03827253641994872, + 1.241074349663965 + ], + "held_grasp_finger_b": [ + 0.33073760622214937, + -0.01240246210897505, + 1.241074349663965 + ], + "held_grasp_midpoint": [ + 0.33516040227830934, + -0.025337499264461882, + 1.241074349663965 + ], + "held_grasp_object_position": [ + 0.3395831983344693, + -0.012700628374875268, + 1.241074349663965 + ], + "held_grasp_finger_gap": 0.0273405421429941, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02503070403799479, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08427723436363785, + -0.9963707783628624, + 0.01194235289214507 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033455671056664403, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032236475061714794, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2983862420493845, + -0.02246802847502847, + 0.756586234652125 + ], + "target_position": [ + 0.3096774439089301, + -0.01727530431286095, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012428017688165873, + "xy_threshold": 0.08, + "gripper_dist": 0.20869329559291536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586234652125, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754912877138965, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09337816370017808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17925903586140893, + "release_required_pad_clearance": 0.05668908185008904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.796027170831458, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79c6d7f17509101f2599c397ccbab9c38d564dfce56c0774e579f581348d4545", + "visual_seed": 7883669928611206477, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd61a78c583ec733d41387483c02a7d78148b66c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_97_success.json @@ -0,0 +1,684 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33060010949642543, + -0.0172702973409317, + 1.045827717927559 + ], + "current_z": 1.045827717927559, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18924121051899345, + "gripper_z": 1.0482800647770623, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3259664439097013, + -0.021865619730834118, + 1.0482800647770623 + ], + "object_minus_gripper": [ + 0.004633665586724123, + 0.004595322389902418, + -0.0024523468495032397 + ], + "object_to_gripper_xy": 0.006525936303453312, + "object_to_gripper_z": -0.0024523468495032397, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33060010949642543, + -0.041410818244986644, + 1.045827717927559 + ], + "finger_b": [ + 0.31916517513289044, + -0.0172702973409317, + 1.045827717927559 + ], + "finger_midpoint": [ + 0.3248826423146579, + -0.029340557792959174, + 1.045827717927559 + ], + "object_minus_finger_midpoint": [ + 0.0057174671817675216, + 0.012070260452027474, + 0.0 + ], + "finger_gap": 0.02671184144564854, + "fingertip_max_gap": 0.09307333077592303, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013355920722824283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045827717927559, + "object_top_z": 1.0919578680385364, + "finger_top_clearance": 0.04613015011097743, + "fingertip_min_top_clearance": 0.013839045033293196, + "object_projection_between_fingers": 0.8167433700131688, + "object_to_finger_line_xy": 0.01033419102165201, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903666538796152, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3265617868661383, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3312133199066285, + -0.0207169214830093, + 1.237860680642959 + ], + "held_position": [ + 0.33617196895452256, + -0.016538110732012706, + 1.235301440265082 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006971396630846798, + "max_held_gripper_dist": 0.00697309367167534, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025592403778771367, + "max_held_gripper_z_dist": 0.002560167074244557, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08699597422879893, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33617196895452256, + -0.04196224468926272, + 1.235301440265082 + ], + "held_grasp_finger_b": [ + 0.327259852826944, + -0.016538110732012706, + 1.235301440265082 + ], + "held_grasp_midpoint": [ + 0.33171591089073327, + -0.02925017771063771, + 1.235301440265082 + ], + "held_grasp_object_position": [ + 0.33617196895452256, + -0.016538110732012706, + 1.235301440265082 + ], + "held_grasp_finger_gap": 0.026940905726193384, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02476575310894774, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06736377790459608, + -0.9977176395891529, + 0.004651137395231597 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003590101614373979, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221699459985873, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29787794522408495, + -0.018699236443035675, + 0.7565865188900137 + ], + "target_position": [ + 0.30646032118446265, + -0.019076199757157932, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008590650642731495, + "xy_threshold": 0.08, + "gripper_dist": 0.21031749118846585, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865188900137, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527372628280941, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08585003718556038, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18249930487528468, + "release_required_pad_clearance": 0.05292501859278019, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8873453654028484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2949882addbcc04536b7755f8a9fea184442cf01c3fd2412c0d29c344457e140", + "visual_seed": 8192108708520019837, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c632995f2ccdc598a62ba1860189172802d05ed7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_98_success.json @@ -0,0 +1,684 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.33478022246601197, + -0.015909136934635977, + 1.047144910586004 + ], + "current_z": 1.047144910586004, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19055846278208322, + "gripper_z": 1.0492571219188769, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3302843460960113, + -0.020461605345703737, + 1.0492571219188769 + ], + "object_minus_gripper": [ + 0.004495876370000651, + 0.00455246841106776, + -0.002112211332872871 + ], + "object_to_gripper_xy": 0.006398271092107621, + "object_to_gripper_z": -0.002112211332872871, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33478022246601197, + -0.03990098253427516, + 1.047144910586004 + ], + "finger_b": [ + 0.32334195813498967, + -0.015909136934635977, + 1.047144910586004 + ], + "finger_midpoint": [ + 0.3290610903005008, + -0.02790505973445557, + 1.047144910586004 + ], + "object_minus_finger_midpoint": [ + 0.005719132165511176, + 0.011995922799819592, + 0.0 + ], + "finger_gap": 0.026578986929212765, + "fingertip_max_gap": 0.09397877590913636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013289493464606394, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047144910586004, + "object_top_z": 1.093548939796474, + "finger_top_clearance": 0.04640402921046993, + "fingertip_min_top_clearance": 0.01392120876314098, + "object_projection_between_fingers": 0.8147989647378961, + "object_to_finger_line_xy": 0.010324888322064983, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049489387954568184, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7385432447375229, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33553709582586516, + -0.019473103116483967, + 1.2415369615414678 + ], + "held_position": [ + 0.34039283797324127, + -0.015355976266391722, + 1.239325271062058 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006739476246583804, + "max_held_gripper_dist": 0.006741180149190853, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022116904794098335, + "max_held_gripper_z_dist": 0.0022127620364704725, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08698782661757908, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34039283797324127, + -0.04075570781283665, + 1.239325271062058 + ], + "held_grasp_finger_b": [ + 0.33152192596876184, + -0.015355976266391722, + 1.239325271062058 + ], + "held_grasp_midpoint": [ + 0.33595738197100156, + -0.028055842039614184, + 1.239325271062058 + ], + "held_grasp_object_position": [ + 0.34039283797324127, + -0.015355976266391722, + 1.239325271062058 + ], + "held_grasp_finger_gap": 0.026904264391034494, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02476298444390845, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06547840032864005, + -0.9977994265441417, + 0.010434724653023529 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003596868589052055, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223787961634711, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.29257764305344947, + -0.016448633398379094, + 0.7565867697282553 + ], + "target_position": [ + 0.3107851183989946, + -0.020339462632712163, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01861855823068409, + "xy_threshold": 0.08, + "gripper_dist": 0.2023443813384757, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867697282553, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538104138910276, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08939536152299436, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17615446229027726, + "release_required_pad_clearance": 0.05469768076149718, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.439992103069682, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f33606b71bd442a513d683bcf05f01d14d48bd0cb783a8e731597fb00d4c8a82", + "visual_seed": 5405949664131138101, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..82de044929b93bfc7408d411d5631e3c485e9a13 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3333944588859754, + -0.013597986791140923, + 1.0484010557755237 + ], + "current_z": 1.0484010557755237, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1918145483669581, + "gripper_z": 1.0506141475596031, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3288473506605065, + -0.01821159855796725, + 1.0506141475596031 + ], + "object_minus_gripper": [ + 0.004547108225468888, + 0.004613611766826328, + -0.0022130917840794684 + ], + "object_to_gripper_xy": 0.006477777917552065, + "object_to_gripper_z": -0.0022130917840794684, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3333944588859754, + -0.03756481696895583, + 1.0484010557755237 + ], + "finger_b": [ + 0.32178911108089303, + -0.013597986791140923, + 1.0484010557755237 + ], + "finger_midpoint": [ + 0.3275917849834342, + -0.025581401880048378, + 1.0484010557755237 + ], + "object_minus_finger_midpoint": [ + 0.005802673902541189, + 0.011983415088907455, + 0.0 + ], + "finger_gap": 0.026628801070441563, + "fingertip_max_gap": 0.09360908008360971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013314400535220781, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484010557755237, + "object_top_z": 1.094801231952136, + "finger_top_clearance": 0.04640017617661241, + "fingertip_min_top_clearance": 0.013920052852983722, + "object_projection_between_fingers": 0.8100614604086536, + "object_to_finger_line_xy": 0.010445209277845785, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930454004180486, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4635220025117588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33420850965152993, + -0.017091987210350476, + 1.2406530359627326 + ], + "held_position": [ + 0.33912707695630034, + -0.012936465905197227, + 1.2383283877211977 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006845776150007413, + "max_held_gripper_dist": 0.00684686098966327, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002324648241534888, + "max_held_gripper_z_dist": 0.0023253768868543023, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08691973792363937, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33912707695630034, + -0.038347483960267686, + 1.2383283877211977 + ], + "held_grasp_finger_b": [ + 0.33026544436637056, + -0.012936465905197227, + 1.2383283877211977 + ], + "held_grasp_midpoint": [ + 0.33469626066133545, + -0.02564197493273246, + 1.2383283877211977 + ], + "held_grasp_object_position": [ + 0.33912707695630034, + -0.012936465905197227, + 1.2383283877211977 + ], + "held_grasp_finger_gap": 0.02691186301157953, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024668367371266577, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07550261617708218, + -0.997104632348667, + 0.009039197931556053 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034608263010384374, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03219696483603769, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3115474227068183, + -0.015512542458985867, + 0.7565862037385415 + ], + "target_position": [ + 0.30932071679395523, + -0.0161831142302382, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002325486126120686, + "xy_threshold": 0.08, + "gripper_dist": 0.2148181588179865, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862037385415, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520717783746336, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08845381074806201, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18611800712407905, + "release_required_pad_clearance": 0.054226905374031006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4714685777101097, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 8051752742403627587, + "physical_seed": 8636584217847874233, + "layout_id": "layout_00019", + "step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "workflow_spec_digest": "a508c17da0f07854c17c6eec62b6dea7b7420721e2d4f92bd203aa6c72934f42", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04a33a3e10103ea355ca3eba5dacb54744825a6113e20cc629d0adce00d8891c", + "visual_seed": 8725344712737403444, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 195572404364726227, + 5833845954193008508, + 2804561554099721956 + ], + "runtime_workflow_digest": "11c6fa556e683def10c5a6f369012784c376fc120663fa484fb4dcad4e65ea8c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bced90fb3df29ebd93417e6a3554fd1f2681e3b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00019/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_poo_00019", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..861c3e4105b1cd3992fd117ccbacdf812c789c15 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8910551dd432afd507b07802a2774db1c09a72cba3adf2c237f42c0b77d160ce +size 4333628 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a93aa64adf934fce6587d801ce13fb85843768cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccb172812391fcaf160f2cc78a37cd3bcc40f0513d5ad53a1444e3aff7f8802f +size 4868451 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..882a8b57b888bb188b2e114f6190420045fa815b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:156fd715d8debdb449ab41b1011e0dc330c82b5a146cf78bcc8b6938596fe119 +size 5507417 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a32440197836df232043078b66674227d938b237 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c0169748b9769c5d41be99e97dd0b8fca932e01c9cf2d4d979b1d22c6764a76 +size 4361760 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0f3177a08453794a60912bac4a7dde6f5bff624 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21eeaaf1e8d5dc9101fe0c8427727b135e0cd8561151a1b56cb829cb751a0306 +size 5122237 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d40701c722a9b981a0c3e6b981c10b6995f817b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08f58ff604ad58233df8ca1b7d8f3ad335ccb07b140eed233a23ebf3178d30ae +size 5118590 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8391766bbae1c4d59f71df81360b7055d9c73ec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a697891eb6fa8be71c32cf16b33c784211c87e83d259710c78288c51450b6484 +size 4967589 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..288b055383768b8dd64b4a06c62d7f74e38f8df8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32515a7b48066a1e8e142ed9efa65c7f82ada10e4da7488c85c4de02f8dc59d7 +size 5334238 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42450f68ace1766cee56e6a6f59d23a6d04d0f1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd7e502b29060d4fad6bb4b375b580d21dd434e1c76f9de2086e3465298108b9 +size 5091229 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..293f258c996bda12784c5d686e6ea3383484a3f3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e9f2baafaa30fe6679247e981b272e56d70ce315dadd5a35ac11c5e8ad69ead +size 5794344 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dce28b4a73cfa83bc9364114c9655e0e49980b1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:237376c0d58684cad90054627388a7e651533f2abe2eebf7a05fb45f039840be +size 5689653 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9d7f44cbba06ee6037307dc79d15a8e041ba4df9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa332fdc39125f35c2b9445311a4ba06deeda4b2b6778120d3c0129a13b9109c +size 4755817 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b6579295c83b7a72e2549219895e6cfbe9afa5b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7171c119cda1fa96e6cd79cf6cd5bd4c1c0648c90713666997d31f7e0d397e68 +size 5228777 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e596151be1ebecde75dd0ee6bc46d3705964077c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9c315a3d298dbed373038877878436b28e86a5912f19931d36dea51c55b965a +size 3741365 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..228d866ea3e038de1bf3076bac8b23078b41b369 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c44e84f17215886bedbcf7673763f4ec6f86e06ebbacc1fb171d4ab47a424a8d +size 4483699 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d636e6ec5679b12c6580f6d2f132a25d270919e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8acc5a17d6804d0c2a7282082a32fe05607240232c88d330eb62474663a40647 +size 3923942 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de5df08b4c92e006c4f8aa0485bfe888a136b05e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07d6525562d4e40d8c3edf55025b2f53dac6c51c797d73e33081cd5ff2dc108a +size 4972714 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..db606ee39a15edc4c7d20c93b4862134ff9b0a72 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fbe281c37ec2b04f1a0284a58f31fca26bd442d55ac99d51214db01cd5623f5 +size 4204813 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b707bd8c5f0d4e63a530d411df3c464a6bcbb69d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41f671129384bfaa349e2b3f8086f9c259f76bd8deb7c48fc204044ff025a98d +size 3867809 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb4c47796697606ec6ad84556e0b97a910fa5a2b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21150dd4d9b834fad830c14bc6ab5d7d3512b5058a8dcfee6f78954d78c37fa0 +size 3790961 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c768fb767d32046d4659bcf033dedbf1d34aeced --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed7ad02f7e53b7c9c8baa1a73f097328b556820d52755d44d5ff0991cd4ebbde +size 4013255 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ba6da850150f3393ed4f01865ca58cfef7621abc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9267c1de2e81d64f682db36955d27ee0af6bf07bd1b05c00291db074f371e071 +size 4992870 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..96e2c9418de0474816418f5e2fb5146db1713a12 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:871652664074bc9b56b01a38114c43188ee2f6d5a847a6dee549b247d4252d8a +size 3370357 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aa00e37f38d1c95101758daeba7a5d6aea63ace3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:065a9bc2206d9739823f59579b338f1994330949167fd64c0073e0fc52790325 +size 3507835 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..731bf065b74c8555c8f08a6d6a7a9e56a4fde7bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c28ff18cccb649d58ccf5f092b07df8c632c2b39ba1dc335b916cee2450b2b4 +size 4370878 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5dfb574db94c94da9d101b89fd5523f6463de75 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd2f63a97516d4a3620b7642274cfbd274c704709fc549446b000cf24e095589 +size 5128101 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f07d5fab2174f65299491a58ea623c39e00d454e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0f7b40c82ae49a5f5e9da5f4c026a0a30b62c34562ee47889f6a998a0dd693b +size 4050510 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d97fdc7236ba087e9e2eb5da0f3491d7f59bdb94 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcbb1c6466cabb16448a9033376cbb4862bf90da7314a86fff2215ea2dbf9999 +size 4437190 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22ef5f194ff5db687a354619956a2d9503669cdf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8852c2d0b3c50b455281e20220f39f3b16f02e833ade6d53e8e81dc60014ba4 +size 5920154 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..192fff8abfa90a28f6e7aa8b826e771b3980f66c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c6f3f0ab73d08f4e4e405780f1e2ab8feb433156f685c4da942b4b07d8fcd7f +size 6064901 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f8700fbb5ec6b27fbf89bcc8c11f3e359584431 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99ef34c984a7871c813e56b04e602f09a71e97024edda4968f80131e59615736 +size 5390811 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ac36660e5e2bd0f30a3ce96da73c4b946cd900c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12606fd15bd72952520a67f61618dc6784e8e2e6b3b82b4c55172f71ed7c31bd +size 3967444 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..31108cd649f9cd5b803af377dc479d61f44afe35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d10d92829e9f38110635bad29e941fb016d523a31808ce919d860df911e5f46 +size 3920760 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c09f7a2b2f75fab33d60711f181e34268e37aae3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d99a06a2b692c5d339eec0a51d4f70643dc3a3288676e2a67b50bc9f615e0c6 +size 5061769 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab9228aaf9d4eb608a18b9e4632a20c9f0ae1820 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6451009b6261aa81e4abffb1d140d3b299431c51b65664e0d99911281e45a383 +size 4445891 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..17dbecf89d8a387819228fdde91fb1e4fe76f44d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f2db755a6364f09c9c8b535b152e2a6435a38a0b5272d05f11f0f0aa3a94396 +size 4341808 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d54e97f1337b8c6efee35df0d86153b0fa6b187 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56f56b79fd3ae939425bbeadb9304da6c81d705a7566041173abc5c98b81d6c7 +size 5275193 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13c4888e9a08a50f39c5285accbc9b9b248906a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a34bdabd34044ee851e597621821c238a45302766130f451cf6d9920bcc11a4 +size 4102828 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9fef3f02f46c399708e47527d1547eb10cf44fc3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87438f6c2f066cc5e536848a19397a4909453a5780374c74ae7b83bb31336cfc +size 4755833 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf4fcc9cd3591d102b7fa7d91f33532d8856df65 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:726a8a3973d391e30ba360a8313e66e87ffaa8d8139143d40b1d848d726ca2cf +size 4566183 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a2c39f5ad6cfefbd785025274aee9bed9c56eaff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c2648907c022bfb541c851cb59bcb26588c47850044621179d0c336559ecef2 +size 4079876 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7c03da4817d431bc73763adabcd59bcfd3c7cc59 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecdafcfe3d13e115c5a0f7ae16ae5ccc9eb857003a50650bc7113b93eeb9e37a +size 4861416 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d932ec0d4174c64806cd728c24b3b7cb0a1796ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f390b838a4d994726bf8a44153cb806d6fb42da1c62e53aaa976b020fe45094 +size 4871038 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0a9bcd6a3707fbf840d4509e7841ecc199f708d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32dab577f4d0b6dec95b86da99ab6a2c5886ed1f78e4ba0d284b66aa8d93abb6 +size 5040635 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75e66eca0590a038aaf6babf94361672bf546c49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:933c9702baece6ae243b323ed2bd6d5f24844ac4f0ca96003dad6486ac9f8e4e +size 4892370 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95a4e96bb6931aa6f11afbbd6a20b17a03331be1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:599b76347d86b75c43904a248eced2bd43bc45dd9226047fd8aa478c6f13d891 +size 4065653 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1009cd2ccf5de09c9543e478aaa2852e074a4014 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b4311c6f3465289e5d1541a868fbd388b028e16e608229f103384137b282616 +size 3981964 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..789e07f6224c654bdc5fc62dd37ba618d4418ad1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0aa01e007e544e9b0d0834e19bd7a8102ea51a09c44fa5dfcd3f17e07407b765 +size 5911674 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ba0c84c385e8709675d621c3950a50c3393ef26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbfb7bc7b1268565867042dfbb6f976c2d179b5b96a9c446fb5cb958af2aeaf7 +size 4952848 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..97b39e88a9d0d1ad833ae59b6edfd458a62922db --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9213a215d2db21d9634f0d5e50b1a605559579ac47dcb75b05bff5621b10eff +size 4441105 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b878b90923f382b716366e86bdd7a84ed0d7c0b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5ab2e7ad46dcaa1ea8394b7caead0ff64f9f432c4cc0be02bd52d828c7da540 +size 3677508 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0ba67c8c3433e5fc8d554f22edd6092fca5dc75 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b85f008a7517bc79bbb31b4ff6c5d7ccdd867d8bbc7afd59c998d355d9213594 +size 4503532 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b8935c32e6024896d1e6f85348454b428f6fa50 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a280ed8db8503822168691f11b6789562b09832580c2c2eb4d5e4a82dd79adaf +size 3903541 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..508171a70c7bfdaa7a9e05de9efa5ab3057ca7bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:782f93d90c1449c487d99bc9eca834435f8d1a6bf0283f5645e306aecdde52b8 +size 3795209 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de0dfb85e25e261f03dfd0f14e558fff6750065f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33514ab134daf4e52b273d9722eb5c3a2479e81b536b5755421b27771639fccd +size 4358056 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22f8b73d38842f67201080064abd3f8761fbb55d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76e9884597407d7895f39c3500d448d10968e6273c62c17c834b57757bfc0e1a +size 5811160 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..14dd2f2a7bffd00b98f4abe0a15078b7eed2f45c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f00a1d58356a9a34319b7e01bc7804b3b32003d9bbd5c45a780ce8bcf88e1856 +size 4221476 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2aa31e4204a0198c2a8d6c4d58cfba45873cef5d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2198c70705e33df131e079420dac86e28ba2aa03e0d56d2bd418bea154bd8e3b +size 4158457 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f49e32b8c3e3ea5ab34ec90543b1ba2587b9f90a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:451861ac16b45bcbe76dee3fe1ca307c5d3566daa08156c4cff4267ddad346e4 +size 5758890 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62b6714909d180e817c5b0ad0ccfebef600daf1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74092c5c0c566256893468ceb3c65d19adc8f322f3db5d9bd04f40844791944 +size 4167829 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e6e48dd25822aa7082195fafd0198ef7aadc67c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87d5a7f7f818bcd99c83f315c85cb0f065d01ae426111ecb4a77c03ccc667b97 +size 4630579 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d7a12f65c029e36c1e784042a41a6ad630d7ec5f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a068228f1636c7224f2aab47f9016854cd0761cd5555f795d0db6bc12e7ba8f +size 4099413 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..607f283172edba739fc98b2e4864d4bd71cfd8a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14b509d2ec0822caa32bd0b4432c34514bc12f6e7faa60f1e26b26ce1e86c3a5 +size 5316762 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f574501cdbeca82183c2bb464c3ce2db20592d48 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff8130ad4bc599908a6f16424d77cac115206cf1e678be2f3f4240a60d99baac +size 4727432 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f3c717f827d759b5f688e3f8d08e7f6704f5f6c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91f5d777e6050c7fc6f7d0cb365c8e680f1f53fc5d8f36a7e19756247a1ff589 +size 4324389 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bcbb1d9c95afb66f4a3d14acfa7f9be0de1e19f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e42b158f884462102e5015674f44b04e08bf5e4f47d1b5540ae61da8f17fdafb +size 4188749 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1231a76c73b8fb967314211073dbd177f8833db3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abccf394f5a4c8b3fedfae68791927f3c5f4d38eb3764f883e99f5519b339ccb +size 4407726 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..702d598b4348c0b0b57ef57cb2b66adc6f9dcfa5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a0af0876eec339ccfbe82978d9e8451136837c26f380561884187396042e8cd +size 4558433 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76fe0ebc154a6deac46bb89ba7d2d6b93f14519d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3021bdcd85b4108f4393729dc1a8203e714c5978c433211b7dc86bc772a54ea0 +size 4409638 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9b168cf78dc90ccf406e8ff3de2271971edad76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5670b01c7ef94b9639541b66403ba66f438c040e443aa78a1e302814c688193 +size 4937559 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ee6dd1e4d8fc82b5836710d4992c4f8fab89a0c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e3dcc73e7caa1019e562f6367463abdda131ed2dad7132d3243dc25466dc96b +size 4792563 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5fa02293e1bcfdc6ede43afc7611e5cf1e908c37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28284714b19c8f01d56104d9dace17f122a4cd6fb22393c17da89e45cb4de17e +size 4359480 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0050f210decc949cb4056632ccfc7b9f81fb7f01 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a556eaa1cd880be03e4dacf2d8a7714f0d1c9475f846f69ea370bd48bbbb6dd5 +size 4827584 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..56d836a139c58557e5f1b3b0c7614f4f9369acfa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bc18d170a283a174e1d9cfee6dae49eec651fb494c965e0ec8b18b699046e70 +size 4301574 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0831b34dab2e87c05139e2cd8d8ed0c4dd74c927 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:603cdae6e5aa664c58554b5156a755c3c1264d69ea7b3922077023bfa4ecc9f2 +size 4420962 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0122.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0122.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb3055b9bfedc338d1b7cbad35dd95ba61f3d331 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0122.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22fbe5aa96b1c2652a8b6a20feeb31762556b0b845afb1a97e0a73f9788bbd3d +size 4198176 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0124.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3df5dca098bcbc49ad1e7a44c04e9dd6964e10e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0124.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:422610a2057d93491646c0d2ff2ef269ff56b519b19417ab149f18f58613dc55 +size 5420960 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0126.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0126.h5 new file mode 100644 index 0000000000000000000000000000000000000000..03148b74baaedcd75280c93960ba88c8f9d564b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0126.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9730ae8c159cd2afcd17729aced3643969afbca66b734172c53371b39b499b37 +size 4767100 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0130.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0130.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a8bbd2879dc8cb48d3f895496cafa9711d2502c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0130.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be43cfebd983ad4c25b531b561d9d6e5b73524a61ae9d9503455e4be9f2a52d0 +size 5306153 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0131.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0131.h5 new file mode 100644 index 0000000000000000000000000000000000000000..31d0f90b2f8859524579a9898075b21f3612f99b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0131.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:204c87a637d6dcb71924b5ec737b4144544148b48fcb77ceab684ceb64eb69f8 +size 4416549 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0132.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0132.h5 new file mode 100644 index 0000000000000000000000000000000000000000..491ba87b171d63e80ff735ec8620d69539076300 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0132.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd6c5e5d780dc66ed3cc63bfa1710f50a6a45557e484df65493eb55c285ba123 +size 6611031 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0133.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0133.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2dcb854cb06a9a02f0dbf9ab1ca49a6499b03bbe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0133.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d94ab35e992e69c5a8739e80b26b8bde22a3769245c199c49b842920780f0713 +size 5408526 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0137.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0137.h5 new file mode 100644 index 0000000000000000000000000000000000000000..000e77b92c0ee5179bb2a8fb93a0ad9533542210 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0137.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5f9752d19b184e982fc4ec581d52bfc515c75b7287abc807fc45a358b5522fe +size 4991128 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0139.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0139.h5 new file mode 100644 index 0000000000000000000000000000000000000000..142d16f14c3381a54e2c005b1970deb33f91875d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0139.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cde1669932430ccc79daf67acf2d3d11e45ca2ee3cd18461ad450bc78a67496c +size 4174892 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0140.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0140.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f6e74167dcf773f7c875787e674f1b07e9f5b41 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0140.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9022513fc9a8b3937fca0c920ee174f3e318c7b9861afd2f9437dc97fda13606 +size 5392480 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0143.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0143.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64bda2e6813a9d24d3322c27325d1c18c5106108 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0143.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b55cf962e10b803380f1255e54e47a22080f964a21931b63bce5477a1bb8a26 +size 4317673 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0144.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0144.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a0e9df35537a5ff50dab49273426b1c1fe4e50f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0144.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3545026a40dd8f93b02ef6ffb2adc2d73d1e7013a6d5ae71d958ace7155837b +size 4001909 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0145.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0145.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c39a3aa9f01b95c462303ce17c201c6a98f2ada7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0145.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a42c29b743c1185b9f26b5bf442a4356b0b4a786b0578aee29360e1fa715fb35 +size 5314937 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0150.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0150.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd8c7764990e4b530cb12efaa1dff5d731b67de3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0150.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ba8c8617c9d5801f46423c35a0b7eff3d1ec6c4a720dee0023591af7cdfa8a7 +size 5586835 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0151.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0151.h5 new file mode 100644 index 0000000000000000000000000000000000000000..804367bb677af622f3a25ecec1bc8248795f33f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0151.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc4edcac62c496a036236081094806c7753dc7b0c504f0e44ed076dab57db647 +size 4559038 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0152.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0152.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4360e22db9d521a87468461f29a56c7b4499b48f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0152.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e046be185f9f7c4d4fdec2e0c3a9145565d0b92817991df495fdd305ba0a7b07 +size 4933408 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0153.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0153.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5d64420a6c1f68cd4dd3dd6331e15bfce806aaee --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0153.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56bae6089a97d7351dcf9e52a2650238e738adfc7bff2f43612b11c72da447db +size 5483577 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0154.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0154.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f71145f61dccc5df70d657afe4c746d52301ed0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0154.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfd953d2268172a1044566644afe7bc0a182d7ec6086f35c9fb7fd7fcc21145e +size 4686033 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0155.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0155.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca49868da6a89a293f3d11245a86a3003990295d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0155.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fe124f3fcc5a2666f0956868763d3e6fb016a5dc52ff470aea6885f9aaa884e +size 4717087 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0156.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0156.h5 new file mode 100644 index 0000000000000000000000000000000000000000..771c74c23a5fcb781cb17540fdb122d9229c5bed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0156.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:722ccdd205e010759294fcf72bc692d9710a972dbb806520c5dccf9400c81328 +size 3980122 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0159.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0159.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d91ca17fe316cd8427734a96dc64d4d3fbe6ccd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0159.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:381e0842597a9799d921a590ed5de4a57b8db2049e19917ee39569e0a544772b +size 5015142 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0160.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0160.h5 new file mode 100644 index 0000000000000000000000000000000000000000..529b2293e628ec4dac4fc6d8439202c957187c3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0160.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:799752650bfc6fade601f7d01fa199fcfbc76c74eb8a984875cb02786b57ba32 +size 5233052 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0161.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0161.h5 new file mode 100644 index 0000000000000000000000000000000000000000..467fda030b38682208bdf2cea0d30f651cacf4e3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0161.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84c149c9f562fa465434f0656bd9302d5216b781124a3949e539220241d71dd0 +size 4875770 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0162.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0162.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b3778cb49f2c8a26b9fbc07514271c6ec0673bab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0162.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a5415046757ac48719497627684e6f9e9251b6edb938de6896349ea39586c4b +size 5823258 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0164.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0164.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b4728419921ed803e1b9120c6b3f28e032e5fa4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0164.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:234931216ba1c97ed1a28403cabb75cd26c4cd945df817c7c1ee86b8dfd1d572 +size 4154165 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5664469ed357a64197722caca94d4d0ead7b202d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":114,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":122,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":124,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":126,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":130,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":131,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":132,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":133,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":137,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":139,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":140,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":143,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":144,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":145,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":150,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":151,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":152,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":153,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":154,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":155,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":156,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":159,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":160,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":161,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":162,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":164,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":822,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05272d09dd9c2cb884ec7a614cfe08e1a70ed8a3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T08:08:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.10743320115219257,0.7034283700638158,0.71338606911949],"aabb_xy":[[-0.17743320378877891,0.6833235050679503],[-0.037433198515606225,0.7235332350596813]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.03411299193492745,-2.469503074691706,0.71338606911949],"aabb_xy":[[-0.09411299253094363,-2.52431554723693],[0.02588700866108873,-2.414690602146483]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[0.21761277275948654,1.2863139031331263,0.71338606911949],"aabb_xy":[[0.1763639617295718,1.2313139036209086],[0.2588615837894013,1.3413139026453436]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.3192209519782473,-0.7381688429313644,0.71338606911949],"aabb_xy":[[-0.38322095402797934,-0.7782633260206724],[-0.25522094992851535,-0.6980743598420565]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.4723841688121062,-1.712883166353187,0.71338606911949],"aabb_xy":[[-0.509884167387727,-1.7256194620167447],[-0.4348841702364854,-1.7001468706896288]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.5401239738865756,-0.9437729430892443,0.71338606911949],"aabb_xy":[[-0.5901082095947529,-0.9937729419027399],[-0.4901397381783984,-0.8937729442757487]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.44367634582488735,-1.8180397259339534,0.71338606911949],"aabb_xy":[[0.36367634256087417,-1.831599758242867],[0.5236763490889005,-1.8044796936250402]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.6423885912073255,-0.3237012632394096,0.71338606911949],"aabb_xy":[[0.59241552567481,-0.37370126305194257],[0.692361656739841,-0.2737012634268768]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.4960824742549925,1.4684719304843452,0.71338606911949],"aabb_xy":[[-0.5151947816129714,1.4493371516071032],[-0.4769701668970137,1.4876067093615872]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.3115126979033207,-1.4278576831024372,0.71338606911949],"aabb_xy":[[0.26153940390006025,-1.4778576836569843],[0.36148599190658115,-1.3778576825478897]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.23429275647812964,-0.5508833237778101,0.71338606911949],"aabb_xy":[[-0.2982927550647021,-0.5978902871773188],[-0.17029275789155715,-0.5038763603783014]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.08099728841270437,-2.548697499373038,0.71338606911949],"aabb_xy":[[0.07297101778207837,-2.5574489943503904],[0.08902355904333037,-2.539946004395685]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.04771934065915073,-1.3537549368749144,0.71338606911949],"aabb_xy":[[0.03967598073319556,-1.4387549379702809],[0.05576270058510591,-1.268754935779548]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.61894102697584,-0.8139470553576196,0.71338606911949],"aabb_xy":[[0.6109046922745551,-0.8219851746620362],[0.6269773616771248,-0.8059089360532027]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.07973345330196369,0.822336941715692,0.71338606911949],"aabb_xy":[[-0.15973345128274874,0.8147354007538401],[0.00026654467882135374,0.829938482677544]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.23151148500614377,-1.4951600064123922,0.71338606911949],"aabb_xy":[[-0.3115114836630297,-1.5096648653366551],[-0.15151148634925773,-1.4806551474881293]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[0.5794867269490727,0.5241030122222514,0.71338606911949],"aabb_xy":[[0.5421554504238302,0.4894499574273991],[0.6168180034743154,0.5587560670171037]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.572661230944502,-1.0969390469290143,0.71338606911949],"aabb_xy":[[0.49266123393025407,-1.1170735986024256],[0.65266122795875,-1.076804495255603]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.35804824679193237,-1.19446056677541,0.71338606911949],"aabb_xy":[[0.29304824891028464,-1.2455842304819509],[0.42304824467358026,-1.1433369030688691]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.5761652681954813,-0.6454631503951789,0.71338606911949],"aabb_xy":[[-0.5862469752740547,-0.7254631482872934],[-0.5660835611169077,-0.5654631525030641]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.16684348665849913,-1.7906272097326628,0.71338606911949],"aabb_xy":[[-0.2002836618545187,-1.8240708355635924],[-0.1334033114624795,-1.7571835839017322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663634729857312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4148.png","name":"4148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4148.png","name":"4148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/77.png","name":"77"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8163.png","name":"8163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8475.png","name":"8475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/952.png","name":"952"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":750.7220311126321,"rotation_z_degrees":216.5998528181633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010816728462539966,-0.018450509828450676,0.0168323809919891]},{"name":"camera_2","offset_m":[0.013600006496441847,-0.011345061455288255,-0.01998067634779656]},{"name":"camera_3","offset_m":[-0.018794884221506828,-0.018998632589979313,-0.014541492286004539]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019396391698759665,0.0005681721680759122,-7.531354045549462e-05],"end_effector_yaw_offset_degrees":0.3812955919762899},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014110605735541772,-0.0005368879221063132,-0.00039955254846115113],"end_effector_yaw_offset_degrees":-0.20678800797272512},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013663111223880834,-0.0006021150110912567,0.00013339686769932952],"end_effector_yaw_offset_degrees":0.033886227444266614}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010292169227558963,0.0049381616971581254],"position_m":[0.3373707830772441,0.09023816169715812,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037358663925205647,-0.0013384923615388346],"position_m":[0.22103586639252057,-0.08853849236153884,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011227532066338075,-0.00040563892346664587],"position_m":[0.35347724679336623,0.23519436107653335,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008686674238507748,0.002496189750975427],"position_m":[0.24726866742385079,-0.33320381024902457,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9211145c2cb5e68f573650983c4593b0c023fc7b7826814b535fe1217da2670e","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4148/tex_ceiling_textures_952/tex_floor_textures_8475/tex_table_textures_77/tex_wall_textures_8163","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1085881715991286791,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1085881715991286791,"visual_seed":1085881715991286791,"scene_id":"lab_003","finished_at":"2026-09-03T08:11:04"} +{"episode_id":"ep_000001","started_at":"2026-09-03T08:15:27","dimensions":{"distractor":{"count":25,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.0019419304152066275,-2.4372512078946067,0.71338606911949],"aabb_xy":[[-0.09194192983357752,-2.470626704738796],[0.08805806900316426,-2.4038757110504165]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.35201530568126943,-0.31957907814625663,0.71338606911949],"aabb_xy":[[-0.356131255793342,-0.323694633179102],[-0.34789935556919666,-0.315463523113411]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.49301214390371684,0.5340133315107889,0.71338606911949],"aabb_xy":[[-0.5429852094362323,0.4840133316982561],[-0.4430390783712014,0.5840133313233219]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.5576749472378825,1.3423397090370122,0.71338606911949],"aabb_xy":[[-0.6076749485217222,1.2923608546463898],[-0.5076749459540423,1.392318563427634]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.4644643928462624,-1.7661626511982325,0.71338606911949],"aabb_xy":[[-0.4927941027948027,-1.77062339339195],[-0.4361346828977222,-1.7617019090045158]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.1667809243815107,1.4799793268129862,0.71338606911949],"aabb_xy":[[0.15865323618819752,1.4710657184022784],[0.17490861257482396,1.488892935223694]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.26323456010899543,1.3701185610325965,0.71338606911949],"aabb_xy":[[-0.3042525034953663,1.3201185604016392],[-0.22221661672262455,1.4201185616635539]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.5143085154632083,-2.28322620185279,0.71338606911949],"aabb_xy":[[0.4965150085282919,-2.3010259474485877],[0.5321020223981248,-2.2654264562569923]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.12178853897574204,1.3399300538482808,0.71338606911949],"aabb_xy":[[0.09394350219513492,1.3091455551099693],[0.14963357575634917,1.3707145525865927]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.38534591348529906,0.9947031555464676,0.71338606911949],"aabb_xy":[[-0.3899810286375324,0.990835820469319],[-0.3807107983330656,0.9985704906236162]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.5447606149991104,0.04175814883982332,0.71338606911949],"aabb_xy":[[0.5280834790060148,0.025058224865893042],[0.5614377509922058,0.05845807281375359]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.19118273587592338,0.9214670812781351,0.71338606911949],"aabb_xy":[[0.17608043441490523,0.9063655596470731],[0.20628503733694142,0.9365686029091967]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.6724297785649551,-0.6786015487034851,0.71338606911949],"aabb_xy":[[0.6479161544679493,-0.7028661420055216],[0.696943402661961,-0.6543369554014486]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.026611474825180004,-1.4898861585179948,0.71338606911949],"aabb_xy":[[-0.07661147577571281,-1.521435305521516],[0.023388526125352804,-1.4583370115144731]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.4205306404576843,0.6613242332084366,0.71338606911949],"aabb_xy":[[0.4086585574461831,0.5763242335147862],[0.43240272346918535,0.7463242329020869]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.2148820252174396,-0.9099956329910746,0.71338606911949],"aabb_xy":[[-0.27488202607825235,-0.9614220629975608],[-0.15488202435662676,-0.858569202984588]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.07556001983205352,0.28695129489859594,0.71338606911949],"aabb_xy":[[-0.08871126580334288,0.26195129514190946],[-0.062408773860764155,0.31195129465528254]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.5150316510184676,-2.4026337968319535,0.71338606911949],"aabb_xy":[[-0.5325315844524509,-2.420133796752187],[-0.4975317175844841,-2.385133796911718]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.34889923472815787,1.002947013363098,0.71338606911949],"aabb_xy":[[0.34087296409753187,0.9941955183857454],[0.35692550535878387,1.0116985083404506]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.14904574407221427,-2.2427484626482443,0.71338606911949],"aabb_xy":[[0.0850457420224823,-2.2828429457375523],[0.2130457461219463,-2.2026539795589364]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[0.04622636794558699,-0.6634387873374326,0.71338606911949],"aabb_xy":[[0.03465738719865041,-0.6884387874543643],[0.05779534869252356,-0.6384387872205008]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.47752021717617626,-2.2605755115471817,0.71338606911949],"aabb_xy":[[-0.48522340785025336,-2.2682848822459194],[-0.4698170265020993,-2.252866140848443]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.44348169518596436,0.04426690176075221,0.71338606911949],"aabb_xy":[[-0.4933643920636606,-0.005733097485522539],[-0.3935989983082682,0.09426690100702698]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[0.4558972680328903,-1.6191091412466188,0.71338606911949],"aabb_xy":[[0.449802640144772,-1.6276785357982877],[0.46199189592100864,-1.6105397466949503]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.5785473562782522,1.6847816610650956,0.71338606911949],"aabb_xy":[[0.5442504452605114,1.6504847748551545],[0.6128442672959925,1.7190785472750372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672908814656315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/912.png","name":"912"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5165.png","name":"5165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6522.png","name":"6522"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2825.png","name":"2825"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":643.6861730887923,"rotation_z_degrees":253.55363135924978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002949612819666138,-0.008432657764792899,0.011802383189202337]},{"name":"camera_2","offset_m":[0.011860862069377181,0.0013306987374445307,0.018077400236579718]},{"name":"camera_3","offset_m":[0.0028183505041479845,-0.014270379622794845,0.002517111302817416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016168821639712472,-0.0013262241255896532,0.0007914659727020399],"end_effector_yaw_offset_degrees":-0.09522112824210405},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009923864578576529,0.0009784911242229051,0.0010142003822842293],"end_effector_yaw_offset_degrees":-0.8300685625803448},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00038981225535191476,-0.0004733917814243639,-0.0006903583162645064],"end_effector_yaw_offset_degrees":-0.8155337387024839}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031882238126879773,0.001626919164673656],"position_m":[0.34158822381268794,0.08692691916467365,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003994582124443483,0.004567530091129676],"position_m":[0.2133054178755565,-0.08263246990887033,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00084512747868853,0.0014800837455021419],"position_m":[0.3537548725213115,0.23708008374550216,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016465994613645172,0.003021799896971384],"position_m":[0.24475340053863548,-0.3326782001030286,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e63f1772fd281684e7c0936820f7957008a503782dd98e4430aa15f0f3a439ae","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7862/tex_ceiling_textures_2825/tex_floor_textures_6522/tex_table_textures_912/tex_wall_textures_5165","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8909002363060290463,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8909002363060290463,"visual_seed":8909002363060290463,"scene_id":"lab_003","finished_at":"2026-09-03T08:17:58"} +{"episode_id":"ep_000002","started_at":"2026-09-03T08:19:18","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.11663831293290172,1.554295156286838,0.71338606911949],"aabb_xy":[[-0.2066383123512726,1.5209196594426482],[-0.02663831351453083,1.5876706531310276]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.6458749196448561,1.6637146412039576,0.71338606911949],"aabb_xy":[[0.5818749203506879,1.5997285008351032],[0.7098749189390243,1.7277007815728116]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.6242260367617154,-2.435855326751461,0.71338606911949],"aabb_xy":[[0.6178122231185302,-2.4422651469991288],[0.6306398504049001,-2.4294455065037925]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.41662257211076636,-1.6258558840695794,0.71338606911949],"aabb_xy":[[0.3666492781075058,-1.6758558846241267],[0.4665958661140267,-1.575855883515032]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.5781448938810507,0.659614997430046,0.71338606911949],"aabb_xy":[[0.49442266838096827,0.5696149938953501],[0.6618671193811332,0.749615000964742]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.6424848279935799,-1.1322062818449465,0.71338606911949],"aabb_xy":[[-0.652637843547729,-1.1682758234176864],[-0.6323318124394303,-1.0961367402722058]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.6251854278756203,-2.191414043689833,0.71338606911949],"aabb_xy":[[-0.6801809056962795,-2.24641404512374],[-0.5701899500549608,-2.136414042255926]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.152023043181981,-1.7053332183134464,0.71338606911949],"aabb_xy":[[-0.21602304552478255,-1.750274069557579],[-0.08802304083917943,-1.660392367069314]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.5351650018846559,-1.324581711333773,0.71338606911949],"aabb_xy":[[-0.5694812790592738,-1.3745817113069507],[-0.5008487247100379,-1.2745817113605953]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.030167162723394703,-1.4190151432859441,0.71338606911949],"aabb_xy":[[0.0015178303629784784,-1.4476607025630197],[0.05881649508381093,-1.3903695840088681]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.5181392790563811,1.4196632726540312,0.71338606911949],"aabb_xy":[[-0.5556392802411738,1.4152450499579703],[-0.4806392778715883,1.4240814953500913]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.2714284841866793,-1.0335007009978048,0.71338606911949],"aabb_xy":[[-0.33542848740531717,-1.0802238128968131],[-0.20742848096804145,-0.9867775890987964]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.5044710268834568,0.07612348981974915,0.71338606911949],"aabb_xy":[[-0.5544710263236523,0.026155565335432826],[-0.45447102744326107,0.12609141430406545]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.3394898253785236,0.3838774507452687,0.71338606911949],"aabb_xy":[[-0.39948982562992474,0.32959612570880403],[-0.2794898251271224,0.43815877578173335]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.10756175139787727,0.6374299533768086,0.71338606911949],"aabb_xy":[[-0.1169087589801725,0.6231263311591646],[-0.09821474381558204,0.6517335755944527]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.055782590640731544,-2.3915888629034328,0.71338606911949],"aabb_xy":[[0.0182825901433733,-2.3955575464515513],[0.09328259113808979,-2.3876201793553142]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.12317727270449597,0.9814216266119504,0.71338606911949],"aabb_xy":[[0.059177275402149565,0.9370551996440938],[0.18717727000684237,1.0257880535798072]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.04918084860515437,1.4052018308258183,0.71338606911949],"aabb_xy":[[-0.05739539372083835,1.3965252405281765],[-0.04096630348947039,1.4138784211234592]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.49192154195275045,1.0577052471382364,0.71338606911949],"aabb_xy":[[-0.5007235972617231,1.0498939209833071],[-0.4831194866437777,1.0655165732931653]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.5859858821548525,-1.715938150019698,0.71338606911949],"aabb_xy":[[-0.6036615127434507,-1.7336183662991003],[-0.568310251566254,-1.6982579337402948]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[-0.22596738624568968,-0.339009383027864,0.71338606911949],"aabb_xy":[[-0.23408104091906676,-0.34711519948189307],[-0.21785373157231255,-0.3309035665738349]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.5023259323847058,-1.5182115472570823,0.71338606911949],"aabb_xy":[[0.4876825268306728,-1.5328702669138663],[0.5169693379387388,-1.5035528276002978]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.04497184962720102,-2.2272243975023622,0.71338606911949],"aabb_xy":[[0.022471849115160425,-2.2497162558677606],[0.06747185013924162,-2.204732539136964]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[0.37789046859499686,-2.495157643601198,0.71338606911949],"aabb_xy":[[0.2978904683213898,-2.5681071914269147],[0.4578904688686038,-2.4222080957754812]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624356649346305,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4389.png","name":"4389"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5767.png","name":"5767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5130.png","name":"5130"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2560.png","name":"2560"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":583.7861841712959,"rotation_z_degrees":68.16251470736215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0023278094720542257,0.017118280050772944,0.005362667091363193]},{"name":"camera_2","offset_m":[0.012050551324786826,0.01822239406539852,-0.01895364715109149]},{"name":"camera_3","offset_m":[-0.014165667079768657,0.001964252212704104,-0.007735589169732732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00017712747013892693,-2.170338444182525e-05,0.0007090344496855777],"end_effector_yaw_offset_degrees":-0.6557069578145576},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00029743189849878483,-0.0015417577215853643,6.930362823511773e-05],"end_effector_yaw_offset_degrees":0.8549088820249819},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018300158208507111,-0.0005860682526882281,0.0013691287956334175],"end_effector_yaw_offset_degrees":-0.6087238450744741}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[7.136723972602215e-05,0.003748969483964898],"position_m":[0.338471367239726,0.0890489694839649,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002636110413282453,0.00010475209399866698],"position_m":[0.21466388958671753,-0.08709524790600133,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003829275552736727,-0.004375640283487617],"position_m":[0.3507707244472633,0.2312243597165124,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00012331866903412397,-0.0009638987241373251],"position_m":[0.24652331866903412,-0.3366638987241373,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6886e8c078f7dc35b6f71c7ec33f39460d12fa41aeb81fcf7e1f505af6c8f207","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2575/tex_ceiling_textures_2560/tex_floor_textures_5130/tex_table_textures_4389/tex_wall_textures_5767","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":204314884267423856,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":204314884267423856,"visual_seed":204314884267423856,"scene_id":"lab_003","finished_at":"2026-09-03T08:21:53"} +{"episode_id":"ep_000003","started_at":"2026-09-03T08:21:55","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[0.4276709800548417,-0.44431803029663186,0.71338606911949],"aabb_xy":[[0.4101709798097923,-0.46181781813619865],[0.44517098029989105,-0.42681824245706496]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.0729287143386046,1.6377157984369348,0.71338606911949],"aabb_xy":[[-0.10670427352929755,1.6236773032237697],[-0.03915315514791161,1.6517542936500995]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.6401632411049896,-2.1614649812336433,0.71338606911949],"aabb_xy":[[0.602831964579747,-2.1961180360284955],[0.6774945176302322,-2.126811926438791]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[-0.3295221426151386,-2.187448233830188,0.71338606911949],"aabb_xy":[[-0.3486344499731175,-2.2065830127074304],[-0.31040983525715976,-2.1683134549529464]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.5035372999625345,-1.4837459112128601,0.71338606911949],"aabb_xy":[[-0.5298261242829749,-1.5100173448675112],[-0.47724847564209366,-1.4574744775582087]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.5699115076311727,-2.221954357227116,0.71338606911949],"aabb_xy":[[-0.6499115047907479,-2.233501958184933],[-0.4899115104715973,-2.210406756269299]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.6002462567875179,1.0114252360987912,0.71338606911949],"aabb_xy":[[-0.6302138136973434,0.9814252358009055],[-0.5702786998776921,1.041425236396677]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.44423518369965376,0.08706623730939178,0.71338606911949],"aabb_xy":[[-0.48073100432693244,0.0505822948826342],[-0.40773936307237496,0.12355017973614933]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.502021151091715,1.722004132779865,0.71338606911949],"aabb_xy":[[-0.5570211492934598,1.6814821661534274],[-0.4470211528899702,1.7625260994063026]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.6158771774924525,-0.9549286558274024,0.71338606911949],"aabb_xy":[[0.5808771791817571,-0.962643670750948],[0.650877175803148,-0.9472136409038567]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[-0.6722806869948629,-0.4927866566869392,0.71338606911949],"aabb_xy":[[-0.6831322932437385,-0.5036459474145902],[-0.6614290807459873,-0.4819273659592882]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.2336579841602029,1.541835984704917,0.71338606911949],"aabb_xy":[[-0.2788293020083719,1.4778359875603788],[-0.18848666631203398,1.6058359818494559]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.24425444572092136,0.4743647200030088,0.71338606911949],"aabb_xy":[[0.23490743813862613,0.46006109778536475],[0.2536014533032166,0.4886683422206528]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.6816472891837551,1.2239656905938383,0.71338606911949],"aabb_xy":[[0.6482071139877353,1.190522064762908],[0.7150874643797746,1.2574093164247682]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.12021659539344376,-1.2437624583564353,0.71338606911949],"aabb_xy":[[0.0724104277796751,-1.3087624610634945],[0.16802276300721242,-1.1787624556493765]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.48763148657867705,0.6089663662681124,0.71338606911949],"aabb_xy":[[-0.5010780132127204,0.5954965146150212],[-0.4741849599446337,0.6224362179212036]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[-0.05288030001935695,0.9588316042520395,0.71338606911949],"aabb_xy":[[-0.10787255065486792,0.9038316025087269],[0.0021119506161539976,1.0138316059953523]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.39254225742848536,-2.478796253336925,0.71338606911949],"aabb_xy":[[0.3285422582587154,-2.5255629404558877],[0.4565422565982553,-2.4320295662179627]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.23316844125755593,1.7275935029128253,0.71338606911949],"aabb_xy":[[-0.2971684434779629,1.6832204187875373],[-0.16916843903714887,1.7719665870381138]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.06835954906930297,-0.5008721415063344,0.71338606911949],"aabb_xy":[[-0.10521009700629058,-0.5383721423293683],[-0.03150900113231536,-0.4633721406833008]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700938637513707,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4329.png","name":"4329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4329.png","name":"4329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6624.png","name":"6624"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1100.png","name":"1100"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2380.png","name":"2380"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":680.6050070670603,"rotation_z_degrees":254.53772283358177,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01724061639701571,-0.008740609527064116,0.019780164466438783]},{"name":"camera_2","offset_m":[-0.00947820918495506,-0.012226625332296778,0.006746784507486767]},{"name":"camera_3","offset_m":[0.008849862914726135,-0.018214554477364534,0.008279701742152583]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00142269287542861,0.0015595247470571116,-0.0015351030337106305],"end_effector_yaw_offset_degrees":0.5075181927571193},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003721649833176104,-0.00022760978519079079,-8.361014664763416e-05],"end_effector_yaw_offset_degrees":-0.15510843058511292},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00018046206668671555,0.0015381416607723967,0.0017237503382222918],"end_effector_yaw_offset_degrees":-0.904446114781152}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001179221093247581,-0.0002187004746508096],"position_m":[0.3372207789067524,0.0850812995253492,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026254168655007026,0.0035665496997004708],"position_m":[0.21992541686550068,-0.08363345030029953,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003806788988555787,-0.0029399898861297326],"position_m":[0.3584067889885558,0.23266001011387027,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001068941400258083,-0.004425618579641461],"position_m":[0.2453310585997419,-0.34012561857964146,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"870aff63cec5ad7d3ee5a94759670eb987ceaad42201cab45ca5950c480f981c","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4329/tex_ceiling_textures_2380/tex_floor_textures_1963/tex_table_textures_6624/tex_wall_textures_1100","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2712906147276440837,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2712906147276440837,"visual_seed":2712906147276440837,"scene_id":"lab_003","finished_at":"2026-09-03T08:24:23"} +{"episode_id":"ep_000004","started_at":"2026-09-03T08:24:25","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.2896755992502439,0.6174883053634468,0.71338606911949],"aabb_xy":[[0.2862349230101867,0.6136268723890823],[0.29311627549030106,0.6213497383378113]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.28829622192854865,-0.8808265365893164,0.71338606911949],"aabb_xy":[[0.2713854894922068,-0.894298742181931],[0.30520695436489037,-0.8673543309967019]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.5356009626397884,1.6199262645156778,0.71338606911949],"aabb_xy":[[0.5006009612883067,1.599566528558857],[0.5706009639912701,1.6402860004724986]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.38378766911755835,-2.2400835227916325,0.71338606911949],"aabb_xy":[[0.3728818930299957,-2.3200835191904616],[0.3946934452051211,-2.1600835263928033]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.5242098846801237,0.7440515261515261,0.71338606911949],"aabb_xy":[[0.49920988551449064,0.7370992804461696],[0.5492098838457569,0.7510037718568827]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[0.44890646260179956,-1.765910654417449,0.71338606911949],"aabb_xy":[[0.41299295817680987,-1.8018241626342033],[0.48481996702678926,-1.7299971462006942]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.2632894264522417,1.3640822584818122,0.71338606911949],"aabb_xy":[[-0.2854619534288925,1.3419065913256891],[-0.24111689947559084,1.3862579256379353]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.06315762254123614,-0.20981497471506438,0.71338606911949],"aabb_xy":[[-0.07749204766739959,-0.2218751902696032],[-0.04882319741507268,-0.1977547591605255]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.2073344394599077,-1.9499302097058138,0.71338606911949],"aabb_xy":[[0.19540170509807964,-1.9623123625136731],[0.21926717382173577,-1.9375480568979544]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.48595097329825,-2.1565321820567336,0.71338606911949],"aabb_xy":[[-0.4939444630935321,-2.1645303139972096],[-0.4779574835029681,-2.1485340501162584]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.6644767879036402,-0.49895911327070674,0.71338606911949],"aabb_xy":[[0.6044767880570733,-0.5557777354637454],[0.7244767877502069,-0.44214049107766806]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.3297040099197218,-0.9964541131525899,0.71338606911949],"aabb_xy":[[-0.35425022554247254,-1.0267030097016265],[-0.3051577942969711,-0.9662052166035526]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.30252384486208783,1.6555877269398658,0.71338606911949],"aabb_xy":[[-0.35752384403867726,1.600598052164908],[-0.2475238456854983,1.7105774017148232]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.1386486843465462,-1.776505208603512,0.71338606911949],"aabb_xy":[[-0.16223380781044106,-1.8415052108489438],[-0.11506356088265135,-1.7115052063580802]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.1852245620516958,-1.1420477647513045,0.71338606911949],"aabb_xy":[[0.1351270980706222,-1.2060477652611163],[0.23532202603276944,-1.0780477642414927]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.4314578371096678,-0.45494923679171784,0.71338606911949],"aabb_xy":[[-0.4664578370056866,-0.4633234723036578],[-0.39645783721364886,-0.4465750012797779]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.4924332369145943,-1.5457308904391687,0.71338606911949],"aabb_xy":[[0.4284332345717927,-1.590671741683301],[0.5564332392573959,-1.500790039195036]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.6074882752475775,1.3881748137230487,0.71338606911949],"aabb_xy":[[-0.6168352828298727,1.3738711915054047],[-0.5981412676652822,1.4024784359406928]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.540275719787344,0.8522215702195624,0.71338606911949],"aabb_xy":[[0.5308582452174813,0.8428053930818433],[0.5496931943572068,0.8616377473572814]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.653253404294674,-2.1662653537022014,0.71338606911949],"aabb_xy":[[0.6079747894135248,-2.230265353050385],[0.6985320191758233,-2.1022653543540177]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.5792974791953498,-2.3179007312822097,0.71338606911949],"aabb_xy":[[0.5713034906176463,-2.3259008113773],[0.5872914677730531,-2.3099006511871187]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[-0.5945209778639026,-1.6293894293285103,0.71338606911949],"aabb_xy":[[-0.6645209794661822,-1.6428222225301679],[-0.5245209762616232,-1.6159566361268527]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[0.45674874816123157,-1.9460061154803947,0.71338606911949],"aabb_xy":[[0.4526705902541818,-1.950087095728658],[0.4608269060682813,-1.9419251352321314]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.18560138390322456,-0.49924864389240753,0.71338606911949],"aabb_xy":[[-0.2556013860346541,-0.5220106095181032],[-0.11560138177179499,-0.47648667826671187]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.19077006537573538,-2.481105290850826,0.71338606911949],"aabb_xy":[[-0.2707700639630548,-2.5604208927889864],[-0.11077006678841596,-2.4017896889126646]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.4577290339713942,-0.07987375811595188,0.71338606911949],"aabb_xy":[[-0.47961878156033494,-0.16987375540520097],[-0.43583928638245334,0.010126239173297245]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.07352988699121521,1.387973760931498,0.71338606911949],"aabb_xy":[[-0.1235073038564688,1.3379737594422492],[-0.023552470125961632,1.4379737624207463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697129231405523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7793.png","name":"7793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7793.png","name":"7793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2336.png","name":"2336"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6182.png","name":"6182"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6757.png","name":"6757"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":583.8441521342506,"rotation_z_degrees":32.27133608570769,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00553066319443141,-0.00535580712629884,-0.01947974860001859]},{"name":"camera_2","offset_m":[-0.010097126333290261,0.010074277882974846,0.0014404968567783873]},{"name":"camera_3","offset_m":[0.004984068013647432,0.019227596319618522,-0.0005367422090150897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019891615285451986,0.001297659956152848,-0.001218363618067409],"end_effector_yaw_offset_degrees":0.37867188205758784},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001625928870079684,-0.0006972347443644166,0.0018968943432786374],"end_effector_yaw_offset_degrees":0.22648733404676746},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016620229253529182,-1.5590872691027303e-05,-0.0007196778468051761],"end_effector_yaw_offset_degrees":0.5857918852094748}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028170497056246068,-0.003541751591903817],"position_m":[0.3412170497056246,0.08175824840809619,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004745440138466664,0.0007845358092641516],"position_m":[0.21255455986153332,-0.08641546419073584,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025263222218186946,-0.0005936980816731267],"position_m":[0.3571263222218187,0.2350063019183269,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004898964609229916,9.656023699395819e-05],"position_m":[0.2512989646092299,-0.33560343976300605,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4d9ea6633ea11d06afaac3db089807f6e5e89f5815deb8182af7d5b60022abba","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7793/tex_ceiling_textures_6757/tex_floor_textures_4762/tex_table_textures_2336/tex_wall_textures_6182","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7588304947898726007,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7588304947898726007,"visual_seed":7588304947898726007,"scene_id":"lab_003","finished_at":"2026-09-03T08:26:48"} +{"episode_id":"ep_000005","started_at":"2026-09-03T08:28:16","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.35141735589179146,1.6278113913128665,0.71338606911949],"aabb_xy":[[0.2714235323132333,1.547811388720025],[0.43141117947034974,1.7078113939057082]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.03798351392309118,-1.7625357568370053,0.71338606911949],"aabb_xy":[[-0.02601648633737962,-1.8075445561899333],[0.101983514183562,-1.7175269574840772]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.6598230224586812,1.6685397782042446,0.71338606911949],"aabb_xy":[[0.6298313597248109,1.6385397788674438],[0.6898146851925515,1.698539777541045]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[-0.3386820654996923,-0.25075162675031226,0.71338606911949],"aabb_xy":[[-0.4286820678337114,-0.32823398133542486],[-0.24868206316567326,-0.17326927216519955]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.5471399269768522,1.1621257958358777,0.71338606911949],"aabb_xy":[[-0.5881578703632231,1.1121257952049204],[-0.5061219835904813,1.212125796466835]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[-0.3776749722593018,0.5556869464330454,0.71338606911949],"aabb_xy":[[-0.4126749721553206,0.5473127109211054],[-0.34267497236328287,0.5640611819449853]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.3906255026627134,1.3396677473528613,0.71338606911949],"aabb_xy":[[-0.4281255024797469,1.3350295360417195],[-0.3531255028456798,1.3443059586640032]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.27548155211857983,-1.084886928290702,0.71338606911949],"aabb_xy":[[0.25542314050533954,-1.1049520151998595],[0.2955399637318201,-1.0648218413815447]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.6621936789606385,-1.8203787722465319,0.71338606911949],"aabb_xy":[[-0.668505778496977,-1.8261457114997508],[-0.6558815794243,-1.814611832993313]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.13324184774539327,-0.7277371429245649,0.71338606911949],"aabb_xy":[[-0.18823732556605263,-0.7827371443584717],[-0.07824636992473386,-0.6727371414906579]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.3133899966374186,-1.5579963939453085,0.71338606911949],"aabb_xy":[[-0.3683899948391634,-1.5985183605717461],[-0.25838999843567373,-1.517474427318871]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.14146866832043448,-0.5087706920547572,0.71338606911949],"aabb_xy":[[-0.14959635651374767,-0.5176843004654649],[-0.13334098012712123,-0.49985708364404957]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.1858572148406371,0.43143909725209983,0.71338606911949],"aabb_xy":[[-0.24985721689036908,0.3913446141627919],[-0.12185721279090508,0.47153358034140785]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.4555060658932226,0.8976746395610751,0.71338606911949],"aabb_xy":[[-0.4784217787782725,0.8747703424246518],[-0.4325903530081727,0.9205789366974988]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.3401602135683942,0.23057494820708468,0.71338606911949],"aabb_xy":[[-0.3951339356047271,0.1755749486428515],[-0.2851864915320613,0.28557494777131787]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.4225147134515902,-1.4003258632111395,0.71338606911949],"aabb_xy":[[-0.4726121774326638,-1.4643258637209513],[-0.3724172494705166,-1.3363258627013277]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.43532746511990966,-1.6797352536257042,0.71338606911949],"aabb_xy":[[-0.4528741600360286,-1.7172352551899552],[-0.41778077020379073,-1.6422352520614527]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.10836554917998908,-1.3732129070129686,0.71338606911949],"aabb_xy":[[-0.15836555019912438,-1.4096791227507968],[-0.05836554816085383,-1.336746691275141]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.457628175367522,-0.22406463311057534,0.71338606911949],"aabb_xy":[[0.40764936685720615,-0.27406463311629414],[0.5076069838778379,-0.17406463310485654]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.35846582238540214,0.7443718794948229,0.71338606911949],"aabb_xy":[[-0.4034658238516311,0.6993720226333422],[-0.31346582091917335,0.7893717363563036]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[0.26612074360899585,-2.161824914964816,0.71338606911949],"aabb_xy":[[0.18612074620540245,-2.2418174861629985],[0.3461207410125893,-2.081832343766633]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.13871720397340803,1.4028634646986826,0.71338606911949],"aabb_xy":[[-0.20271720108551372,1.353831094904272],[-0.07471720686130234,1.4518958344930932]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[0.2044149812044822,-1.2399136138251352,0.71338606911949],"aabb_xy":[[0.12441498093087523,-1.312863161650852],[0.2844149814780892,-1.1669640659994185]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[-0.4068427041192577,-0.850879891282381,0.71338606911949],"aabb_xy":[[-0.49684270271372766,-0.8671304775958021],[-0.31684270552478777,-0.83462930496896]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.6126451590052127,-0.9628038196494335,0.71338606911949],"aabb_xy":[[-0.6476451581980308,-0.9737708656470961],[-0.5776451598123943,-0.9518367736517709]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[0.3526736231194154,0.44010828157983495,0.71338606911949],"aabb_xy":[[0.28867362453284295,0.39310131818032623],[0.4166736217059879,0.48711524497934366]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[0.4663634036684918,-1.9245744791509667,0.71338606911949],"aabb_xy":[[0.4023677062733952,-1.9885744774516751],[0.5303591010635884,-1.8605744808502578]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_27","position":[0.20503742422561622,1.053186135552501,0.71338606911949],"aabb_xy":[[0.18716831647116072,1.03935322757529],[0.2229065319800717,1.067019043529712]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[-0.5058989356644864,-0.21900837836279896,0.71338606911949],"aabb_xy":[[-0.5277886832534272,-0.30900837565204803],[-0.48400918807554566,-0.1290083810735498]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67007429410358,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4687.png","name":"4687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4687.png","name":"4687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6267.png","name":"6267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8237.png","name":"8237"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9837.png","name":"9837"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/981.png","name":"981"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":607.6026153764293,"rotation_z_degrees":182.62262819128878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004253457470482433,0.005413710376598099,0.004138728703557516]},{"name":"camera_2","offset_m":[-0.007890970765303304,-0.01876230829769943,0.0029870919940511755]},{"name":"camera_3","offset_m":[-0.01226240269626088,-0.0010036053438498525,0.008585996895914706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013046723147002626,0.0008196894851209358,-0.0006001034201721144],"end_effector_yaw_offset_degrees":0.7424592840108399},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004638092003082495,0.0018317224436574784,-0.0008725349304859757],"end_effector_yaw_offset_degrees":0.8263448599313596},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0003250669357244527,0.0008521673270125208,0.0016146748041654157],"end_effector_yaw_offset_degrees":0.41568257655474605}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00024084397062505356,-0.0008544478956063447],"position_m":[0.3381591560293749,0.08444555210439365,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014924805000952187,0.0012808114516423318],"position_m":[0.2187924805000952,-0.08591918854835767,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003608376269006521,-0.0024610240136155883],"position_m":[0.35820837626900653,0.23313897598638442,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004208492402751157,0.004520880617509685],"position_m":[0.24219150759724886,-0.33117911938249034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"26df645d15f3252ada5a7f09f69b57c43ce9e3aebf0cd372395f0a46c1b3172d","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4687/tex_ceiling_textures_981/tex_floor_textures_9837/tex_table_textures_6267/tex_wall_textures_8237","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8242722445183599745,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8242722445183599745,"visual_seed":8242722445183599745,"scene_id":"lab_003","finished_at":"2026-09-03T08:30:47"} +{"episode_id":"ep_000006","started_at":"2026-09-03T08:30:49","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.5201130841774686,-0.8349339460762573,0.71338606911949],"aabb_xy":[[0.456117386782372,-0.8989339443769659],[0.5841087815725652,-0.7709339477755486]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.6558158746210783,0.2833626033280132,0.71338606911949],"aabb_xy":[[-0.6718778020795957,0.19836260151542143],[-0.6397539471625604,0.36836260514060504]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[0.3157680616708598,0.687191283110308,0.71338606911949],"aabb_xy":[[0.23577423809230158,0.6071912805174665],[0.395761885249418,0.7671912857031497]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.7113602203676146,-0.9462260703640257,0.71338606911949],"aabb_xy":[[0.7069295910127745,-0.9516744420987086],[0.7157908497224549,-0.9407776986293434]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.42627902916968524,-1.2815777077747046,0.71338606911949],"aabb_xy":[[-0.44845155614633603,-1.3037533749308277],[-0.40410650219303434,-1.2594020406185815]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.33372913711846613,1.7289044191825593,0.71338606911949],"aabb_xy":[[-0.351307439307413,1.7113299296084545],[-0.3161508349295193,1.7464789087566646]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.026848364211513154,1.6122410625811354,0.71338606911949],"aabb_xy":[[0.014976281200012046,1.527241062887485],[0.038720447223014265,1.6972410622747858]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.5535472732807889,-0.7967859903380232,0.71338606911949],"aabb_xy":[[-0.6175472746887795,-0.8485749418619478],[-0.4895472718727982,-0.7449970388140984]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.6743614068434562,-2.4057267231542157,0.71338606911949],"aabb_xy":[[0.6243621316750202,-2.455726724430163],[0.7243606820118925,-2.3557267218782685]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.4188973365466455,-2.522030634553175,0.71338606911949],"aabb_xy":[[-0.4302590711999316,-2.5333991009594627],[-0.4075356018933593,-2.510662168146886]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.5063339341530697,-0.08121000584271565,0.71338606911949],"aabb_xy":[[-0.5713339320347175,-0.13233366954925652],[-0.4413339362714219,-0.030086342136174775]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.19966959003162954,1.611753172514232,0.71338606911949],"aabb_xy":[[0.17466959075966723,1.5954078089180697],[0.2246695893035918,1.6280985361103943]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.24410572663586305,-0.9308839889346736,0.71338606911949],"aabb_xy":[[-0.30410572749667575,-0.9823104189411599],[-0.1841057257750502,-0.8794575589281871]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.08324582734243435,-0.8899788741860788,0.71338606911949],"aabb_xy":[[-0.006754174991584719,-0.9674612287711916],[0.1732458296764534,-0.8124965196009662]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[0.5400725055134963,-0.9588750151325269,0.71338606911949],"aabb_xy":[[0.5274698063764198,-0.9714704113573924],[0.5526752046505727,-0.9462796189076614]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.5632175488629598,-1.5404115282745217,0.71338606911949],"aabb_xy":[[0.5332258861290895,-1.570411527611322],[0.5932092115968302,-1.510411528937721]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[0.1508016410451427,0.9207327294781145,0.71338606911949],"aabb_xy":[[0.06080164132196852,0.8976593769429345],[0.24080164076831687,0.9438060820132942]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.22872484921274372,0.25072345464348,0.71338606911949],"aabb_xy":[[-0.25118961918414884,0.22822345376461944],[-0.2062600792413386,0.27322345552234045]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.39323033122711,0.1417252560637512,0.71338606911949],"aabb_xy":[[-0.4110238381620264,0.12392551046795353],[-0.37543682429219355,0.15952500165954886]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.05297509107040532,-1.7765349056035498,0.71338606911949],"aabb_xy":[[-0.11456585029439814,-1.8405349037125969],[0.00861566815358749,-1.712534907494503]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.6435136930904969,-0.52456197231963,0.71338606911949],"aabb_xy":[[-0.6935085260184384,-0.5745619712148735],[-0.5935188601625552,-0.47456197342438644]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.0340951102414363,-1.5636158574486863,0.71338606911949],"aabb_xy":[[0.018922940959802965,-1.5787847143768896],[0.04926727952306965,-1.548447000520483]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.554591183346894,0.3834030407834903,0.71338606911949],"aabb_xy":[[0.5390354139366287,0.3678526075390831],[0.5701469527571592,0.39895347402789755]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[0.3860624708220528,1.3759758940091702,0.71338606911949],"aabb_xy":[[0.32206246760341495,1.3292527821101618],[0.45006247404069066,1.4226990059081785]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.3508221275365606,-0.1970697363381535,0.71338606911949],"aabb_xy":[[-0.3858221267293788,-0.2080367823358161],[-0.3158221283437423,-0.18610269034049085]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[0.14782719059608762,0.7215280818819032,0.71338606911949],"aabb_xy":[[0.1253271910723802,0.6990321344312823],[0.170327190119795,0.7440240293325239]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[-0.466656465395326,0.3661100161175015,0.71338606911949],"aabb_xy":[[-0.4918773022551657,0.34088626526461474],[-0.44143562853548635,0.39133376697038824]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[-0.08189186651815483,-0.05393449967285591,0.71338606911949],"aabb_xy":[[-0.10689186645067272,-0.06081716789377923],[-0.05689186658563694,-0.0470518314519326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668574438548887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5586.png","name":"5586"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6395.png","name":"6395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7352.png","name":"7352"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":746.7972526469886,"rotation_z_degrees":354.64234815352233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014373743086463785,-0.015023954899304807,0.002588593286997981]},{"name":"camera_2","offset_m":[-0.00818329783153891,-0.017396117988875137,-0.003466893855758598]},{"name":"camera_3","offset_m":[-0.01929005443775914,0.006082935850895425,-0.015395071737342128]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019239356928744651,-0.0012873002465592833,-0.0014466375197071343],"end_effector_yaw_offset_degrees":0.9225428391564878},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00015683398064325962,-0.0012121314705931929,-0.0007299585241273886],"end_effector_yaw_offset_degrees":-0.9367705178332371},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-4.636801545736561e-05,-0.0016022860912854866,-0.0019099219720673149],"end_effector_yaw_offset_degrees":-0.6848022402497185}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007555061073311088,0.004149369093232305],"position_m":[0.3376444938926689,0.08944936909323231,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004314583594696033,0.0023600180360528536],"position_m":[0.21298541640530397,-0.08483998196394715,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002138842281765844,0.0036507977002041237],"position_m":[0.35246115771823416,0.23925079770020413,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034955925969834623,0.004927808693538672],"position_m":[0.24989559259698346,-0.33077219130646135,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b7e19cc3d3fdc3a172194eea3a258672d45c6aa2b5f344cac71a1322176ed4ba","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9084/tex_ceiling_textures_7352/tex_floor_textures_6395/tex_table_textures_894/tex_wall_textures_5586","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":753886954220375496,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":753886954220375496,"visual_seed":753886954220375496,"scene_id":"lab_003","finished_at":"2026-09-03T08:33:16"} +{"episode_id":"ep_000007","started_at":"2026-09-03T08:33:19","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[0.16837256885005625,-2.5129505023243297,0.71338606911949],"aabb_xy":[[0.15087256860500686,-2.530450290163896],[0.18587256909510563,-2.4954507144847624]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.18513673585833934,1.7195153842728605,0.71338606911949],"aabb_xy":[[0.13515378567085998,1.6695153846303],[0.23511968604581865,1.7695153839154207]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.11911373208655929,0.7303443890330299,0.71338606911949],"aabb_xy":[[-0.1306827128334959,0.7053443889160982],[-0.10754475133962274,0.7553443891499616]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.583520176268187,0.9479538721108236,0.71338606911949],"aabb_xy":[[-0.6203148093930932,0.9110479970142412],[-0.5467255431432807,0.9848597472074058]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.37047883955613115,1.5576768266307028,0.71338606911949],"aabb_xy":[[0.3329788387641357,1.5513089856725126],[0.4079788403481266,1.564044667588893]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.15695183830172932,-1.78562690365355,0.71338606911949],"aabb_xy":[[-0.16507952649504254,-1.7945405120642577],[-0.1488241501084161,-1.7767132952428422]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.3069583298553976,1.3654152552281271,0.71338606911949],"aabb_xy":[[-0.39664540616351307,1.2754152549736766],[-0.21727125354728216,1.4554152554825777]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.33219127746581684,0.14847338540217736,0.71338606911949],"aabb_xy":[[-0.3961912793781592,0.09256223614416695],[-0.2681912755534745,0.20438453466018783]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.4039403874195778,0.39601363815510116,0.71338606911949],"aabb_xy":[[-0.4517465550333464,0.3310136354480422],[-0.3561342198058091,0.46101364086216007]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.21605915527292646,-2.2269649801177676,0.71338606911949],"aabb_xy":[[-0.22017510538499907,-2.2310805351506127],[-0.21194320516085374,-2.2228494250849216]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.6810204753480855,-1.0208233220923222,0.71338606911949],"aabb_xy":[[0.6675739487140422,-1.0342931737454135],[0.6944670019821289,-1.0073534704392308]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.16131218890453647,-1.3903897894628687,0.71338606911949],"aabb_xy":[[0.12481636827725773,-1.4268737318896263],[0.1978080095318152,-1.3539058470361112]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.2935764990944626,1.2110629458303115,0.71338606911949],"aabb_xy":[[-0.3310764994426903,1.1992715502492277],[-0.2560764987462348,1.2228543414113948]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.6043858870517547,-0.06883572470026822,0.71338606911949],"aabb_xy":[[-0.6593781376872657,-0.123835726443581],[-0.5493936364162438,-0.013835722956955444]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[0.18716393175839752,-1.7836955472388636,0.71338606911949],"aabb_xy":[[0.1725205262043645,-1.7983542668956476],[0.20180733731243047,-1.7690368275820791]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.09633347049662566,-1.2943861747922334,0.71338606911949],"aabb_xy":[[-0.10513552580559837,-1.3021975009471622],[-0.08753141518765295,-1.286574848637304]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.11263817154650613,-2.46726858421117,0.71338606911949],"aabb_xy":[[-0.1476381707393244,-2.478235630208832],[-0.07763817235368786,-2.456301538213507]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[0.15086281357880604,1.6066747073321115,0.71338606911949],"aabb_xy":[[0.14208158643156985,1.5978949600435817],[0.1596440407260423,1.6154544546206422]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.4332710284342459,0.26661343930746506,0.71338606911949],"aabb_xy":[[-0.5132710264150309,0.25901189834561306],[-0.35327103045346087,0.27421498026931695]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[-0.5679244175533041,-1.906980522587864,0.71338606911949],"aabb_xy":[[-0.6130957354014731,-1.9709805197324028],[-0.5227530997051352,-1.842980525443326]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[0.5272032465185588,-2.2187573186374117,0.71338606911949],"aabb_xy":[[0.44720324325454563,-2.232317350946325],[0.6072032497825719,-2.2051972863284983]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[0.42322668774084926,-2.344464708123404,0.71338606911949],"aabb_xy":[[0.3582266898592015,-2.395588371829945],[0.4882266856224971,-2.2933410444168634]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.5095059744476769,0.4034875377598435,0.71338606911949],"aabb_xy":[[0.47096028162247583,0.3649417667036548],[0.5480516672728779,0.44203330881603214]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.24639163293476712,-2.4753067616809155,0.71338606911949],"aabb_xy":[[-0.25647334001334054,-2.5553067595730297],[-0.23630992585619362,-2.3953067637888004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666644026384901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3799.png","name":"3799"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3799.png","name":"3799"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6343.png","name":"6343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6879.png","name":"6879"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5694.png","name":"5694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1799.png","name":"1799"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":782.4408219534499,"rotation_z_degrees":116.02073903795507,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014311317029426899,-0.004145968396493754,0.007379439974906362]},{"name":"camera_2","offset_m":[0.002671461100836957,0.015976261068341557,0.014172659312981829]},{"name":"camera_3","offset_m":[-0.019480587432457622,0.016119649116877067,0.003849038633525783]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016545328429517117,0.0001714222831084057,6.799704285943972e-05],"end_effector_yaw_offset_degrees":0.10398109071054473},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003123320124154669,0.0009668419735916613,0.0005651099166934658],"end_effector_yaw_offset_degrees":-0.9574639766805186},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003071275244024164,0.00031992449241587985,0.0018740600036628342],"end_effector_yaw_offset_degrees":0.2734013423653845}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004107549246948074,-0.0038488560683197916],"position_m":[0.34250754924694804,0.08145114393168021,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013549422101263916,0.003574045792177312],"position_m":[0.21865494221012638,-0.08362595420782269,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003280433294360535,-0.0014169693690801646],"position_m":[0.35131956670563946,0.23418303063091983,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004618441295764397,-0.0032173157059868654],"position_m":[0.2510184412957644,-0.3389173157059869,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50f3c6406df69ce45d62c67753876de60aec69f9b0764c5a3e28ed328c2e87f0","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3799/tex_ceiling_textures_1799/tex_floor_textures_5694/tex_table_textures_6343/tex_wall_textures_6879","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":692555247198696993,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":692555247198696993,"visual_seed":692555247198696993,"scene_id":"lab_003","finished_at":"2026-09-03T08:35:44"} +{"episode_id":"ep_000008","started_at":"2026-09-03T08:35:48","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.4735945008446709,-2.208393046432109,0.71338606911949],"aabb_xy":[[0.46424749326237574,-2.222696668649753],[0.4829415084269662,-2.194089424214465]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[-0.4631316534665871,-1.4017507201187491,0.71338606911949],"aabb_xy":[[-0.5006316542585825,-1.4081185610769391],[-0.4256316526745917,-1.3953828791605591]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.35078614397554037,-1.2210369315531253,0.71338606911949],"aabb_xy":[[-0.3746223616161454,-1.311036932361612],[-0.3269499263349353,-1.131036930744639]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[-0.54344388766588,-1.1098156707854243,0.71338606911949],"aabb_xy":[[-0.5515715758591933,-1.118729279196132],[-0.5353161994725668,-1.1009020623747166]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[0.543482968440405,-0.402602095319164,0.71338606911949],"aabb_xy":[[0.5393670183283321,-0.40671765035200946],[0.5475989185524774,-0.39848654028631847]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.3828683144159555,-1.8822038234194944,0.71338606911949],"aabb_xy":[[0.31886831802038246,-1.9461671118382278],[0.4468683108115286,-1.8182405350007607]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.02717098380176597,1.0038894582467637,0.71338606911949],"aabb_xy":[[0.023092825894716222,0.9998084779985004],[0.0312491417088157,1.007970438495027]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.6093531511039949,-1.6950360905201174,0.71338606911949],"aabb_xy":[[0.6033866121632592,-1.7009972351794815],[0.6153196900447306,-1.6890749458607537]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.29244784273658864,0.7526817189802597,0.71338606911949],"aabb_xy":[[0.22844783951795083,0.7059586070812515],[0.35644784595522655,0.7994048308792682]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.03996857456862912,-2.1204355981740513,0.71338606911949],"aabb_xy":[[-0.04492459475351033,-2.1429355983761735],[-0.03501255438374793,-2.09793559797193]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.6346237084219234,-0.49647298353583436,0.71338606911949],"aabb_xy":[[-0.6596237076938856,-0.5128183471319966],[-0.609623709149961,-0.48012761993967196]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[0.47727353363788194,0.39412022530881474,0.71338606911949],"aabb_xy":[[0.4271760696568083,0.33012022479900294],[0.5273709976189556,0.45812022581862655]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.3019976401069233,1.0101941745226433,0.71338606911949],"aabb_xy":[[-0.39199764378384133,0.9487617679455385],[-0.21199763643000502,1.0716265810997472]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.08477455670800049,-1.5248287060827872,0.71338606911949],"aabb_xy":[[-0.09355578385523672,-1.533608453371318],[-0.07599332956076427,-1.5160489587942574]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.3307166535240875,-0.711443423258384,0.71338606911949],"aabb_xy":[[0.2933853769988449,-0.7460964780532363],[0.3680479300493301,-0.6767903684635318]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.13039007837268968,1.7776129243426593,0.71338606911949],"aabb_xy":[[-0.16539007750264537,1.7718677032669952],[-0.09539007924273404,1.7833581454183234]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.2900197857985739,-0.4474354706049861,0.71338606911949],"aabb_xy":[[-0.32501978577506974,-0.4569000866526028],[-0.25501978582207807,-0.43797085455736956]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.06263514689742822,-0.7550022783160193,0.71338606911949],"aabb_xy":[[-0.1054018537768484,-0.8190022817378217],[-0.019868440018008013,-0.6910022748942168]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.5454872775694138,-0.9470103578123612,0.71338606911949],"aabb_xy":[[-0.6104872776037166,-0.9937110344926885],[-0.4804872775351111,-0.9003096811320339]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.4387933730293031,-1.7544649346016075,0.71338606911949],"aabb_xy":[[-0.44603713907554843,-1.8344649328052096],[-0.4315496069830578,-1.6744649363980049]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.4663271596574965,1.181384748133556,0.71338606911949],"aabb_xy":[[0.41133490902198566,1.1263847463902432],[0.5213194102930075,1.2363847498768687]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.46229265972130795,0.7151619379749077,0.71338606911949],"aabb_xy":[[-0.48729265927304644,0.7050194541097728],[-0.43729266016956947,0.7253044218400423]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.13313327495030292,1.0779712978927307,0.71338606911949],"aabb_xy":[[0.09628272701331528,1.040471297069697],[0.1699838228872905,1.1154712987157644]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[-0.4819545608975587,0.8925805683820998,0.71338606911949],"aabb_xy":[[-0.4948264643984988,0.8125805679682636],[-0.46908265739661853,0.9725805687959359]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.6125402192053202,0.5828522685773616,0.71338606911949],"aabb_xy":[[0.6017672452839523,0.5478522703583227],[0.6233131931266879,0.6178522667964007]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.6194447896054052,1.255146217794949,0.71338606911949],"aabb_xy":[[0.5644447904288157,1.2001565430199912],[0.6744447887819947,1.3101358925699065]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.531268299589195,1.706710448905898,0.71338606911949],"aabb_xy":[[-0.5725728426529308,1.6427104493377809],[-0.48996375652545887,1.770710448474015]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.3989254215070912,-1.3713671340255378,0.71338606911949],"aabb_xy":[[0.38113191457217477,-1.3891668796213354],[0.41671892844200764,-1.3535673884297401]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[0.18356635062413795,1.2532506013015134,0.71338606911949],"aabb_xy":[[0.17163361626230988,1.240868448493654],[0.19549908498596602,1.2656327541093728]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_29","position":[-0.5729808877355362,1.4472587979927858,0.71338606911949],"aabb_xy":[[-0.6079808860462317,1.4395437830692401],[-0.5379808894248408,1.4549738129163314]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_30","position":[0.03489397064210731,0.6603195014504872,0.71338606911949],"aabb_xy":[[-0.029106025785214595,0.6131498776283908],[0.09889396706942921,0.7074891252725837]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[0.6065119757159543,-0.7789148541910613,0.71338606911949],"aabb_xy":[[0.5643275615551235,-0.8429148544682726],[0.648696389876785,-0.7149148539138502]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_32","position":[-0.5691532304962068,0.11120271558759365,0.71338606911949],"aabb_xy":[[-0.5771895651974916,0.10316459628317687],[-0.561116895794922,0.11924083489201043]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695958834236628,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6979.png","name":"6979"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6979.png","name":"6979"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2657.png","name":"2657"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6202.png","name":"6202"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":707.6457750211745,"rotation_z_degrees":219.84860801567774,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00948313242158172,-0.013435834487567747,0.0058843163941916105]},{"name":"camera_2","offset_m":[-0.01966629119336435,-0.0039348966208594925,0.013851384394023402]},{"name":"camera_3","offset_m":[0.007983696131308907,0.0006752235743370839,-0.019545319815845875]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001163888551230691,-1.7000667236543015e-05,0.0018829261928691322],"end_effector_yaw_offset_degrees":0.8257414973374984},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009634625400427265,-0.00129796929569036,0.001487447110146161],"end_effector_yaw_offset_degrees":0.20080278593665035},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000656929507570556,0.0005843496732139942,0.0017322374861276635],"end_effector_yaw_offset_degrees":0.16300523013646195}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006466674764355387,-0.003290551343672805],"position_m":[0.3390466674764355,0.0820094486563272,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002752102413571017,-0.0023451376205595796],"position_m":[0.21454789758642898,-0.08954513762055957,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033035510000931885,-0.00301503860730759],"position_m":[0.3579035510000932,0.2325849613926924,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003067963000410537,-0.004877398507764101],"position_m":[0.24946796300041055,-0.3405773985077641,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f2608fd7af0ada922376f2e95120e140085d06e3effa91d56d62708ed234bec","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6979/tex_ceiling_textures_6202/tex_floor_textures_2657/tex_table_textures_1725/tex_wall_textures_6938","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":676444383762683240,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":676444383762683240,"visual_seed":676444383762683240,"scene_id":"lab_003","finished_at":"2026-09-03T08:38:20"} +{"episode_id":"ep_000009","started_at":"2026-09-03T08:39:47","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.08233744522463948,0.6620613488090026,0.71338606911949],"aabb_xy":[[-0.0929049248827385,0.651516318695994],[-0.07176996556654047,0.6726063789220111]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.02778251537341636,0.8310873734813984,0.71338606911949],"aabb_xy":[[-0.04528251563275299,0.8169958312926258],[-0.01028251511407974,0.845178915670171]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.2043325057180081,-1.080052883355112,0.71338606911949],"aabb_xy":[[0.1693325058219892,-1.088427118867052],[0.23933250561402694,-1.071678647843172]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.658408030659569,1.5512113161146837,0.71338606911949],"aabb_xy":[[-0.6637456063255737,1.526211315185544],[-0.6530704549935645,1.5762113170438237]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.5281081674570749,0.4870243370490215,0.71338606911949],"aabb_xy":[[0.4781081678807402,0.43704375809691554],[0.5781081670334096,0.5370049160011274]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.6532075476424073,-1.2679548630423028,0.71338606911949],"aabb_xy":[[0.6414393608477499,-1.3529548629475245],[0.6649757344370649,-1.1829548631370814]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.28928098024743915,0.07794741023994023,0.71338606911949],"aabb_xy":[[-0.30671169532644554,0.06067529557608942],[-0.2718502651684325,0.09521952490379104]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.030666975659109807,-2.096388634512947,0.71338606911949],"aabb_xy":[[0.006830758018504747,-2.1863886353214337],[0.05450319329971488,-2.0063886337044607]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.18806044824354062,0.948806712106228,0.71338606911949],"aabb_xy":[[-0.2113422904416719,0.8638067108089998],[-0.16477860604540923,1.0338067134034559]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.18373499235190005,-1.6213753849704755,0.71338606911949],"aabb_xy":[[0.1385636745037311,-1.6853753821150141],[0.22890631020006907,-1.5573753878259373]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.227163071446704,1.7866074632548297,0.71338606911949],"aabb_xy":[[0.20424735856165407,1.7637031661184062],[0.2500787843317539,1.8095117603912532]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.47409463524252116,-1.2299498460006721,0.71338606911949],"aabb_xy":[[-0.5240946366034083,-1.2799277505760878],[-0.42409463388163393,-1.1799719414252565]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.6451019749128455,0.9538771228637564,0.71338606911949],"aabb_xy":[[-0.6542618538567221,0.9473459048202193],[-0.6359420959689689,0.9604083409072934]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.4862794826109986,1.5294234282077954,0.71338606911949],"aabb_xy":[[0.42227948026819706,1.484482576963663],[0.5502794849538002,1.574364279451928]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.02205819678112908,0.6954585441314856,0.71338606911949],"aabb_xy":[[0.00617370351580393,0.6811056038326616],[0.03794269004645423,0.7098114844303097]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.15502337382866072,0.6826975492452618,0.71338606911949],"aabb_xy":[[0.14417176757978512,0.6718382585176107],[0.16587498007753632,0.6935568399729127]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.4101512696850153,1.6986060578626714,0.71338606911949],"aabb_xy":[[-0.4188492319757306,1.6864810835551967],[-0.4014533073943,1.710731032170146]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[0.11619715480600268,-1.9148568854826915,0.71338606911949],"aabb_xy":[[0.09731277103749247,-1.9337428102630443],[0.13508153857451288,-1.8959709607023387]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.47155802133077285,1.6906056383969275,0.71338606911949],"aabb_xy":[[0.4641455657893843,1.6847544279752995],[0.47897047687216127,1.6964568488185554]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.015938105997285512,1.3491207581541742,0.71338606911949],"aabb_xy":[[0.004005371635457444,1.3367386053463148],[0.02787084035911358,1.3615029109620336]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.2948957452557094,1.612218216868404,0.71338606911949],"aabb_xy":[[0.21490192167715116,1.5322182142755625],[0.3748895688342676,1.6922182194612456]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6692431292226821,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5263.png","name":"5263"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5263.png","name":"5263"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5995.png","name":"5995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1051.png","name":"1051"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9991.png","name":"9991"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/231.png","name":"231"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":770.61217038043,"rotation_z_degrees":176.52762021527397,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017029061753844388,0.015309533605601205,0.013395911842504365]},{"name":"camera_2","offset_m":[-0.018074719418601788,0.001176929148217383,0.005492721703245985]},{"name":"camera_3","offset_m":[-0.015454575101397344,-0.018600014687151924,0.008194498387816083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005667442821904014,0.0010441749271981023,0.0018918767890305265],"end_effector_yaw_offset_degrees":0.31564652432432827},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017283990170021482,-0.0010495882297001833,-0.0009005549928681779],"end_effector_yaw_offset_degrees":0.6140118340570209},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016876423761399487,0.0006732195989170055,-0.0014709424866822195],"end_effector_yaw_offset_degrees":0.8581653961080002}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002301277596321707,-0.004117571339655728],"position_m":[0.3360987224036783,0.08118242866034428,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004812868046421031,0.002411398622380199],"position_m":[0.21248713195357896,-0.0847886013776198,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[3.122061011943001e-05,0.004654429402972474],"position_m":[0.3546312206101195,0.24025442940297248,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015943269464948192,-0.0012259585167073007],"position_m":[0.24799432694649481,-0.3369259585167073,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2d7da45d0836175ad9a001d12053ac6452c8b319d61e36a4ed3fc6452b8d6c14","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5263/tex_ceiling_textures_231/tex_floor_textures_9991/tex_table_textures_5995/tex_wall_textures_1051","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4994008314449701685,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4994008314449701685,"visual_seed":4994008314449701685,"scene_id":"lab_003","finished_at":"2026-09-03T08:42:17"} +{"episode_id":"ep_000010","started_at":"2026-09-03T08:45:08","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.20998838264158032,1.3621680785963943,0.71338606911949],"aabb_xy":[[-0.2799883847730098,1.3394061129706984],[-0.13998838051015075,1.3849300442220898]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.6154095922545566,0.023117494091090318,0.71338606911949],"aabb_xy":[[0.5904095930889235,0.016165248385733747],[0.6404095914201897,0.030069739796446896]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.11941209234958983,-0.8115772637898329,0.71338606911949],"aabb_xy":[[0.09156705556898272,-0.8423617625281447],[0.14725712913019695,-0.7807927650515213]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.5080958420772186,-1.3224061732996255,0.71338606911949],"aabb_xy":[[0.4280958399144561,-1.4023613569257691],[0.5880958442399811,-1.2424509896734819]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[-0.06832594239571943,0.4663715446292298,0.71338606911949],"aabb_xy":[[-0.11814272186055418,0.4163715461449264],[-0.018509162930884657,0.5163715431135332]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.6087949934508032,1.0894699466194537,0.71338606911949],"aabb_xy":[[-0.6206670764623043,1.0044699469258034],[-0.5969229104393021,1.174469946313104]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.5156783163530492,-2.3616715339110335,0.71338606911949],"aabb_xy":[[0.5048267101041736,-2.3725308246386847],[0.5265299226019248,-2.350812243183382]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[-0.549983059411583,-0.5666538942972297,0.71338606911949],"aabb_xy":[[-0.5999830580575042,-0.6165734379566921],[-0.4999830607656618,-0.5167343506377673]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.6075787953732514,-1.9928707375384533,0.71338606911949],"aabb_xy":[[-0.657676259354325,-2.056870738048265],[-0.5574813313921778,-1.9288707370286413]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.31742432889444006,1.5935480354552047,0.71338606911949],"aabb_xy":[[0.25242433101279227,1.542424371748664],[0.3824243267760879,1.6446716991617458]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.3203036360092225,0.6181827268682936,0.71338606911949],"aabb_xy":[[-0.37028105287447605,0.5681827253790449],[-0.27032621914396887,0.668182728357542]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.5584665158428663,0.5567674088147685,0.71338606911949],"aabb_xy":[[0.5084716829149248,0.506767409919525],[0.608461348770808,0.606767407710012]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.24544247066331276,0.8764333790504644,0.71338606911949],"aabb_xy":[[-0.2904424721295416,0.8314335221889838],[-0.20044246919708392,0.9214332359119451]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.486698357757555,1.1433630268348263,0.71338606911949],"aabb_xy":[[-0.5416983573793008,1.0883793340473538],[-0.4316983581358092,1.1983467196222992]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.42430332464020326,-1.8812080812817906,0.71338606911949],"aabb_xy":[[0.4054189408716931,-1.9000940060621434],[0.4431877084087135,-1.8623221565014378]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.6482654136163991,0.19274062267906356,0.71338606911949],"aabb_xy":[[-0.6545775131527376,0.18697368342584472],[-0.6419533140800606,0.1985075619322824]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.36653221068493935,-0.5229341105683778,0.71338606911949],"aabb_xy":[[0.3315322093334576,-0.5432938465251985],[0.4015322120364211,-0.5025743746115569]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.10853307535472378,1.2150544403498205,0.71338606911949],"aabb_xy":[[-0.14312415820876898,1.1500544400647894],[-0.07394199250067855,1.2800544406348515]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.4463623348570332,-0.2258259769272648,0.71338606911949],"aabb_xy":[[-0.4963623362179204,-0.27580388150268037],[-0.39636233349614597,-0.17584807235184916]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.08347948561471075,1.1258124031312224,0.71338606911949],"aabb_xy":[[0.019479484911241397,1.0797940206583014],[0.1474794863181801,1.1718307856041434]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.5043144310720464,-2.035679421451063,0.71338606911949],"aabb_xy":[[0.4961867428787331,-2.0445930298617707],[0.5124421192653595,-2.026765813040355]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.6591013043575862,-0.25034425329862975,0.71338606911949],"aabb_xy":[[0.6399889969996073,-0.2694790321758718],[0.678213611715565,-0.23120947442138778]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.4747794903059404,1.4284395516310808,0.71338606911949],"aabb_xy":[[-0.49666923789488115,1.338439554341832],[-0.45288974271699955,1.5184395489203302]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.1762152063053104,-2.0789840131626325,0.71338606911949],"aabb_xy":[[-0.18492917535524486,-2.10148401382182],[-0.16750123725537588,-2.0564840125034434]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[-0.2201728686389467,-1.9348360489219278,0.71338606911949],"aabb_xy":[[-0.30017286910916263,-1.9431467565362766],[-0.14017286816873076,-1.9265253413075796]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.038496664286587934,1.5566096744299291,0.71338606911949],"aabb_xy":[[-0.0561294998801155,1.538986728414306],[-0.020863828693060357,1.574232620445552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702131230854348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5397.png","name":"5397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5397.png","name":"5397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8677.png","name":"8677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5273.png","name":"5273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3353.png","name":"3353"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":688.4545776275994,"rotation_z_degrees":99.21043497512355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017261864606697538,-0.008388433646300104,-0.003307633041596602]},{"name":"camera_2","offset_m":[0.003618855863239078,-0.01872179579470799,0.004666094945376346]},{"name":"camera_3","offset_m":[-0.019676991026515326,-0.0032992905079947434,-0.002800381926679023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017541652604633885,0.0007521541559139177,-6.432555212023284e-05],"end_effector_yaw_offset_degrees":0.09606343657093919},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016386710309611672,0.0017325299321746188,-0.0009261966931975189],"end_effector_yaw_offset_degrees":0.8916159030809656},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00040019343756579726,-0.0014530361465669452,-0.0016197145943709784],"end_effector_yaw_offset_degrees":0.8282244045992653}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004328668112680089,-0.001722271013318235],"position_m":[0.34272866811268005,0.08357772898668177,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004037179068106779,0.002808906996209062],"position_m":[0.21326282093189322,-0.08439109300379094,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034241040999772243,-0.0015672212073321425],"position_m":[0.35802410409997726,0.23403277879266787,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014220873567895196,-0.0010962799374681954],"position_m":[0.24497791264321048,-0.3367962799374682,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d2704b513e4ca2811c989e766ea42e75d1ad0f02c32259ee54ce92bd90b65e8","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5397/tex_ceiling_textures_3353/tex_floor_textures_5273/tex_table_textures_8677/tex_wall_textures_7463","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3257380104986419385,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3257380104986419385,"visual_seed":3257380104986419385,"scene_id":"lab_003","finished_at":"2026-09-03T08:47:36"} +{"episode_id":"ep_000011","started_at":"2026-09-03T08:47:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.35519251850497024,1.1473482516755742,0.71338606911949],"aabb_xy":[[0.34435204027845534,1.1301619703849255],[0.36603299673148515,1.164534532966223]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.2555668852702262,0.7276742546997785,0.71338606911949],"aabb_xy":[[0.21806688684682585,0.7145100407319479],[0.29306688369362655,0.7408384686676092]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.24553702447881465,-0.6802615765472368,0.71338606911949],"aabb_xy":[[0.23812456893742615,-0.6861127869688648],[0.2529494800202031,-0.6744103661256089]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.4982208044564256,-0.7024851669019343,0.71338606911949],"aabb_xy":[[0.44824751045316513,-0.7524851674564815],[0.548194098459686,-0.6524851663473868]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[-0.4708405785361539,0.7959649214638822,0.71338606911949],"aabb_xy":[[-0.5508405796092744,0.7861868751264978],[-0.3908405774630337,0.8057429678012666]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.7088440723114822,-0.34741879356949035,0.71338606911949],"aabb_xy":[[0.7001461100207669,-0.35954376787696507],[0.7175420346021975,-0.3352938192620156]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[0.10606807395682771,-2.111161888612355,0.71338606911949],"aabb_xy":[[0.04206807368284948,-2.161227988809643],[0.17006807423080594,-2.061095788415067]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.16703902960180894,-1.5793702501768205,0.71338606911949],"aabb_xy":[[-0.17345284324499385,-1.5857800704244887],[-0.16062521595862397,-1.572960429929152]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.4591422511841803,0.428633443349272,0.71338606911949],"aabb_xy":[[0.4091422499003403,0.37865458895864984],[0.5091422524680203,0.47861229773989405]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.49919864124752944,1.458799420796121,0.71338606911949],"aabb_xy":[[-0.5341986412240253,1.4493348047485046],[-0.4641986412710336,1.4682640368437379]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.1658498150903711,0.727130109267943,0.71338606911949],"aabb_xy":[[-0.19581737200019678,0.6971301089700572],[-0.13588225818054545,0.7571301095658287]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.4844662549497605,-1.3617346510464332,0.71338606911949],"aabb_xy":[[0.4540681438506169,-1.3921415530481025],[0.5148643660489041,-1.3313277490447635]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.3154946308471441,0.44347651491613904,0.71338606911949],"aabb_xy":[[-0.3794946330675511,0.3991034307908507],[-0.25149462862673705,0.4878495990414273]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.45889869876718814,1.2377750411131054,0.71338606911949],"aabb_xy":[[-0.4764453936833071,1.2002750395488544],[-0.4413520038510692,1.275275042677357]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.23693281360466356,-1.3466261094128735,0.71338606911949],"aabb_xy":[[0.21446804363325844,-1.369126110291734],[0.2593975835760687,-1.324126108534013]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.644687846266267,-2.1232962671484072,0.71338606911949],"aabb_xy":[[-0.6579187918009483,-2.136523686170406],[-0.6314569007315857,-2.110068848126407]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[-0.5484760698553687,0.09456532222269498,0.71338606911949],"aabb_xy":[[-0.6124760671410173,0.053058603269851026],[-0.48447607256972003,0.13607204117553895]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.26185382460108414,1.3231728427124905,0.71338606911949],"aabb_xy":[[-0.32585382627908144,1.274655451233176],[-0.19785382292308673,1.3716902341918045]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.008702027527067058,1.6143233801037025,0.71338606911949],"aabb_xy":[[-0.09838910383518251,1.524323379849252],[0.0809850487810484,1.704323380358153]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.29900938872194327,-0.2506746240388198,0.71338606911949],"aabb_xy":[[-0.3790093889955502,-0.32362417186453646],[-0.21900938844833626,-0.17772507621310304]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721776211376466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2646.png","name":"2646"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2646.png","name":"2646"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2078.png","name":"2078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6297.png","name":"6297"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3726.png","name":"3726"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7656.png","name":"7656"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":634.8996036252864,"rotation_z_degrees":72.60034622840442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009285363561569148,0.0036966561498427766,0.015898031386370633]},{"name":"camera_2","offset_m":[0.014185372995969388,-0.013707737051841144,-0.0012094234741468896]},{"name":"camera_3","offset_m":[0.0005441436446005157,-0.018154486800445905,0.01997548355552409]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001411160923529131,-0.0011237740193704862,0.00012809488659761567],"end_effector_yaw_offset_degrees":0.741485158967178},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019227819667723392,-0.00039751283271523925,0.001642733532273239],"end_effector_yaw_offset_degrees":-0.25470018696585783},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-9.77310028336053e-05,0.0011012284616752502,-0.00025157425863369786],"end_effector_yaw_offset_degrees":0.031046980106900213}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046226457599240775,0.0014062456774714292],"position_m":[0.3430226457599241,0.08670624567747143,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003667337222441308,0.004915597474581072],"position_m":[0.21363266277755869,-0.08228440252541892,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004800696839062315,0.000360809608914262],"position_m":[0.35940069683906234,0.23596080960891427,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00266496161962667,-0.004028311007259335],"position_m":[0.24906496161962668,-0.3397283110072593,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f6907dd6e2c768d8b7e320285784f2452e6f185a0cb84f0b215cabff1a9a2bf4","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2646/tex_ceiling_textures_7656/tex_floor_textures_3726/tex_table_textures_2078/tex_wall_textures_6297","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1875711571090629132,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1875711571090629132,"visual_seed":1875711571090629132,"scene_id":"lab_003","finished_at":"2026-09-03T08:50:12"} +{"episode_id":"ep_000012","started_at":"2026-09-03T08:50:16","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.3285887679372206,1.065734750318065,0.71338606911949],"aabb_xy":[[0.3205624973065946,1.0569832553407124],[0.3366150385678466,1.0744862452954176]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.20472658260097298,-2.3033722047788827,0.71338606911949],"aabb_xy":[[-0.23931766545501817,-2.3683722050639138],[-0.17013549974692774,-2.2383722044938517]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.5911702942829349,1.6111149874122837,0.71338606911949],"aabb_xy":[[0.5271702978873618,1.54715169899355],[0.655170290678508,1.6750782758310172]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.10492667015316881,-0.6953380375225067,0.71338606911949],"aabb_xy":[[0.09700338991442048,-0.7178380377605099],[0.11284995039191714,-0.6728380372845032]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.25798588737536443,-1.0402972284740901,0.71338606911949],"aabb_xy":[[0.24040758518641753,-1.0578717180481954],[0.2755641895643112,-1.0227227388999853]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.2869213309410289,-1.9161561535278684,0.71338606911949],"aabb_xy":[[0.2792181402669518,-1.9238655242266063],[0.2946245216151059,-1.9084467828291305]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.3818542133683569,-1.2807649740374856,0.71338606911949],"aabb_xy":[[0.3777760554613071,-1.2848459542857489],[0.3859323712754066,-1.2766839937892223]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.4875261735644849,1.2205868197214857,0.71338606911949],"aabb_xy":[[0.42352617165214257,1.1646756704634753],[0.5515261754768273,1.2764979689794962]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.49373062557363623,0.9111120924932004,0.71338606911949],"aabb_xy":[[0.443746389865459,0.8611120936797046],[0.5437148612818135,0.9611120913066958]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.36651374617147653,0.602807449174672,0.71338606911949],"aabb_xy":[[-0.4305137464454547,0.552741348977384],[-0.30251374589749824,0.65287354937196]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.4263801270072376,0.13410241359360686,0.71338606911949],"aabb_xy":[[-0.4318380726442576,0.05410241028594773],[-0.4209221813702175,0.21410241690126594]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.6274063248973387,-0.32842383719010826,0.71338606911949],"aabb_xy":[[-0.6642568728343263,-0.365923838013142],[-0.5905557769603511,-0.29092383636707453]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.6221130138585275,-1.6605259736418616,0.71338606911949],"aabb_xy":[[-0.6594442903837702,-1.695179028436714],[-0.584781737333285,-1.6258729188470096]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.0021693686277335367,-0.9724575385902361,0.71338606911949],"aabb_xy":[[-0.06183063066643468,-1.0364436789590903],[0.06616936792190176,-0.9084713982213819]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.6181249890432041,-2.061427409693887,0.71338606911949],"aabb_xy":[[0.5381249903863181,-2.0759322686181503],[0.6981249877000901,-2.0469225507696245]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.6054256784519992,-0.6174415488886036,0.71338606911949],"aabb_xy":[[-0.6098563078068395,-0.6228899206232863],[-0.6009950490971592,-0.6119931771539211]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.13250981702608478,-2.0550356211898526,0.71338606911949],"aabb_xy":[[0.12074163023142725,-2.1400356210950746],[0.1442780038207423,-1.9700356212846315]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.49127914826813823,0.32337667917359303,0.71338606911949],"aabb_xy":[[0.4262791497110654,0.2936241457597104],[0.5562791468252111,0.35312921258747565]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.053758403559843404,-1.688369830432699,0.71338606911949],"aabb_xy":[[-0.08372596046966907,-1.718369830730585],[-0.02379084665001773,-1.6583698301348135]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.07467113092672117,1.7462278278381018,0.71338606911949],"aabb_xy":[[0.014671130675319985,1.691946502801637],[0.13467113117812235,1.8005091528745663]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.4800710463956237,0.8740174007035759,0.71338606911949],"aabb_xy":[[-0.53007032156406,0.8240173994276287],[-0.43007177122718765,0.9240174019795231]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.059595879748461256,-1.9229981469857775,0.71338606911949],"aabb_xy":[[-0.11361147603036126,-1.9869981498780345],[-0.005580283466561246,-1.8589981440935202]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[-0.45378949629779386,-2.3674419339423634,0.71338606911949],"aabb_xy":[[-0.5437894927986655,-2.413353576360821],[-0.36378949979692204,-2.3215302915239047]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.43262193499593193,-1.1035132467580522,0.71338606911949],"aabb_xy":[[0.42777834023470196,-1.1083648992370363],[0.4374655297571619,-1.098661594279068]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.43073887664726773,-0.9085948655547389,0.71338606911949],"aabb_xy":[[0.3607388740106814,-0.9286997305506042],[0.5007388792838541,-0.8884900005588732]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[0.30376694911380564,-0.7950368661715292,0.71338606911949],"aabb_xy":[[0.2792207334910549,-0.8252857627205664],[0.32831316473655636,-0.7647879696224923]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657095963228782,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/85.png","name":"85"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5716.png","name":"5716"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":622.463172695771,"rotation_z_degrees":114.97106610716826,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0056006108565261805,0.01283276162675873,-0.011478024877634522]},{"name":"camera_2","offset_m":[-0.0007012289007647492,-0.005301299444483801,-0.005021808991858801]},{"name":"camera_3","offset_m":[0.016045365821982047,-0.012688701157772693,0.011210728783013778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010241969547845385,-0.0010730775246195665,-0.0008422751646456211],"end_effector_yaw_offset_degrees":-0.0671551721215462},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016402855289168166,0.0018533987212456956,0.0019664210346096965],"end_effector_yaw_offset_degrees":-0.5087704580585222},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018134802437762593,0.0014082449045322567,-0.0018234410168261027],"end_effector_yaw_offset_degrees":-0.3281070659883405}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003916916482280631,-0.00497141787690819],"position_m":[0.34231691648228063,0.08032858212309181,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002376651393088175,-0.002389542365089984],"position_m":[0.2149233486069118,-0.08958954236508998,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007671912656251135,-0.003216954153384547],"position_m":[0.3538328087343749,0.23238304584661545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014108409074416028,0.002681047165947403],"position_m":[0.24498915909255842,-0.3330189528340526,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8652c3f28873fe76f4a99ba21422a0c4cc59e045de47518bebb6944659baa116","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4486/tex_ceiling_textures_5716/tex_floor_textures_9697/tex_table_textures_4015/tex_wall_textures_85","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7559080356497862027,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7559080356497862027,"visual_seed":7559080356497862027,"scene_id":"lab_003","finished_at":"2026-09-03T08:52:46"} +{"episode_id":"ep_000013","started_at":"2026-09-03T08:55:32","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.1097433290275669,0.21765419812862596,0.71338606911949],"aabb_xy":[[-0.11852455617480315,0.20887445084009587],[-0.1009621018803307,0.22643394541715617]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.30845696303688297,-1.7650348063910544,0.71338606911949],"aabb_xy":[[-0.35843577154719886,-1.8150348063967732],[-0.2584781545265671,-1.7150348063853356]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.4543035427123412,-1.1658625209643563,0.71338606911949],"aabb_xy":[[0.3903035410343439,-1.2143799124436703],[0.5183035443903385,-1.1173451294850418]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.15430636070055248,-0.7613404229632139,0.71338606911949],"aabb_xy":[[-0.20930636032229832,-0.8163241157506868],[-0.09930636107880664,-0.7063567301757413]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.3641968794659902,-2.2806947844731487,0.71338606911949],"aabb_xy":[[0.2841968824517422,-2.30082933614656],[0.44419687648023815,-2.260560232799738]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.01579172134274276,-1.3126881730337605,0.71338606911949],"aabb_xy":[[-0.07078719916340215,-1.3676881744676674],[0.03920375647791663,-1.2576881715998536]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.11494285274276939,1.0243180268917436,0.71338606911949],"aabb_xy":[[0.07809230480578176,0.9868180260687098],[0.151793400679757,1.0618180277147773]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.3125776122144387,-0.6847378879342818,0.71338606911949],"aabb_xy":[[-0.3625724451423803,-0.7347378868295253],[-0.2625827792864971,-0.6347378890390383]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.26470364507618904,0.7906133065498717,0.71338606911949],"aabb_xy":[[0.2047036452296222,0.7337946843568329],[0.3247036449227558,0.8474319287429103]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.21503660869326507,0.4201989098049186,0.71338606911949],"aabb_xy":[[-0.305036608111636,0.3868234129607289],[-0.1250366092748942,0.45357440664910836]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.30804688864194407,-2.459983926547266,0.71338606911949],"aabb_xy":[[0.3039110323092439,-2.4974839259916233],[0.31218274497464427,-2.4224839271029093]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.45447410766674645,-0.7665834407690422,0.71338606911949],"aabb_xy":[[-0.4996454255149155,-0.8305834379135807],[-0.40930278981857754,-0.7025834436245038]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.09839254183147483,-1.175847158406103,0.71338606911949],"aabb_xy":[[-0.18339254052354947,-1.2078330218009818],[-0.013392543139400193,-1.1438612950112241]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.4263518625137679,-2.477352678867141,0.71338606911949],"aabb_xy":[[-0.4763518635329032,-2.5138188946049693],[-0.3763518614946327,-2.4408864631293135]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.025400271260558216,-2.139222084100426,0.71338606911949],"aabb_xy":[[-0.06290027160878597,-2.1510134796815095],[0.012099729087669545,-2.1274306885193424]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.3416919524520314,1.7358173024769044,0.71338606911949],"aabb_xy":[[-0.40669195060795044,1.7095210579269922],[-0.2766919542961123,1.7621135470268166]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.6109657056432838,-2.025418074851565,0.71338606911949],"aabb_xy":[[-0.6659657038450285,-2.0659400414780023],[-0.5559657074415388,-1.9848961082251273]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.46713941912356116,1.236964777552759,0.71338606911949],"aabb_xy":[[0.43010530969550137,1.2025875702190496],[0.5041735285516209,1.2713419848864684]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.1890767324818331,1.2329238682564734,0.71338606911949],"aabb_xy":[[-0.2506674917058259,1.1689238701474265],[-0.1274859732578403,1.2969238663655203]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.01486371328217384,1.5774078521040233,0.71338606911949],"aabb_xy":[[-0.09486371544493633,1.4974526684778795],[0.06513628888058864,1.6573630357301667]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.5207216291228698,0.7058024941850869,0.71338606911949],"aabb_xy":[[-0.5304776186320437,0.6960399601258525],[-0.5109656396136959,0.7155650282443213]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.2101272958849515,-1.3971629348460972,0.71338606911949],"aabb_xy":[[0.16014987901969788,-1.4471629363353458],[0.260104712750205,-1.3471629333568487]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.1775052595047869,-0.13763123539055488,0.71338606911949],"aabb_xy":[[-0.18713689572521652,-0.1472685481702638],[-0.1678736232843573,-0.12799392261084597]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.658190792724254,-2.450817374491152,0.71338606911949],"aabb_xy":[[-0.6806907922479614,-2.473313321941772],[-0.6356907932005466,-2.4283214270405304]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[0.07359894764543007,-2.5305142063600323,0.71338606911949],"aabb_xy":[[0.009598947371451838,-2.5805803065573203],[0.1375989479194083,-2.4804481061627444]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.34474543997063284,-0.06655916459840183,0.71338606911949],"aabb_xy":[[-0.36224544022996946,-0.08065070678717447],[-0.3272454397112962,-0.052467622409629225]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.550403157790498,0.027557045378669986,0.71338606911949],"aabb_xy":[[-0.6144031550761466,-0.013949673574173982],[-0.48640316050484933,0.06906376433151395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668968848605022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9032.png","name":"9032"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9032.png","name":"9032"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3943.png","name":"3943"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9788.png","name":"9788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2189.png","name":"2189"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":571.3803320143415,"rotation_z_degrees":288.1396406380196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008453129361784086,-0.01642343048651397,0.016735246216334623]},{"name":"camera_2","offset_m":[-0.0074759479209095,0.012140715710130093,0.00435643845341558]},{"name":"camera_3","offset_m":[0.009496142831796863,0.00831564187024188,0.012962325178026587]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011965169858958267,0.001121247972782098,-0.0006510577526433554],"end_effector_yaw_offset_degrees":0.8064836036574003},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010866895753711809,-0.0005324418782414102,0.0010404705564597615],"end_effector_yaw_offset_degrees":0.3075342415264215},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011952941937657595,-0.001966958080954842,-0.0005760816121316381],"end_effector_yaw_offset_degrees":-0.8413987718589924}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011149073194217027,0.0006407318729918258],"position_m":[0.3395149073194217,0.08594073187299182,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00195338298219509,0.0021402276140755263],"position_m":[0.21925338298219507,-0.08505977238592448,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00023430358176029092,0.0033589924316217287],"position_m":[0.3548343035817603,0.23895899243162172,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020626464440940953,0.004107087676837395],"position_m":[0.2484626464440941,-0.3315929123231626,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"56e961becd1328430e5c8fdab8d6b4d52f4819f8f9de0d93e2e26ad658008bfc","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9032/tex_ceiling_textures_544/tex_floor_textures_2189/tex_table_textures_3943/tex_wall_textures_9788","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2827621914965532943,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2827621914965532943,"visual_seed":2827621914965532943,"scene_id":"lab_003","finished_at":"2026-09-03T08:57:59"} +{"episode_id":"ep_000014","started_at":"2026-09-03T08:58:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.03006103289018247,1.2198025437910491,0.71338606911949],"aabb_xy":[[-0.09406103429817313,1.1680135922671242],[0.033938968517808185,1.2715914953149736]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.589713883610606,-0.2955328171380356,0.71338606911949],"aabb_xy":[[0.5793023249301221,-0.300878550473934],[0.6001254422910896,-0.29018708380213704]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.5007708422194224,-1.3068526413952093,0.71338606911949],"aabb_xy":[[0.49274457158879637,-1.315604136372562],[0.5087971128500484,-1.2981011464178567]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.09321483820049337,-0.9336376335858823,0.71338606911949],"aabb_xy":[[0.08236323195161777,-0.9444969243135332],[0.10406644444936897,-0.9227783428582311]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.0963188078962367,1.5788609392468058,0.71338606911949],"aabb_xy":[[-0.18600588420435216,1.488860938992355],[-0.006631731588121262,1.6688609395012561]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.6510180549751655,0.4732377557931673,0.71338606911949],"aabb_xy":[[-0.6661203564361833,0.45813623416210536],[-0.6359157535141471,0.488339277424229]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.37401004475241323,-2.4520048386958417,0.71338606911949],"aabb_xy":[[-0.43801004205475963,-2.496371265663698],[-0.31001004745006683,-2.4076384117279845]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.36830392050575056,-0.686747674484973,0.71338606911949],"aabb_xy":[[0.2883039200355346,-0.6950583820993215],[0.44830392097596655,-0.6784369668706247]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.5734150076346198,0.7247925864223439,0.71338606911949],"aabb_xy":[[0.5670011939914348,0.7183827661746756],[0.5798288212778047,0.7312024066700122]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.31785294321262303,-0.7782737047325059,0.71338606911949],"aabb_xy":[[-0.3416891608532281,-0.8682737055409924],[-0.29401672557201797,-0.6882737039240193]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.3603226037640281,-2.557356610334488,0.71338606911949],"aabb_xy":[[-0.37116308199054293,-2.574542891625136],[-0.3494821255375131,-2.5401703290438387]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.15864416781448032,-0.7173310292117931,0.71338606911949],"aabb_xy":[[0.1086441691685591,-0.7672505728712555],[0.2086441664604015,-0.6674114855523308]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.13720248512842204,0.5924516590658397,0.71338606911949],"aabb_xy":[[-0.22220248354584526,0.5075773636035548],[-0.05220248671099881,0.6773259545281247]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.13506211570968085,-1.5318824844097125,0.71338606911949],"aabb_xy":[[0.09756211504510214,-1.5475695424099345],[0.17256211637425953,-1.5161954264094901]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.4566924995402879,-0.24222418082881747,0.71338606911949],"aabb_xy":[[-0.4911548469384296,-0.2767180632266401],[-0.422230152142146,-0.20773029843099475]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.2758183711277622,1.5853647143479912,0.71338606911949],"aabb_xy":[[0.26237184449371886,1.5718948626948996],[0.28926489776180553,1.5988345660010823]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.4998933638245847,-1.2086755434176815,0.71338606911949],"aabb_xy":[[-0.5498707806898382,-1.2586755449069298],[-0.4499159469593311,-1.1586755419284327]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.5830194150731414,0.8095271278756768,0.71338606911949],"aabb_xy":[[-0.6205194148901748,0.804888916564535],[-0.5455194152561077,0.8141653391868187]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.010337367129447772,-1.143402343937557,0.71338606911949],"aabb_xy":[[-0.07533736501109557,-1.1945260076440978],[0.05466263075220003,-1.092278680231016]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.6778570485361911,-0.03428483400703142,0.71338606911949],"aabb_xy":[[-0.6838235874769268,-0.040245978666395454],[-0.6718905095954552,-0.02832368934766738]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.32249666989141323,0.45001377721589053,0.71338606911949],"aabb_xy":[[-0.3685817611461447,0.3860137799633354],[-0.27641157863668175,0.5140137744684457]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.06962025714349906,-2.057830618210464,0.71338606911949],"aabb_xy":[[-0.11962025842733902,-2.1078094726010863],[-0.019620255859659094,-2.007851763819842]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.6063197064360377,1.1292009971749892,0.71338606911949],"aabb_xy":[[0.5413197064017351,1.082500320494662],[0.6713197064703406,1.1759016738553165]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.2284256870120685,-0.3488061861631513,0.71338606911949],"aabb_xy":[[-0.31842568643043945,-0.382181683007341],[-0.13842568759369764,-0.31543068931896157]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.24959725040967712,-1.1202897362528368,0.71338606911949],"aabb_xy":[[-0.2845972495396328,-1.126034957328501],[-0.21459725127972146,-1.1145445151771727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670999965546341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8546.png","name":"8546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5872.png","name":"5872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8375.png","name":"8375"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7699.png","name":"7699"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":528.6460555091735,"rotation_z_degrees":47.408225990494266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005772750266678646,0.017922037322772654,-0.002499464084724276]},{"name":"camera_2","offset_m":[-0.015668761003413655,0.0027741624617420024,0.0067903919724830696]},{"name":"camera_3","offset_m":[0.014371627940651919,0.01177043283160151,-0.006639577053278134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012907483513434933,-0.0012361402034160984,-0.0007448997162558108],"end_effector_yaw_offset_degrees":0.4585099913490591},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008538874016869743,-0.00046098544811731357,0.0007000369153754775],"end_effector_yaw_offset_degrees":-0.1406859754909502},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010580864313217437,0.000652576329190753,0.001964675072125309],"end_effector_yaw_offset_degrees":-0.5917658247436066}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00435765791237831,0.003568084747332699],"position_m":[0.3427576579123783,0.0888680847473327,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020184350760370203,-0.00208256503490859],"position_m":[0.21931843507603702,-0.08928256503490858,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007870684877837293,-0.003407393416374819],"position_m":[0.35538706848778373,0.23219260658362517,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015576685223292206,0.002689082370391823],"position_m":[0.24795766852232923,-0.33301091762960816,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a0a496faef904715318f237e958ebf98d1241983892f910103c312cf9a80fd89","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6676/tex_ceiling_textures_7699/tex_floor_textures_8375/tex_table_textures_8546/tex_wall_textures_5872","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3396479350632695182,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3396479350632695182,"visual_seed":3396479350632695182,"scene_id":"lab_003","finished_at":"2026-09-03T09:00:00"} +{"episode_id":"ep_000015","started_at":"2026-09-03T09:00:03","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.2347150423410076,-2.276656421587559,0.71338606911949],"aabb_xy":[[-0.2808001335957391,-2.340656418840114],[-0.18862995108627612,-2.212656424335004]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.40871964529015936,-0.07120850846395754,0.71338606911949],"aabb_xy":[[-0.41513345893334425,-0.07761832871162587],[-0.40230583164697437,-0.06479868821628919]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.22772006583084003,1.4385873836825351,0.71338606911949],"aabb_xy":[[0.1627200657965373,1.3918867070022078],[0.29272006586514276,1.4852880603628624]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.6472209612000795,-2.0913861125431343,0.71338606911949],"aabb_xy":[[-0.6722209603657127,-2.098338358248491],[-0.6222209620344464,-2.0844338668377778]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.1258425440262657,1.3595349390030171,0.71338606911949],"aabb_xy":[[-0.14495485138424455,1.3404001601257751],[-0.10673023666828682,1.3786697178802592]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.45376819619900866,1.6618144617884982,0.71338606911949],"aabb_xy":[[-0.4614713868730856,1.6541050910897603],[-0.4460650055249315,1.6695238324872366]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.07504394810747705,-1.3175133843621036,0.71338606911949],"aabb_xy":[[-0.09755763993093423,-1.387513384963111],[-0.05253025628401985,-1.2475133837610959]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.14047600059994225,-1.747119825865339,0.71338606911949],"aabb_xy":[[-0.1459339462369623,-1.827119829172998],[-0.13501805496292216,-1.6671198225576798]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[0.5191956059753597,-1.6575093001975398,0.71338606911949],"aabb_xy":[[0.455195608689711,-1.6990160191503836],[0.5831956032610083,-1.6160025812446956]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.37223349431009334,-1.4000747941845364,0.71338606911949],"aabb_xy":[[0.28723349561801875,-1.4320606575794153],[0.45723349300216803,-1.3680889307896575]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.6745746173252573,-0.7343752775075583,0.71338606911949],"aabb_xy":[[-0.6906365447837749,-0.81937527932015],[-0.6585126898667396,-0.6493752756949663]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[0.3633922110387684,-0.8871766381604849,0.71338606911949],"aabb_xy":[[0.31340797533059117,-0.9371766369739803],[0.4133764467469456,-0.8371766393469892]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.4408066596240096,-0.8527848361035997,0.71338606911949],"aabb_xy":[[-0.4584394952175372,-0.8704077821192227],[-0.42317382403048204,-0.8351618900879767]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.508820026447893,1.151900924470687,0.71338606911949],"aabb_xy":[[-0.563820026069639,1.0969172316832143],[-0.4538200268261473,1.2068846172581598]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.5146257683176905,-0.5155279143787106,0.71338606911949],"aabb_xy":[[0.4901121442206846,-0.539792507680747],[0.5391393924146963,-0.49126332107667414]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.40424016149247266,-1.1804719372241448,0.71338606911949],"aabb_xy":[[0.3928784268391865,-1.1918404036304329],[0.4156018961457588,-1.1691034708178567]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.5204187822460768,-0.19609902686757952,0.71338606911949],"aabb_xy":[[-0.5704187826066429,-0.2460790140771824],[-0.47041878188551084,-0.1461190396579765]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.37368587880051374,0.7838952910122288,0.71338606911949],"aabb_xy":[[0.32420545758655495,0.7198952930993769],[0.42316630001447253,0.8478952889250806]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.018282949978424723,-1.5925308944069139,0.71338606911949],"aabb_xy":[[-0.03684225565116604,-1.6525308958482006],[0.07340815560801549,-1.5325308929656263]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.5067656315353719,-2.324972159798,0.71338606911949],"aabb_xy":[[0.4892656324010047,-2.3348517868355874],[0.524265630669739,-2.3150925327604117]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[0.2522829154546351,1.0936550012960882,0.71338606911949],"aabb_xy":[[0.1882829181522887,1.0492885743282314],[0.3162829127569815,1.138021428263945]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.14081784878226744,-1.1155698205840352,0.71338606911949],"aabb_xy":[[-0.2058178473393403,-1.1453223539979176],[-0.07581785022519463,-1.0858172871701524]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.4777197497726266,1.3797246825035638,0.71338606911949],"aabb_xy":[[-0.49521968320661,1.3622246825833293],[-0.46021981633864323,1.3972246824237984]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.11329830962324261,0.24507764352711714,0.71338606911949],"aabb_xy":[[-0.12370986830372632,0.23973191019121867],[-0.1028867509427589,0.25042337686301563]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.08693342039038487,-0.48210660042825504,0.71338606911949],"aabb_xy":[[-0.1519334213475121,-0.5340548123619606],[-0.021933419433257672,-0.4301583884945495]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.08376634830961605,-1.00487571599573,0.71338606911949],"aabb_xy":[[-0.09102759588002346,-1.0176627262592395],[-0.07650510073920863,-0.9920887057322205]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.32726532928047725,1.5896298335581185,0.71338606911949],"aabb_xy":[[0.32236603697391364,1.5619529142555495],[0.33216462158704063,1.617306752860687]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.24471025577597344,-0.19846881459188204,0.71338606911949],"aabb_xy":[[-0.2668827827526242,-0.22064448174800516],[-0.22253772879932257,-0.17629314743575883]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[0.3742493179327524,-1.7414158806932747,0.71338606911949],"aabb_xy":[[0.33833581350776265,-1.7773293889100292],[0.41016282235774204,-1.7055023724765201]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[0.4877504505243533,0.1879424010455102,0.71338606911949],"aabb_xy":[[0.4817839115836175,0.18198125638614612],[0.4937169894650891,0.1939035457048742]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[0.2231968059286481,-1.6376249096977626,0.71338606911949],"aabb_xy":[[0.1431968089144001,-1.657759461371174],[0.3031968029428961,-1.6174903580243514]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_31","position":[-0.2839867515966734,1.2913768483001427,0.71338606911949],"aabb_xy":[[-0.32148675209403166,1.2874081647520241],[-0.24648675109931517,1.2953455318482612]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[-0.31055589126487554,1.0413743505802886,0.71338606911949],"aabb_xy":[[-0.3480558919294542,1.0256872925800662],[-0.2730558906002968,1.0570614085805106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628379908416869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3579.png","name":"3579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1961.png","name":"1961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8657.png","name":"8657"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":675.196309707759,"rotation_z_degrees":219.69941705526634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011553908429916167,0.01068986920220676,-0.0028869399317491724]},{"name":"camera_2","offset_m":[-0.006810682022625412,-0.008786271491080312,0.01969260304207528]},{"name":"camera_3","offset_m":[0.008518994650276918,0.010434351316948757,0.009190077457479063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013690449713919545,-0.0011879932776751288,-0.0007651666374462734],"end_effector_yaw_offset_degrees":0.4184865451459838},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011570935124544865,-0.0004812679098006507,-0.00015275560511600794],"end_effector_yaw_offset_degrees":0.9521979866593366},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012208108365840361,-0.0009684428889006474,-0.0013415316549099394],"end_effector_yaw_offset_degrees":0.18315541108708655}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004257914576936937,-0.0036450114890170427],"position_m":[0.33882579145769365,0.08165498851098296,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[8.698652268275368e-05,0.002211523163918241],"position_m":[0.21738698652268273,-0.08498847683608175,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004157707797712902,-0.002350025001997973],"position_m":[0.3504422922022871,0.23324997499800204,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010511725522714876,0.003760795526867107],"position_m":[0.2474511725522715,-0.3319392044731329,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"38fd7d833c295ee3c45aac528b9bcd329025bf5f43f12e9a3361ed38405f8bec","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6868/tex_ceiling_textures_8657/tex_floor_textures_3187/tex_table_textures_3579/tex_wall_textures_1961","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8921507594399835101,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8921507594399835101,"visual_seed":8921507594399835101,"scene_id":"lab_003","finished_at":"2026-09-03T09:02:21"} +{"episode_id":"ep_000016","started_at":"2026-09-03T09:02:24","dimensions":{"distractor":{"count":25,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.38660990008614227,1.7353697755374617,0.71338606911949],"aabb_xy":[[0.2969228237780268,1.6453697752830112],[0.4762969763942577,1.8253697757919123]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.001456138629482795,-1.9587368680011983,0.71338606911949],"aabb_xy":[[-0.005584171304054198,-2.03873686740087],[0.008496448563019789,-1.8787368686015273]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.23432392279064207,-1.4325964158019955,0.71338606911949],"aabb_xy":[[0.22640064255189377,-1.4550964160399988],[0.24224720302939043,-1.4100964155639921]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[-0.2501329447399049,-0.20466705173918687,0.71338606911949],"aabb_xy":[[-0.3001117532502207,-0.25466705174490567],[-0.20015413622958894,-0.15466705173346804]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.5120885879541981,-0.4913093774181285,0.71338606911949],"aabb_xy":[[0.4895885884304905,-0.5138053248687493],[0.5345885874779053,-0.46881342996750774]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.4830543678377418,-0.05733625216922178,0.71338606911949],"aabb_xy":[[-0.5630543652413351,-0.13732882336740457],[-0.4030543704341483,0.022656319028961033]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.19826407695360837,-1.839859271892375,0.71338606911949],"aabb_xy":[[0.19098176057694466,-1.9298592755018835],[0.20554639333027197,-1.7498592682828655]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.3716956203013243,-0.880343632572909,0.71338606911949],"aabb_xy":[[-0.38040958935125874,-0.902843633232097],[-0.36298165125138976,-0.8578436319137206]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[-0.4846210287641759,-0.33130466146254145,0.71338606911949],"aabb_xy":[[-0.5486210273507484,-0.3783116248620501],[-0.4206210301776035,-0.2842976980630327]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.559869124343295,0.583827502593941,0.71338606911949],"aabb_xy":[[-0.639869127601138,0.5038309948019569],[-0.4798691210854521,0.6638240103859249]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[0.4168669346180185,0.43423065000403405,0.71338606911949],"aabb_xy":[[0.37468252045718775,0.37023064972682285],[0.45905134877884923,0.49823065028124525]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.5943722917430719,-2.4866928842192806,0.71338606911949],"aabb_xy":[[-0.627851459004113,-2.520171997590388],[-0.5608931244820311,-2.453213770848174]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.07606327299069071,-2.363663100028384,0.71338606911949],"aabb_xy":[[-0.11106327296718654,-2.373127716076001],[-0.04106327301419488,-2.354198483980768]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.18374881381398211,0.8421060525707502,0.71338606911949],"aabb_xy":[[0.15509948145356586,0.8134604932936744],[0.2123981461743983,0.870751611847826]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[-0.2699102821408063,0.48120831100462347,0.71338606911949],"aabb_xy":[[-0.28424470726696976,0.4691480954500846],[-0.25557585701464286,0.4932685265591623]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.5936055266254883,0.825666196238946,0.71338606911949],"aabb_xy":[[0.5562742501002457,0.7910131414440938],[0.6309368031507309,0.8603192510337984]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.5765380031281926,1.2754942333829198,0.71338606911949],"aabb_xy":[[0.5716944083669626,1.270642580903936],[0.5813815978894226,1.2803458858619041]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.5770985383117361,-0.493499773611787,0.71338606911949],"aabb_xy":[[-0.6410985347073092,-0.5574630620305205],[-0.513098541916163,-0.4295364851930535]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.5458612151586615,-1.07294284193219,0.71338606911949],"aabb_xy":[[0.4818612119400236,-1.1196659538311982],[0.6098612183772993,-1.0262197300331815]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.39646571413136855,0.16623717580603614,0.71338606911949],"aabb_xy":[[0.3832347685966872,0.1530097567840367],[0.4096966596660498,0.17946459482803553]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.4065724303558674,1.3063933258848577,0.71338606911949],"aabb_xy":[[-0.4865724314289877,1.2966152795474732],[-0.32657242928274705,1.3161713722222421]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[0.5860959633231566,-1.214254248716031,0.71338606911949],"aabb_xy":[[0.501095964631082,-1.24624011211091],[0.6710959620152313,-1.1822683853211522]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.2560017346400545,-2.5384547869368066,0.71338606911949],"aabb_xy":[[-0.3260017310500162,-2.558892722588488],[-0.1860017382300926,-2.5180168512851244]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[0.1558450560917536,1.0859154693775608,0.71338606911949],"aabb_xy":[[0.10585004513230159,1.035915470341969],[0.20584006705120567,1.1359154684131525]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.5080269073421892,-1.4093790452395045,0.71338606911949],"aabb_xy":[[0.44302690634168873,-1.4601654103941792],[0.5730269083426898,-1.3585926800848294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653312381732307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/497.png","name":"497"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/497.png","name":"497"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/318.png","name":"318"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8519.png","name":"8519"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1796.png","name":"1796"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9629.png","name":"9629"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":753.0010675026945,"rotation_z_degrees":55.48768742440332,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01023527267765053,-0.010024500898472951,0.01324097098527403]},{"name":"camera_2","offset_m":[0.0024464658048676674,0.017907254871602638,-0.019237588746042703]},{"name":"camera_3","offset_m":[3.621456492464148e-05,-0.0076748136434523755,0.00806797161658903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013769254316278088,0.0015106768663020313,0.0019575089486026306],"end_effector_yaw_offset_degrees":0.5025842316527283},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[2.9566848817100776e-05,-0.001240778145069298,-0.0006694504726722065],"end_effector_yaw_offset_degrees":0.02166446037095815},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019951169906128278,-0.0008051864112684068,-0.0014806547142146088],"end_effector_yaw_offset_degrees":-0.7300830120217567}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014424838306341583,0.0037535463359363837],"position_m":[0.33984248383063415,0.08905354633593639,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012519783243433048,-0.0031995862106770413],"position_m":[0.2185519783243433,-0.09039958621067704,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0040963763625388476,0.0044851853558246805],"position_m":[0.3505036236374612,0.24008518535582468,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006721763996549116,0.00355329582897962],"position_m":[0.2457278236003451,-0.3321467041710204,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69e81f98e68baccc10cf1d673825e97cde3757131ae1bcfc3cd61881d95fcf12","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_497/tex_ceiling_textures_9629/tex_floor_textures_1796/tex_table_textures_318/tex_wall_textures_8519","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3068832832078528086,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3068832832078528086,"visual_seed":3068832832078528086,"scene_id":"lab_003","finished_at":"2026-09-03T09:04:56"} +{"episode_id":"ep_000017","started_at":"2026-09-03T09:04:59","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.6236921576935635,-1.9393470754607862,0.71338606911949],"aabb_xy":[[0.6036337460803232,-1.9594121623699436],[0.6437505693068037,-1.9192819885516288]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.6074977467458091,0.4607755520136285,0.71338606911949],"aabb_xy":[[0.5699977455610162,0.45635732931756795],[0.6449977479306018,0.465193774709689]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.1987115800147543,1.7044875488707292,0.71338606911949],"aabb_xy":[[0.15090541240098565,1.63948754616367],[0.24651774762852294,1.769487551577788]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.681144212746315,-0.6550738470413533,0.71338606911949],"aabb_xy":[[0.6561442134743527,-0.6714192106375156],[0.7061442120182773,-0.638728483445191]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.06278937342565061,1.5496182681892239,0.71338606911949],"aabb_xy":[[0.025938825488662998,1.5121182673661901],[0.09963992136263822,1.5871182690122576]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.6385773976517244,1.0690503158561895,0.71338606911949],"aabb_xy":[[-0.6467050858450376,1.0601367074454817],[-0.6304497094584112,1.0779639242668972]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.224495100815727,-1.2566026239397328,0.71338606911949],"aabb_xy":[[0.16049509752601882,-1.2999375429436502],[0.288495104105435,-1.213267704935815]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[0.6332607718610388,0.6210385275710197,0.71338606911949],"aabb_xy":[[0.5834439923962039,0.5710385290867164],[0.6830775513258734,0.6710385260553231]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.43634396687325894,-1.238331319545776,0.71338606911949],"aabb_xy":[[0.39503942380952295,-1.302331319113893],[0.4776485099369949,-1.1743313199776588]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.6521212610344189,-0.5260402245007905,0.71338606911949],"aabb_xy":[[0.6146212624587981,-0.5387765201643483],[0.6896212596100397,-0.5133039288372324]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.5133612886056728,0.5879682233213539,0.71338606911949],"aabb_xy":[[-0.5227787631755355,0.5785520461836349],[-0.50394381403581,0.5973844004590729]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.6099452315540257,0.7626649422491454,0.71338606911949],"aabb_xy":[[0.5599664230437098,0.7126649422434266],[0.6599240400643416,0.8126649422548642]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.5050562073358755,0.01991470718981958,0.71338606911949],"aabb_xy":[[-0.5690562046215243,-0.021592011763024384],[-0.441056210050227,0.06142142614266355]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.2809675103967165,-1.7500885569666285,0.71338606911949],"aabb_xy":[[-0.29104921747528995,-1.8300885548587427],[-0.270885803318143,-1.6700885590745134]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.6152818589762424,0.4658378185946095,0.71338606911949],"aabb_xy":[[-0.619195732171665,0.45708880318805273],[-0.6113679857808199,0.47458683400116625]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.2975785803211922,-1.689494700807869,0.71338606911949],"aabb_xy":[[0.2275785769296302,-1.7248104745112995],[0.36757858371275415,-1.6541789271044378]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[0.25630275357919663,-2.400259377688782,0.71338606911949],"aabb_xy":[[0.2284577167985895,-2.431043876427094],[0.28414779035980375,-2.3694748789504705]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.4415555896491934,0.7757794958858821,0.71338606911949],"aabb_xy":[[0.41905558913715274,0.7532876375204838],[0.46405559016123393,0.7982713542512805]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.5239799644200547,-0.7240568703964687,0.71338606911949],"aabb_xy":[[-0.5738626612977509,-0.7740568696427436],[-0.4740972675423585,-0.674056871150194]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.254799293228852,1.5138600361833068,0.71338606911949],"aabb_xy":[[0.24921762159472324,1.5013600363655313],[0.26038096486298073,1.5263600360010823]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.49812525425003606,-0.3904881718108779,0.71338606911949],"aabb_xy":[[0.46772714315089237,-0.4208950738125474],[0.5285233653491794,-0.3600812698092084]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.6136512027952277,1.4705976677079486,0.71338606911949],"aabb_xy":[[-0.6511512026122611,1.4659594563968066],[-0.576151202978194,1.4752358790190903]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.39011617370314483,-1.4437513530375443,0.71338606911949],"aabb_xy":[[-0.4501161753460667,-1.4957515023294885],[-0.330116172060223,-1.3917512037456001]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.3416511491423231,0.8992010328339286,0.71338606911949],"aabb_xy":[[-0.39165115016145846,0.8627348170961008],[-0.2916511481231879,0.9356672485717566]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.4271323562733402,-0.5091798401993186,0.71338606911949],"aabb_xy":[[-0.491132356533811,-0.5541886395522465],[-0.36313235601286936,-0.46417104084639055]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_25","position":[-0.30281674197330377,1.4306215273363416,0.71338606911949],"aabb_xy":[[-0.32781674152504225,1.420479043471207],[-0.2778167424215653,1.4407640112014763]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[-0.5478827489645628,-1.3356822246000457,0.71338606911949],"aabb_xy":[[-0.5853827493127906,-1.347473620181129],[-0.510382748616335,-1.323890829018962]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_27","position":[0.3402328425825756,-0.8852940474276008,0.71338606911949],"aabb_xy":[[0.29804842842174484,-0.9492940477048121],[0.3824172567434063,-0.8212940471503897]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712613184682457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8802.png","name":"8802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8802.png","name":"8802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3090.png","name":"3090"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8621.png","name":"8621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":701.7448347106961,"rotation_z_degrees":144.67618270698125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016615463601503046,-0.00550480923510234,0.01883554554461755]},{"name":"camera_2","offset_m":[0.007056433285052344,-0.0013032940460813262,-0.007185556295498876]},{"name":"camera_3","offset_m":[-0.00010828684371495118,0.015053806294710276,0.01022563129008892]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010019391686075484,-0.0011154600074162148,0.0007859951428615735],"end_effector_yaw_offset_degrees":0.6573002780597628},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001205245273835374,-0.0019393051953358529,0.001540352536697289],"end_effector_yaw_offset_degrees":0.37299994220542687},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013114202301775903,0.0013484066654759577,-0.0015166532251372033],"end_effector_yaw_offset_degrees":-0.5482743837942765}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029778439254134073,0.0014653840443572472],"position_m":[0.34137784392541337,0.08676538404435724,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003771973685289022,-0.00016455195109780878],"position_m":[0.21352802631471096,-0.08736455195109781,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045296791799915885,-0.0015325077099558695],"position_m":[0.3591296791799916,0.23406749229004414,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024622864818952704,-0.004420912147702995],"position_m":[0.2488622864818953,-0.340120912147703,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a9e253ef6aa8b6771b8e84db18f8f5632b4003c4e6edc2a3baaeed8c0426e011","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8802/tex_ceiling_textures_9291/tex_floor_textures_8621/tex_table_textures_3090/tex_wall_textures_7827","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6169364175034092925,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6169364175034092925,"visual_seed":6169364175034092925,"scene_id":"lab_003","finished_at":"2026-09-03T09:07:23"} +{"episode_id":"ep_000018","started_at":"2026-09-03T09:07:26","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.5974864356145205,-1.5941032282313823,0.71338606911949],"aabb_xy":[[-0.6187644437579928,-1.6591032305574553],[-0.5762084274710483,-1.5291032259053092]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.5704405498425675,-2.4656669734342334,0.71338606911949],"aabb_xy":[[0.5658054346903341,-2.4695343085113812],[0.5750756649948008,-2.4617996383570837]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.1284119347204381,1.3827763634716446,0.71338606911949],"aabb_xy":[[0.04841193146259515,1.3027798556796604],[0.20841193797828106,1.4627728712636283]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.3769691983323279,0.521000727632507,0.71338606911949],"aabb_xy":[[-0.4419691993328284,0.470214362477832],[-0.3119691973318274,0.5717870927871819]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.14223787375765773,-1.9142477751159497,0.71338606911949],"aabb_xy":[[-0.17056758370619798,-1.9187085173096665],[-0.11390816380911753,-1.9097870329222324]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.2750883573956373,-1.8463388012457267,0.71338606911949],"aabb_xy":[[0.22508835795544163,-1.896306725730043],[0.32508835683583287,-1.7963708767614104]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.2324165461587866,-0.6318615659640063,0.71338606911949],"aabb_xy":[[0.18241654479789934,-0.681839470539422],[0.28241654751967377,-0.5818836613885907]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.2996918638631826,-0.8876571054646825,0.71338606911949],"aabb_xy":[[-0.3424585707426028,-0.9516571088864849],[-0.2569251569837624,-0.82365710204288]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[0.25463493154923456,-1.019795778734252,0.71338606911949],"aabb_xy":[[0.20465612303891872,-1.0697957787399706],[0.3046137400595505,-0.969795778728533]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.21443028491311278,-2.4039461506384665,0.71338606911949],"aabb_xy":[[0.20318522934249494,-2.4151879483625613],[0.2256753404837306,-2.392704352914371]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.06543175139676838,1.098101001643009,0.71338606911949],"aabb_xy":[[0.001431749484426037,1.0421898523849988],[0.12943175330911072,1.1540121509010197]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.311882278182909,-2.2469749749554984,0.71338606911949],"aabb_xy":[[-0.3758822754685576,-2.288481693908342],[-0.24788228089726033,-2.205468256002654]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.4045075156347518,0.7724968955084726,0.71338606911949],"aabb_xy":[[-0.4084679994044862,0.7648290309229521],[-0.4005470318650174,0.7801647600939933]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.6392871008988884,-2.206525556161603,0.71338606911949],"aabb_xy":[[-0.6539305064529213,-2.221184275818387],[-0.6246436953448553,-2.1918668365048184]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.30679996995499104,0.8954932055643923,0.71338606911949],"aabb_xy":[[0.29880598137728764,0.8874931254693018],[0.31479395853269443,0.9034932856594825]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.2240780550241661,-0.672846991804815,0.71338606911949],"aabb_xy":[[-0.2540456119339918,-0.7028469921027009],[-0.19411049811434045,-0.6428469915069294]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.021514028482398473,-2.499391628047266,0.71338606911949],"aabb_xy":[[-0.03398138659213412,-2.51185695268059],[-0.009046670372662824,-2.486926303413943]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.25720642495923596,-1.3704045294910268,0.71338606911949],"aabb_xy":[[-0.32120642730203747,-1.415345380735159],[-0.19320642261643436,-1.325463678246894]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.4675964673032035,-2.56221801862197,0.71338606911949],"aabb_xy":[[-0.48450719973954526,-2.575690224214584],[-0.4506857348668617,-2.5487458130293548]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.3194808028052776,1.4772454049947839,0.71338606911949],"aabb_xy":[[0.3016116950508221,1.463412497017573],[0.33734991055973307,1.4910783129719951]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.28448883211224807,-1.5961450174850873,0.71338606911949],"aabb_xy":[[-0.3694888305296713,-1.6810193129473725],[-0.19948883369482484,-1.5112707220228025]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.07438193535315851,-1.0683278252265853,0.71338606911949],"aabb_xy":[[0.032197521192327785,-1.1323278255037965],[0.11656634951398927,-1.0043278249493741]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.2669173580726053,-1.1772699091179988,0.71338606911949],"aabb_xy":[[-0.30546305089780634,-1.2158156801741875],[-0.22837166524740427,-1.13872413806181]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.1597630341221551,0.8946039559693699,0.71338606911949],"aabb_xy":[[0.07976921054359692,0.8146039533765286],[0.23975685770071337,0.9746039585622117]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.27087099996612196,1.6106171517025794,0.71338606911949],"aabb_xy":[[-0.3408710026027083,1.5905122867067136],[-0.20087099732953562,1.6307220166984446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662780723731755,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1435.png","name":"1435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9182.png","name":"9182"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1599.png","name":"1599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1617.png","name":"1617"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.8509394983755,"rotation_z_degrees":249.20410918110076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014141044590244447,-0.006530018270075915,-0.004847665049586714]},{"name":"camera_2","offset_m":[0.0014339219598074153,-0.00975331194331933,-0.01736353871868106]},{"name":"camera_3","offset_m":[0.004088733493285163,-0.01951282027317477,0.0006662682839488725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001018470977732788,-0.0005714901936538976,0.000646962370862909],"end_effector_yaw_offset_degrees":0.8093389434667755},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[5.112049745494181e-05,-0.0017535446889589434,-0.0009431572500251733],"end_effector_yaw_offset_degrees":-0.8537994427423212},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007407276489286027,0.0007933673408702826,-6.563670840004673e-05],"end_effector_yaw_offset_degrees":-0.742202495528324}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001836620862823466,-0.0026812276760790456],"position_m":[0.3365633791371765,0.08261877232392095,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002607641748277347,0.00429831554198236],"position_m":[0.21469235825172264,-0.08290168445801764,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003644987809950165,-0.004632834414822733],"position_m":[0.35496449878099506,0.23096716558517727,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004870832479497845,-0.003281219356990636],"position_m":[0.24152916752050216,-0.33898121935699066,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"576517b66ad54b8f632bf02b9decd0cb5eb2223d3807f36569fd792258cda939","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_917/tex_ceiling_textures_1617/tex_floor_textures_1599/tex_table_textures_1435/tex_wall_textures_9182","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3810956352143897724,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3810956352143897724,"visual_seed":3810956352143897724,"scene_id":"lab_003","finished_at":"2026-09-03T09:09:49"} +{"episode_id":"ep_000019","started_at":"2026-09-03T09:09:52","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.26243206877276026,-1.375570987372973,0.71338606911949],"aabb_xy":[[0.25747604858787915,-1.3980709875750945],[0.2673880889576415,-1.3530709871708513]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.04543186815817024,1.1415774050726277,0.71338606911949],"aabb_xy":[[-0.014568132349682681,1.0847306713867064],[0.10543186866602315,1.198424138758549]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.14616230227260552,-0.8419626407221126,0.71338606911949],"aabb_xy":[[-0.22616230092949152,-0.8564674996463753],[-0.06616230361571951,-0.8274577817978497]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.1891819873740912,1.6638293564998627,0.71338606911949],"aabb_xy":[[0.12418198641696397,1.6118811445661574],[0.25418198833121836,1.7157775684335685]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.5362724344320311,0.3210267275042731,0.71338606911949],"aabb_xy":[[-0.5815510493131804,0.2570267281560894],[-0.49099381955088184,0.38502672685245676]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.31773835478469803,-2.501948494283647,0.71338606911949],"aabb_xy":[[-0.3677383564461927,-2.5519469365393497],[-0.26773835312320315,-2.4519500520279442]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.5290748022614828,1.6935405085670916,0.71338606911949],"aabb_xy":[[0.5197811840243323,1.6560405100789575],[0.5383684204986334,1.7310405070552253]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.0017018521966547517,-2.520489604993799,0.71338606911949],"aabb_xy":[[-0.06570184859222783,-2.584452893412532],[0.062298144198918326,-2.456526316575065]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.6493743270785495,-2.392169878489785,0.71338606911949],"aabb_xy":[[0.5793743306685875,-2.412607814141466],[0.719374323488511,-2.3717319428381027]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.4232980317384604,-0.3191363518502355,0.71338606911949],"aabb_xy":[[-0.43129202031616376,-0.3271364319453258],[-0.415304043160757,-0.31113627175514513]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[-0.573473147154813,-1.723741390868517,0.71338606911949],"aabb_xy":[[-0.5798869607979978,-1.7301512111161852],[-0.567059333511628,-1.7173315706208485]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.65571577494649,-1.1311489805054744,0.71338606911949],"aabb_xy":[[-0.6591564511865472,-1.1350104134798389],[-0.6522750987064329,-1.12728754753111]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.1349649977612517,-1.1127735549118798,0.71338606911949],"aabb_xy":[[-0.1925954666485225,-1.1727735538385902],[-0.07733452887398083,-1.052773555985169]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.6287406758143748,1.0929183695326308,0.71338606911949],"aabb_xy":[[0.6161379766772983,1.0803229733077653],[0.6413433749514512,1.1055137657574963]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.4670974414378586,-0.8598698173431731,0.71338606911949],"aabb_xy":[[0.43209744008637685,-0.8802295532999941],[0.5020974427893403,-0.8395100813863524]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.6539159314914449,-0.020456475878832148,0.71338606911949],"aabb_xy":[[-0.6685593370454778,-0.03511519553561643],[-0.6392725259374118,-0.005797756222047867]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.4896874837154013,1.6981830868205692,0.71338606911949],"aabb_xy":[[-0.5796874823098713,1.6819325005071482],[-0.39968748512093144,1.7144336731339902]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.5590899498870641,1.0850301828964062,0.71338606911949],"aabb_xy":[[-0.5734243750132274,1.0729699673418671],[-0.5447555247609005,1.0970903984509448]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.04160908760441695,-2.0885298390262403,0.71338606911949],"aabb_xy":[[-0.013390911572172544,-2.1435195138011975],[0.09660908678100644,-2.0335401642512823]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.5691810660155245,-1.182587573124733,0.71338606911949],"aabb_xy":[[-0.599579177114668,-1.2129944751264023],[-0.5387829549163808,-1.1521806711230633]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.05953044395331697,-0.7073821715980402,0.71338606911949],"aabb_xy":[[-0.07663252191168513,-0.7244889771293098],[-0.042428365994948807,-0.6902753660667703]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.6884636004716,-0.2897249853722865,0.71338606911949],"aabb_xy":[[0.6821515009352617,-0.2954919246255053],[0.6947757000079384,-0.28395804611906766]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.35645331027404614,-1.8802316914738797,0.71338606911949],"aabb_xy":[[0.2964533100226449,-1.9345130165103441],[0.41645331052544726,-1.8259503664374148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646924253435017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7823.png","name":"7823"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7823.png","name":"7823"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2561.png","name":"2561"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3986.png","name":"3986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4354.png","name":"4354"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":789.0019727131895,"rotation_z_degrees":160.0679746663783,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01869611410156175,0.011381203475227555,0.012867219234575445]},{"name":"camera_2","offset_m":[-0.0027341048915649584,0.01962756402458445,-0.002519432611634658]},{"name":"camera_3","offset_m":[0.014118625277263538,-0.01632360550495536,0.008890387294306037]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012807382856905654,-0.00046383144265912967,0.001340346825919186],"end_effector_yaw_offset_degrees":0.9343160458500102},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014596200982569707,-0.001614854494296383,-0.0019052469633344664],"end_effector_yaw_offset_degrees":-0.003234272540677985},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00046514205139005496,0.0015749496007778528,0.0003132306069483135],"end_effector_yaw_offset_degrees":-0.3950946170793841}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030866406119728082,-2.620280133210258e-05],"position_m":[0.3414866406119728,0.0852737971986679,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020503505740630634,-0.0011254725096342742],"position_m":[0.21524964942593694,-0.08832547250963427,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037161170209666803,0.0017166889268047337],"position_m":[0.35088388297903333,0.23731668892680474,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004592132730394345,-0.0028296557104946084],"position_m":[0.24180786726960565,-0.3385296557104946,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bca5187e2f181c437dec07dc91d3c30627b5cb4eeacdb2babc597a55b3f3d538","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7823/tex_ceiling_textures_4354/tex_floor_textures_2537/tex_table_textures_2561/tex_wall_textures_3986","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":135133351316219111,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":135133351316219111,"visual_seed":135133351316219111,"scene_id":"lab_003","finished_at":"2026-09-03T09:12:17"} +{"episode_id":"ep_000020","started_at":"2026-09-03T09:13:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.19621593509077417,-0.44525619842879127,0.71338606911949],"aabb_xy":[[-0.2462159361099095,-0.4817224141666192],[-0.14621593407163894,-0.40878998269096334]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.5753092882353357,-2.5116713214471247,0.71338606911949],"aabb_xy":[[0.511309290949687,-2.5531780403999687],[0.6393092855209843,-2.4701646024942807]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.10391141325927855,-2.4985685766422523,0.71338606911949],"aabb_xy":[[-0.16791141037138424,-2.547600946436663],[-0.03991141614717285,-2.4495362068478417]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.38277481887603715,-0.2869215443928308,0.71338606911949],"aabb_xy":[[0.3477748188995413,-0.2963861604404474],[0.417774818852533,-0.2774569283452142]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.34418359838893514,-2.495353057925259,0.71338606911949],"aabb_xy":[[-0.3616835318229185,-2.512853057845493],[-0.32668366495495177,-2.477853058005024]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.36238120824876474,-1.7654812398793527,0.71338606911949],"aabb_xy":[[-0.39988120835435764,-1.7723034017323338],[-0.32488120814317173,-1.7586590780263716]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.48616813237556405,-0.07204064840649727,0.71338606911949],"aabb_xy":[[-0.566168129389812,-0.09217520007990854],[-0.406168135361316,-0.051906096733085993]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[0.208724256066519,1.5526218183167733,0.71338606911949],"aabb_xy":[[0.19266232860800137,1.4676218165041814],[0.22478618352503665,1.637621820129365]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.5265281145619718,-1.3107365257571895,0.71338606911949],"aabb_xy":[[0.44152811614454857,-1.3956108212194742],[0.611528112979395,-1.2258622302949043]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.5637176652097025,1.557198600571302,0.71338606911949],"aabb_xy":[[-0.5702193017177071,1.5474307785449923],[-0.5572160287016978,1.5669664225976119]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.38223162419968615,-1.9370885886375935,0.71338606911949],"aabb_xy":[[0.33223162283879887,-1.9870664932130093],[0.4322316255605733,-1.887110684062178]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.09063970188197656,-2.0526201188563546,0.71338606911949],"aabb_xy":[[-0.10827253747550414,-2.0702430648719776],[-0.07300686628844899,-2.0349971728407317]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.6588847525521808,0.9588429809209624,0.71338606911949],"aabb_xy":[[0.60389250191667,0.9038429791776498],[0.7138770031876919,1.0138429826642752]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.29694641765253227,-0.51014662711209,0.71338606911949],"aabb_xy":[[0.22694641426097026,-0.5454624008155208],[0.3669464210440942,-0.4748308534086591]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.5484718911353441,-0.29759450156557943,0.71338606911949],"aabb_xy":[[-0.565971890413431,-0.31493260163192544],[-0.5309718918572572,-0.28025640149923353]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.021615929971048553,-1.0588957943604302,0.71338606911949],"aabb_xy":[[-0.02531919130018742,-1.0625978126691478],[-0.017912668641909685,-1.0551937760517118]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.06113191082320946,0.9821610918979986,0.71338606911949],"aabb_xy":[[-0.07804264325955122,0.968688886305384],[-0.04422117838686767,0.995633297490613]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.5526203458025131,1.2378000039489128,0.71338606911949],"aabb_xy":[[-0.6126203456490799,1.1809813817558739],[-0.4926203459559463,1.2946186261419512]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.08988244220300723,0.7722704479966405,0.71338606911949],"aabb_xy":[[-0.00011755639146272812,0.7560198616832194],[0.17988244079747717,0.7885210343100615]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.42260490350949786,-2.2498310676373006,0.71338606911949],"aabb_xy":[[0.36760490530775297,-2.290353034263738],[0.47760490171124265,-2.209309101010863]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.4887341082620652,-0.931169005821868,0.71338606911949],"aabb_xy":[[-0.5737341069541398,-0.9631548692167469],[-0.40373410956999056,-0.8991831424269892]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[0.36971493790406895,0.3892318912258519,0.71338606911949],"aabb_xy":[[0.3197307021958917,0.3392318924123563],[0.4196991736122462,0.4392318900393475]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[0.5588460449571135,-0.5387003899463787,0.71338606911949],"aabb_xy":[[0.4788460416931004,-0.552260422255292],[0.6388460482211267,-0.5251403576374654]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[0.42914381498929255,-1.1410212606319912,0.71338606911949],"aabb_xy":[[0.39164381504552614,-1.1493143506668277],[0.46664381493305895,-1.1327281705971546]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[-0.2720946441276027,1.4873456650967376,0.71338606911949],"aabb_xy":[[-0.2970946436793412,1.4772031812316027],[-0.24709464457586422,1.497488148961872]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[-0.36709870951590395,-1.9188133530873115,0.71338606911949],"aabb_xy":[[-0.38467701170485075,-1.9363878426614165],[-0.34952040732695705,-1.9012388635132065]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_26","position":[-0.3373404634858188,-1.320036937827659,0.71338606911949],"aabb_xy":[[-0.35984046300952616,-1.3425328852782796],[-0.31484046396211135,-1.297540990377038]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[0.06981367438643449,-1.6818748796659972,0.71338606911949],"aabb_xy":[[0.056941770885494354,-1.7618748800798332],[0.08268557788737463,-1.6018748792521609]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[0.05336648641966335,-1.9090405656931306,0.71338606911949],"aabb_xy":[[-0.011633514537463854,-1.9609887776268362],[0.11836648737679056,-1.857092353759425]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_29","position":[0.5604210399946967,0.4890317906825068,0.71338606911949],"aabb_xy":[[0.5401367372712977,0.4687491655397979],[0.5807053427180953,0.5093144158252155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646785674021417,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/969.png","name":"969"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/969.png","name":"969"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9966.png","name":"9966"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6035.png","name":"6035"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1672.png","name":"1672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3786.png","name":"3786"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":618.4069936940397,"rotation_z_degrees":73.3763723333114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008692162698089714,0.008663888630884301,0.002113462888088738]},{"name":"camera_2","offset_m":[0.013907147756651726,0.015034111113546165,0.006470661629428758]},{"name":"camera_3","offset_m":[-0.019568013283175586,-0.01111292054860662,0.015828160771848034]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007243899872153739,-0.0008954207252902231,0.00021192882620663014],"end_effector_yaw_offset_degrees":0.5208080075779522},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.635686043625705e-05,-0.0017882002263036626,-0.0016719936780222745],"end_effector_yaw_offset_degrees":0.7231807130599683},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0001103250828412073,0.0015920240553092017,0.0014194271854539946],"end_effector_yaw_offset_degrees":-0.10194234274732139}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00020108597599537235,-0.003127135803804205],"position_m":[0.33860108597599536,0.0821728641961958,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003345818982118794,-0.0037804134073201445],"position_m":[0.2206458189821188,-0.09098041340732015,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003247200120968725,0.00044720441781803243],"position_m":[0.3513527998790313,0.23604720441781804,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010193643536043793,0.0030418659984718923],"position_m":[0.2474193643536044,-0.3326581340015281,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4ca4773b53f4b00b891c88db9b57b3bf99463364919b522cddf40246d47dc05b","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_969/tex_ceiling_textures_3786/tex_floor_textures_1672/tex_table_textures_9966/tex_wall_textures_6035","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7737325551746731716,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7737325551746731716,"visual_seed":7737325551746731716,"scene_id":"lab_003","finished_at":"2026-09-03T09:16:10"} +{"episode_id":"ep_000021","started_at":"2026-09-03T09:20:23","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.4239303077724333,-0.3341298181637966,0.71338606911949],"aabb_xy":[[-0.4439887193856735,-0.35419490507295415],[-0.40387189615919294,-0.3140647312546391]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.27635018862532823,1.5797309514679543,0.71338606911949],"aabb_xy":[[0.2722342385132555,1.5756153964351085],[0.28046613873740084,1.5838465065007996]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.5805366840548967,-0.0665574465019505,0.71338606911949],"aabb_xy":[[0.5305366844785621,-0.11653802545405645],[0.6305366836312315,-0.016576867549844554]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.4869415386273572,-1.4350897741033892,0.71338606911949],"aabb_xy":[[-0.5021137079089906,-1.4502586310315928],[-0.4717693693457238,-1.419920917175186]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.44873515182408164,1.2922230454364394,0.71338606911949],"aabb_xy":[[0.44465699391703184,1.288142065188176],[0.4528133097311313,1.2963040256847027]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.2605369076439623,-1.2644798272265516,0.71338606911949],"aabb_xy":[[0.2542248081076239,-1.2702467664797705],[0.26684900718030075,-1.2587128879733327]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.4439117816056273,1.5586277678032912,0.71338606911949],"aabb_xy":[[0.41606674482502015,1.5278432690649795],[0.4717568183862344,1.5894122665416028]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.600831592127137,-1.094077021266263,0.71338606911949],"aabb_xy":[[0.5458361143064776,-1.1490770227001696],[0.6558270699477964,-1.0390770198323558]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.5360989701752424,-1.2745233979498034,0.71338606911949],"aabb_xy":[[-0.5860920822844343,-1.3245233986239993],[-0.48610585806605056,-1.224523397275608]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.5809697488278046,0.9611827859382203,0.71338606911949],"aabb_xy":[[-0.6309647597872566,0.9111827869026287],[-0.5309747378683526,1.011182784973812]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.18789957989927308,-0.8213106907316758,0.71338606911949],"aabb_xy":[[0.1765378452459869,-0.8326791571379638],[0.19926131455255922,-0.8099422243253876]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.18696157660751178,1.7485783466643867,0.71338606911949],"aabb_xy":[[0.11696157479876634,1.7272245779001991],[0.2569615784162572,1.7699321154285739]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.46558566153612324,-0.9499083830983679,0.71338606911949],"aabb_xy":[[-0.5295856635858552,-0.9900028661876759],[-0.40158565948639124,-0.9098139000090599]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[0.30080220033815497,1.501867043279168,0.71338606911949],"aabb_xy":[[0.2508021993876221,1.4703178962756465],[0.3508022012886877,1.5334161902826893]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.33711716878978754,0.30749486468789167,0.71338606911949],"aabb_xy":[[-0.40111717070212993,0.2515837154298812],[-0.27311716687744525,0.3634060139459021]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[0.530773405841835,0.6688043588147963,0.71338606911949],"aabb_xy":[[0.5227471352112091,0.6600528638374438],[0.5387996764724611,0.677555853792149]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.4128376889195351,-2.2570095162016095,0.71338606911949],"aabb_xy":[[0.40199721069302013,-2.274195797492258],[0.42367816714604994,-2.239823234910961]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.6850866068099162,1.2367910302561733,0.71338606911949],"aabb_xy":[[0.6625866069960137,1.2323164138856926],[0.7075866066238184,1.241265646626654]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.5468443740997191,-1.5353206848927192,0.71338606911949],"aabb_xy":[[-0.5594711613869153,-1.544866758594292],[-0.5342175868125226,-1.525774611191146]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.3576897422647285,-2.5115109079731317,0.71338606911949],"aabb_xy":[[-0.3926897405348484,-2.51858503566812],[-0.3226897439946086,-2.5044367802781435]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.04299471826991097,-2.253979524260855,0.71338606911949],"aabb_xy":[[-0.12671694376999343,-2.343979527795551],[0.04072750723017149,-2.163979520726159]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.36103027396614884,0.5761298660853074,0.71338606911949],"aabb_xy":[[0.3534060058759706,0.5684966425487638],[0.3686545420563271,0.5837630896218512]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.596274446496109,-2.16791757051933,0.71338606911949],"aabb_xy":[[0.541274448294364,-2.2084395371457672],[0.6512744446978537,-2.127395603892892]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.3711355191822187,1.6715692642623332,0.71338606911949],"aabb_xy":[[-0.45113552244623184,1.6580092319534196],[-0.2911355159182056,1.6851292965712463]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.1303107585066603,-1.8538292148052427,0.71338606911949],"aabb_xy":[[-0.19431075580900667,-1.8981956417730992],[-0.06631076120431387,-1.8094627878373857]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.5767445689140469,-1.458349233019805,0.71338606911949],"aabb_xy":[[0.5296151899122111,-1.5223492340642066],[0.6238739479158825,-1.3943492319754027]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[0.34541790516277393,-1.536451047972124,0.71338606911949],"aabb_xy":[[0.26541790300001145,-1.6164062315982675],[0.4254179073255364,-1.4564958643459802]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.4677896087725839,-0.25034344750905513,0.71338606911949],"aabb_xy":[[-0.47694948771646056,-0.25687466555259214],[-0.45862972982870737,-0.24381222946551812]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[-0.2910500079847207,-0.21783192279860852,0.71338606911949],"aabb_xy":[[-0.3248255671754136,-0.23187041801177355],[-0.25727444879402767,-0.2037934275854435]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_29","position":[-0.35389795791578926,-1.6828599719888677,0.71338606911949],"aabb_xy":[[-0.4338979593459164,-1.7623771270014772],[-0.273897956485662,-1.6033428169762582]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.5952745498664544,-2.059374281942632,0.71338606911949],"aabb_xy":[[-0.6025568662431179,-2.14937428555214],[-0.5879922334897906,-1.9693742783331223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661090666176391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/90.png","name":"90"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/90.png","name":"90"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8756.png","name":"8756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4606.png","name":"4606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7900.png","name":"7900"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":581.8422301157109,"rotation_z_degrees":276.3720149715302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008726199933648256,-0.00870489607092729,0.005875531281929618]},{"name":"camera_2","offset_m":[0.01301403945655073,0.0189280048257891,-0.019346013692291147]},{"name":"camera_3","offset_m":[0.016217445828406483,-0.015291599280260249,-0.005862767669456828]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009042488279844844,-0.0007464077896546654,-0.0019139736699801096],"end_effector_yaw_offset_degrees":0.850629535555447},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018269918220919627,-0.0002483554780315011,0.0008443894965275128],"end_effector_yaw_offset_degrees":-0.9910775267162018},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016568640222646546,-0.0003002085832008285,0.0009040090817549725],"end_effector_yaw_offset_degrees":-0.4814126411171742}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0042108193007647,-0.0026910284000307896],"position_m":[0.33418918069923526,0.08260897159996922,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032238235699304316,0.0032857737080385285],"position_m":[0.21407617643006957,-0.08391422629196148,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017056923099039367,0.0004168568378886076],"position_m":[0.3528943076900961,0.23601685683788862,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011183234291800535,0.001082867636483846],"position_m":[0.24528167657081995,-0.33461713236351615,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d600c99644118dd7ac2f08c288abb7fa31ccc1e7be7707e523a897b2722c4c23","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_90/tex_ceiling_textures_7900/tex_floor_textures_4606/tex_table_textures_9027/tex_wall_textures_8756","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1401556192385486718,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1401556192385486718,"visual_seed":1401556192385486718,"scene_id":"lab_003","finished_at":"2026-09-03T09:23:05"} +{"episode_id":"ep_000022","started_at":"2026-09-03T09:25:52","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.405586858525021,-2.4132688853034594,0.71338606911949],"aabb_xy":[[-0.41683191409563886,-2.4245106830275547],[-0.3943418029544032,-2.402027087579364]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.40529435280757053,-1.4185444175342652,0.71338606911949],"aabb_xy":[[-0.4604195584371613,-1.4785444189755523],[-0.35016914717797976,-1.358544416092978]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.2176191038126165,0.8100854142155947,0.71338606911949],"aabb_xy":[[-0.28261910384691924,0.7633847375352673],[-0.15261910377831375,0.8567860908959218]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.4534064455675282,1.1493875391065873,0.71338606911949],"aabb_xy":[[-0.47699156903142303,1.0843875368611555],[-0.42982132210363333,1.214387541352019]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.39884622539702996,1.787132974719754,0.71338606911949],"aabb_xy":[[0.33484622811138126,1.7456262557669102],[0.46284622268267855,1.8286396936725982]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.16083823481122606,1.105863172759666,0.71338606911949],"aabb_xy":[[0.10320776592395517,1.045863173832955],[0.21846870369849686,1.165863171686376]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.24298865888948978,-0.3568730294626987,0.71338606911949],"aabb_xy":[[-0.2547568456841473,-0.4418730293679203],[-0.23122047209483226,-0.2718730295574771]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[0.1462995962507121,1.8151953866456059,0.71338606911949],"aabb_xy":[[0.10879959630694566,1.8069022966107695],[0.18379959619447847,1.8234884766804427]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.6611646119445487,-1.017886451888773,0.71338606911949],"aabb_xy":[[-0.678664612189598,-1.0353862397283395],[-0.6436646116994992,-1.0003866640492058]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.09122142083589424,1.3243078315232153,0.71338606911949],"aabb_xy":[[-0.09753352037223267,1.3185408922699964],[-0.0849093212995558,1.3300747707764342]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.41642441109954437,-2.298327695223292,0.71338606911949],"aabb_xy":[[-0.45392441144777207,-2.3101190908043754],[-0.37892441075131655,-2.2865362996422083]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.2696175784165618,-1.3524308646987724,0.71338606911949],"aabb_xy":[[-0.2878234020778095,-1.3634562652807642],[-0.25141175475531413,-1.341405464116781]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.6215271227777985,-0.30718399189985623,0.71338606911949],"aabb_xy":[[0.5990134309543415,-0.37718399250086376],[0.6440408146012558,-0.2371839912988487]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.5726117763488334,-2.0880645682012258,0.71338606911949],"aabb_xy":[[-0.609107596976112,-2.1245485106279833],[-0.5361159557215546,-2.051580625774468]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.20357240404450838,-2.0219233240703707,0.71338606911949],"aabb_xy":[[-0.26857240192615617,-2.0730469877769115],[-0.1385724061628606,-1.9707996603638298]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.21759234736426003,-1.4851993591724257,0.71338606911949],"aabb_xy":[[0.16259234916251517,-1.5257213257988633],[0.2725923455660048,-1.4446773925459881]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.11241875035311255,1.6656978115509085,0.71338606911949],"aabb_xy":[[-0.1284806778116302,1.5806978097383162],[-0.0963568228945949,1.7506978133634998]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.1437769004535564,-1.7118898054379585,0.71338606911949],"aabb_xy":[[-0.19877689963014586,-1.766879480212916],[-0.08877690127696689,-1.6569001306630007]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.27995620474156024,-1.8113953705478227,0.71338606911949],"aabb_xy":[[0.2653127991875272,-1.826054090204607],[0.2945996102955932,-1.7967366508910385]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.4889382850100013,1.0130414500629774,0.71338606911949],"aabb_xy":[[-0.5114382850201495,0.9989452304233741],[-0.466438284999853,1.0271376697025807]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.15898921297916813,-2.0210056517624198,0.71338606911949],"aabb_xy":[[0.10917243351433337,-2.071005650246723],[0.20880599244400289,-1.9710056532781164]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.13651542891438762,1.491521098763632,0.71338606911949],"aabb_xy":[[0.10603117878735746,1.4415210989821359],[0.16699967904141777,1.5415210985451278]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.032573353597795784,-2.1975254350598865,0.71338606911949],"aabb_xy":[[-0.017426645978538928,-2.2475060140119925],[0.0825733531741305,-2.1475448561077806]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.10889787034519305,0.5646201597879221,0.71338606911949],"aabb_xy":[[-0.14348895319923827,0.4996201595028911],[-0.07430678749114783,0.6296201600729532]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.6351195640570617,0.046896470867995976,0.71338606911949],"aabb_xy":[[-0.6445370386269244,0.03748029373027694],[-0.6257020894871989,0.056312648005715]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[-0.2090637078652648,0.5044296824129986,0.71338606911949],"aabb_xy":[[-0.21963118752336377,0.4938846522999899],[-0.19849622820716575,0.514974712526007]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.5465546240500088,-1.9747803337618417,0.71338606911949],"aabb_xy":[[0.4825546220002769,-2.01487481685115],[0.6105546260997409,-1.934685850672534]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[0.6518840224696332,-1.4513838085724269,0.71338606911949],"aabb_xy":[[0.5878840260423113,-1.4985534323945235],[0.7158840188969551,-1.4042141847503307]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[0.6116778285634608,0.8195982187281063,0.71338606911949],"aabb_xy":[[0.556704106527128,0.7645982191638734],[0.6666515505997938,0.8745982182923397]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[0.38587553279551856,-0.8464618182038537,0.71338606911949],"aabb_xy":[[0.3558838700616482,-0.8764618175406542],[0.41586719552938883,-0.8164618188670532]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_30","position":[0.5722661339896078,-2.172012632246089,0.71338606911949],"aabb_xy":[[0.5509881258461355,-2.2370126345721624],[0.59354414213308,-2.1070126299200163]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[0.5863910115501068,0.5197433354422691,0.71338606911949],"aabb_xy":[[0.5744582771882788,0.5073611826344098],[0.5983237459119349,0.5321254882501285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636938378475369,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7771.png","name":"7771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7771.png","name":"7771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7651.png","name":"7651"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/108.png","name":"108"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9468.png","name":"9468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6101.png","name":"6101"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":813.8270485166922,"rotation_z_degrees":216.57587773234758,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007896274008595654,-0.00914462458054449,0.0045722176727656764]},{"name":"camera_2","offset_m":[0.012858423871032667,0.0019394517674148869,0.002200507274586379]},{"name":"camera_3","offset_m":[-0.015919288719813983,-0.0037887909135042377,-0.017791523306006606]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005334180244641917,0.0011857177367399514,-0.0007765554894592595],"end_effector_yaw_offset_degrees":0.5431417493467083},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003711025951685515,-0.0013084266828773052,-0.0019290514483084266],"end_effector_yaw_offset_degrees":-0.3445548742449347},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011819964149558078,0.0008235331174814751,-0.0001310947176771161],"end_effector_yaw_offset_degrees":-0.40566989751155824}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028900268959388565,-0.0008644543239015442],"position_m":[0.3355099731040611,0.08443554567609846,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003939167619400329,-0.0011032584423599301],"position_m":[0.22123916761940032,-0.08830325844235994,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004245522831883953,0.0003021401829639723],"position_m":[0.3503544771681161,0.235902140182964,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002753160963197778,-0.003658971882446125],"position_m":[0.24364683903680223,-0.3393589718824461,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"212cc48593fc398ff87f084bab99b1393f764bca5cc58d4fbf57e0822e55b679","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7771/tex_ceiling_textures_6101/tex_floor_textures_9468/tex_table_textures_7651/tex_wall_textures_108","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1751613379363108539,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1751613379363108539,"visual_seed":1751613379363108539,"scene_id":"lab_003","finished_at":"2026-09-03T09:28:17"} +{"episode_id":"ep_000023","started_at":"2026-09-03T09:31:01","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.5386636065427474,-1.1645984437940926,0.71338606911949],"aabb_xy":[[-0.5425774797381699,-1.1733474592006494],[-0.5347497333473248,-1.1558494283875358]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[-0.2824101787537328,0.9425409804921823,0.71338606911949],"aabb_xy":[[-0.33741017837547865,0.8875572877047095],[-0.22741017913198697,0.997524673279655]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.4213215227552165,-0.6348534291771812,0.71338606911949],"aabb_xy":[[0.35732152358544655,-0.6816201162961437],[0.48532152192498645,-0.5880867420582188]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.23174543271992643,1.124699209328781,0.71338606911949],"aabb_xy":[[-0.23944862339400347,1.116989838630043],[-0.22404224204584938,1.1324085800275192]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[0.365054002444813,1.27769378520573,0.71338606911949],"aabb_xy":[[0.3010540007668156,1.2291763937264157],[0.4290540041228103,1.3262111766850442]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.5685251184163145,0.5510759243634462,0.71338606911949],"aabb_xy":[[0.4885251169861873,0.47155876935083674],[0.6485251198464417,0.6305930793760557]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.5143900850163581,0.7251546685663537,0.71338606911949],"aabb_xy":[[-0.5518900865319898,0.7139278955502086],[-0.47689008350072637,0.7363814415824987]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.508578347376885,-2.529900369130149,0.71338606911949],"aabb_xy":[[-0.5335783473094029,-2.5367830373510722],[-0.4835783474443671,-2.523017700909226]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.37617560890641455,0.7941521888371592,0.71338606911949],"aabb_xy":[[-0.45617560997953494,0.7843741424997749],[-0.2961756078332943,0.8039302351745438]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.23552120898613504,-2.527353073519294,0.71338606911949],"aabb_xy":[[-0.2448148272232856,-2.5648530720074274],[-0.22622759074898444,-2.4898530750311596]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.30996122332954434,0.6781504380117274,0.71338606911949],"aabb_xy":[[-0.3649567011502037,0.6231504365778203],[-0.2549657455088849,0.7331504394456342]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.45112621123590796,0.1335263914977669,0.71338606911949],"aabb_xy":[[-0.476126210401541,0.12657414579241036],[-0.4261262120702748,0.1404786372031235]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.6896903061277322,0.9961112301498853,0.71338606911949],"aabb_xy":[[0.6745880046667139,0.9810097085188234],[0.7047926075887501,1.011212751780947]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.5451970420418866,0.4710903008889171,0.71338606911949],"aabb_xy":[[-0.5586435686759299,0.4576204492358258],[-0.5317505154078432,0.48456015254200824]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.5750176271464911,1.0650404520847832,0.71338606911949],"aabb_xy":[[-0.6550176293092534,0.9850852684586395],[-0.4950176249837285,1.1449956357109268]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.24708779470350317,-0.9439380923352141,0.71338606911949],"aabb_xy":[[0.19711472917098777,-0.9939380921477471],[0.2970608602360187,-0.8939380925226813]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.2977447966492999,-1.1611983298057527,0.71338606911949],"aabb_xy":[[-0.30910653130258603,-1.1725667962120407],[-0.2863830619960137,-1.1498298633994646]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.6539707301201968,0.3483857819424072,0.71338606911949],"aabb_xy":[[-0.65860584527243,0.3445184468652585],[-0.6493356149679633,0.3522531170195558]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.2112447596650513,-2.474200755849886,0.71338606911949],"aabb_xy":[[0.12124475733103227,-2.5516831104349986],[0.30124476199907035,-2.3967184012647733]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.30471043457872726,1.1064143245100322,0.71338606911949],"aabb_xy":[[0.2921077354416508,1.0938189282851667],[0.3173131337158037,1.1190097207348977]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.6348207193861168,-0.6194188069924571,0.71338606911949],"aabb_xy":[[0.6268272295908349,-0.6274169389329328],[0.642814209181399,-0.6114206750519816]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.5821830383322852,1.6047979790539189,0.71338606911949],"aabb_xy":[[0.5720300227781356,1.568728437481178],[0.5923360538864344,1.6408675206266587]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[0.3317205159357055,-1.8995959066601311,0.71338606911949],"aabb_xy":[[0.32521887942770084,-1.9093637286864409],[0.33822215244371007,-1.8898280846338213]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.3023692122241729,-1.4945114904298347,0.71338606911949],"aabb_xy":[[0.29302220464187767,-1.5088151126474787],[0.31171621980646813,-1.4802078682121906]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.10066601196458669,0.808969013911641,0.71338606911949],"aabb_xy":[[-0.12316243339845079,0.7864690141048936],[-0.07816959053072259,0.8314690137183884]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[0.2505020703179691,-1.821452199371111,0.71338606911949],"aabb_xy":[[0.1705020716610831,-1.835957058295374],[0.3305020689748551,-1.8069473404468481]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[-0.13407103834388334,0.39853465515675435,0.71338606911949],"aabb_xy":[[-0.14048485198706825,0.39212483490908595],[-0.12765722470069837,0.40494447540442263]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[-0.18749978669424716,-0.9435711965821223,0.71338606911949],"aabb_xy":[[-0.20999978693776256,-0.9557758312418942],[-0.16499978645073177,-0.9313665619223503]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.438709763391712,1.542087962744564,0.71338606911949],"aabb_xy":[[-0.5037097643922126,1.4913015975898893],[-0.3737097623912115,1.5928743278992392]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[0.2730951091334628,-2.2053572446656755,0.71338606911949],"aabb_xy":[[0.23931954994276983,-2.2193957398788404],[0.30687066832415577,-2.1913187494525106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646392683552005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9795.png","name":"9795"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9795.png","name":"9795"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9819.png","name":"9819"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5321.png","name":"5321"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9449.png","name":"9449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":599.1209656628348,"rotation_z_degrees":147.04279389458316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005228958954767994,0.0015316210797341988,0.003465931016019677]},{"name":"camera_2","offset_m":[-0.0049785552055943375,-0.005648661636526641,0.002445085258891852]},{"name":"camera_3","offset_m":[-0.010134497850827855,0.0015249742959053264,-0.005972634427814261]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016435046281326265,-0.0006490857809343363,-0.0015452306447745565],"end_effector_yaw_offset_degrees":-0.15921461924778035},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018418549954097366,-0.0015199402178327328,-0.00024866066792991336],"end_effector_yaw_offset_degrees":-0.24383671299293797},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015589047613634556,0.00115890943979294,-0.0013108802816606297],"end_effector_yaw_offset_degrees":-0.5627926572989903}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033190137669221456,-0.0013231372723056687],"position_m":[0.3417190137669221,0.08397686272769433,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038550550078161336,-0.0037306046308899833],"position_m":[0.21344494499218386,-0.09093060463088998,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001334849439761726,-0.00476262052466376],"position_m":[0.35326515056023833,0.23083737947533625,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005005310232744633,-0.003372103296811666],"position_m":[0.24589946897672554,-0.33907210329681164,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"136232d04d93267430ae8e6a2026995200b6d049bcb717389bb8ddf5edc62950","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9795/tex_ceiling_textures_8437/tex_floor_textures_9449/tex_table_textures_9819/tex_wall_textures_5321","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8805152610111914625,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8805152610111914625,"visual_seed":8805152610111914625,"scene_id":"lab_003","finished_at":"2026-09-03T09:33:18"} +{"episode_id":"ep_000024","started_at":"2026-09-03T09:33:21","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.5379627529923829,-0.63410752656891,0.71338606911949],"aabb_xy":[[-0.5546398889854784,-0.6508074505428404],[-0.5212856169992874,-0.6174076025949798]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.26729960491156257,-0.5682859981331916,0.71338606911949],"aabb_xy":[[0.2022996039544354,-0.620234210066897],[0.3322996058686898,-0.5163377861994859]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.45975891495376897,-0.7910477860141432,0.71338606911949],"aabb_xy":[[-0.5237589168661114,-0.8469589352721537],[-0.3957589130414267,-0.7351366367561328]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.44718546126755687,1.1351370711191553,0.71338606911949],"aabb_xy":[[-0.49718546255139673,1.0851582167285332],[-0.3971854599837168,1.1851159255097774]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.48800564806352553,-1.0024594571894327,0.71338606911949],"aabb_xy":[[0.408005650659932,-1.0824520283876153],[0.5680056454671187,-0.9224668859912498]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.36539103818512353,-2.0802433677869194,0.71338606911949],"aabb_xy":[[-0.4064089815714944,-2.1302433684178768],[-0.32437309479875265,-2.030243367155962]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.4770167813679047,-1.5671258079646657,0.71338606911949],"aabb_xy":[[0.4520167820959424,-1.583471171560828],[0.502016780639867,-1.5507804443685034]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.3004749885467951,0.4098503670249469,0.71338606911949],"aabb_xy":[[0.28346489125674446,0.39371587852667295],[0.31748508583684576,0.4259848555232208]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.08301089080610957,-1.5999849423858352,0.71338606911949],"aabb_xy":[[-0.13801089042785541,-1.654968635173308],[-0.028010891184363743,-1.5450012495983625]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.5443923928040864,-0.13439188872792585,0.71338606911949],"aabb_xy":[[0.47939239169814296,-0.15935726179605414],[0.6093923939100295,-0.10942651565979755]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.27867141507673976,-2.5424880471210325,0.71338606911949],"aabb_xy":[[-0.3486714184683017,-2.577803820824463],[-0.20867141168517775,-2.507172273417601]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.5467189102376051,0.47209495926268685,0.71338606911949],"aabb_xy":[[-0.5880234533013411,0.4080949596945697],[-0.5054143671738691,0.5360949588308039]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.2748560932824937,-2.2783632988235056,0.71338606911949],"aabb_xy":[[0.21085609290496005,-2.328108565674318],[0.3388560936600273,-2.2286180319726934]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.6284203716868147,-2.249710690499599,0.71338606911949],"aabb_xy":[[-0.6900111309108076,-2.3137106886086465],[-0.5668296124628219,-2.1857106923905527]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.40294646107642773,1.117257125739438,0.71338606911949],"aabb_xy":[[0.3529464600572925,1.0807909100016102],[0.4529464620955631,1.153723341477266]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.5602514696902097,-2.2243711001889874,0.71338606911949],"aabb_xy":[[0.5141663784354781,-2.288371097441542],[0.606336560944941,-2.160371102936432]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.22188894514886415,0.9564946261559393,0.71338606911949],"aabb_xy":[[-0.2858889424512105,0.9121281991880825],[-0.1578889478465177,1.000861053123796]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.6213505493403149,1.1082535377212008,0.71338606911949],"aabb_xy":[[0.6136473586662379,1.1005441670224627],[0.6290537400143918,1.115962908419939]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.5446969759292482,-0.3421815943361852,0.71338606911949],"aabb_xy":[[0.5061512831040472,-0.3807273653923739],[0.5832426687544493,-0.30363582327999655]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.0782688312672507,1.1895723599570145,0.71338606911949],"aabb_xy":[[0.0677013516091517,1.179027329844006],[0.08883631092534972,1.200117390070023]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.5081540853483901,-0.03999798592810366,0.71338606911949],"aabb_xy":[[-0.5206214434581258,-0.05246331056142717],[-0.4956867272386545,-0.02753266129478016]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.2208322324131149,0.5975598694603388,0.71338606911949],"aabb_xy":[[0.14083223375622891,0.583055010536076],[0.3008322310700009,0.6120647283846016]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.11951597822296778,-1.6027853835188441,0.71338606911949],"aabb_xy":[[0.0595159779715666,-1.6570667085553086],[0.17951597847436895,-1.5485040584823793]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.3579761646044292,0.18468012985094973,0.71338606911949],"aabb_xy":[[-0.42197616782306707,0.13795701795194135],[-0.29397616138579136,0.23140324174995805]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.5983221745718261,0.27194094489800724,0.71338606911949],"aabb_xy":[[0.5531508567236573,0.20794094775346889],[0.6434934924199952,0.3359409420425457]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.4749602363311365,0.5550454050650724,0.71338606911949],"aabb_xy":[[0.43746023553914104,0.5486775641068823],[0.5124602371231319,0.5614132460232625]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[-0.2567164431943455,0.2947836315374808,0.71338606911949],"aabb_xy":[[-0.29421644176996625,0.2820473358739228],[-0.21921644461872467,0.30751992720103866]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.17396888587617243,0.6296420523476396,0.71338606911949],"aabb_xy":[[-0.18312876482004906,0.6231108343041025],[-0.16480900693229586,0.6361732703911767]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_28","position":[-0.12283066480457938,-0.6028418618916151,0.71338606911949],"aabb_xy":[[-0.18683066397434933,-0.6496085490105775],[-0.05883066563480944,-0.5560751747726526]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_29","position":[-0.4774063829068357,0.2950993876852128,0.71338606911949],"aabb_xy":[[-0.4837184824431741,0.289332448431994],[-0.47109428337049725,0.3008663269384316]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[0.5744987713200134,-1.8431222797178546,0.71338606911949],"aabb_xy":[[0.5244994961515772,-1.8931222809938018],[0.6244980464884495,-1.7931222784419074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667299974661502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5256.png","name":"5256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5256.png","name":"5256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1235.png","name":"1235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/766.png","name":"766"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9524.png","name":"9524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9396.png","name":"9396"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":724.8011651524916,"rotation_z_degrees":300.2913268492483,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012843189374427608,-0.01886400251442751,0.006815947207659576]},{"name":"camera_2","offset_m":[-0.018333797138892736,-0.013852178742435925,-0.013808779523346764]},{"name":"camera_3","offset_m":[0.014788100921612219,-0.004248586572559762,0.0119205057610892]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009851236728778273,-0.0014720242210646535,0.0009350074900357575],"end_effector_yaw_offset_degrees":0.393473879248013},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001241301240540965,0.0013230601678945867,-0.0016021947527667076],"end_effector_yaw_offset_degrees":0.018663772143397095},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014923721079759915,-0.0009728518922561609,0.0018576566212552621],"end_effector_yaw_offset_degrees":0.4835013585505654}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018705943579428175,-0.0010979385603477076],"position_m":[0.33652940564205713,0.0842020614396523,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024499605835682815,-0.0008523395539415191],"position_m":[0.21485003941643172,-0.08805233955394152,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-8.748965840405833e-05,-0.0021198069482854577],"position_m":[0.354512510341596,0.23348019305171455,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004557019248688366,-0.003559313465715308],"position_m":[0.24184298075131164,-0.3392593134657153,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ef300a634348c1c215db71729c8366af5412687a5d93a684c7bf938af257dd08","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5256/tex_ceiling_textures_9396/tex_floor_textures_9524/tex_table_textures_1235/tex_wall_textures_766","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1273976097125044586,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1273976097125044586,"visual_seed":1273976097125044586,"scene_id":"lab_003","finished_at":"2026-09-03T09:35:46"} +{"episode_id":"ep_000025","started_at":"2026-09-03T09:35:49","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.25270617757016445,-0.9019537245469935,0.71338606911949],"aabb_xy":[[0.1627061781517935,-0.9353292213911832],[0.3427061769885353,-0.8685782277028038]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.2897475495652476,-0.1730221359541293,0.71338606911949],"aabb_xy":[[-0.3697475465282868,-0.25009777759790275],[-0.20974755260220845,-0.09594649431035585]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.16578227367985165,-2.4269394972005243,0.71338606911949],"aabb_xy":[[-0.18398809734109933,-2.437964897782516],[-0.14757645001860398,-2.4159140966185326]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.18757774613945288,-1.4593920128450362,0.71338606911949],"aabb_xy":[[0.15007774596758092,-1.492092748227943],[0.2250777463113248,-1.4266912774621285]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[0.24008042537269636,-1.915558199081023,0.71338606911949],"aabb_xy":[[0.20576414819807842,-1.9655581990542006],[0.2743967025473143,-1.8655581991078451]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.5948092638262497,0.7943009746737979,0.71338606911949],"aabb_xy":[[-0.6588092657385922,0.7383898254157876],[-0.5308092619139075,0.8502121239318085]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.4655543566509135,1.8083658295178213,0.71338606911949],"aabb_xy":[[0.395554354842168,1.7870120607536342],[0.5355543584596589,1.829719598282009]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.525654320944054,-0.0032089832404347263,0.71338606911949],"aabb_xy":[[-0.5807795265736446,-0.06320898468172186],[-0.4705291153144631,0.05679101820085241]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.2113993639871457,-1.1814670650945394,0.71338606911949],"aabb_xy":[[-0.24639936388316458,-1.1898413006064792],[-0.17639936409112683,-1.1730928295825995]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.5982196870257923,-2.4500937770998608,0.71338606911949],"aabb_xy":[[-0.6232196862977546,-2.466439140696023],[-0.57321968775383,-2.4337484135036984]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.45210222450528925,-0.5529045610122676,0.71338606911949],"aabb_xy":[[0.4296030887790622,-0.5754045617905306],[0.47460136023151617,-0.5304045602340046]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.22459802229788717,-1.2576619117816292,0.71338606911949],"aabb_xy":[[0.1895980231679315,-1.2634071328572933],[0.25959802142784283,-1.2519166907059651]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.5236049475447302,1.1071136736209346,0.71338606911949],"aabb_xy":[[0.4890138646906849,1.0421136733359033],[0.5581960303987753,1.1721136739059654]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.5516981495006175,-1.4126964907981392,0.71338606911949],"aabb_xy":[[0.4876981492401467,-1.4577052901510672],[0.6156981497610883,-1.3676876914452112]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.3088583636575022,0.5770683653690925,0.71338606911949],"aabb_xy":[[0.2802090312970859,0.5484228060920167],[0.33750769601791836,0.6057139246461682]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.5745509217293315,0.3881833778696251,0.71338606911949],"aabb_xy":[[-0.6295509213510775,0.33319968508215236],[-0.5195509221075858,0.4431670706570978]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.16809251302292505,1.2336793109396629,0.71338606911949],"aabb_xy":[[-0.2179092924877598,1.1836793124553595],[-0.11827573355809029,1.2836793094239662]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[-0.6309507454238436,-0.8616523259778914,0.71338606911949],"aabb_xy":[[-0.6538664583088936,-0.884556623114315],[-0.6080350325387938,-0.838748028841468]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.5472968598828907,1.6615515437479904,0.71338606911949],"aabb_xy":[[0.52479685937085,1.6390596853825918],[0.5697968603949312,1.6840434021133885]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.6098906116585388,0.37965047722236855,0.71338606911949],"aabb_xy":[[0.5866087694604072,0.29465047592514054],[0.6331724538566699,0.4646504785195967]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.1976020321565608,1.6164888498155778,0.71338606911949],"aabb_xy":[[-0.2576020326644137,1.5596421161296563],[-0.13760203164870788,1.673335583501499]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.10188413192879386,0.8442750642234884,0.71338606911949],"aabb_xy":[[-0.12438413174269623,0.8398004478530077],[-0.07938413211489147,0.8487496805939692]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.029445067260753244,-1.9025870620341858,0.71338606911949],"aabb_xy":[[-0.007050753366525497,-1.9390710044609434],[0.06594088788803198,-1.8661031196074283]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.15930353904891137,-1.6218346240340455,0.71338606911949],"aabb_xy":[[-0.19680353971349004,-1.6375216820342675],[-0.12180353838433265,-1.6061475660338231]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.09312494850537667,-2.4477757214347924,0.71338606911949],"aabb_xy":[[0.07061125668191948,-2.5177757220357995],[0.11563864032883386,-2.3777757208337844]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[-0.3910489777450615,1.2102015966816242,0.71338606911949],"aabb_xy":[[-0.4260489790965432,1.1898418607248031],[-0.35604897639357974,1.2305613326384448]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[-0.268302325601346,-0.6585078369292565,0.71338606911949],"aabb_xy":[[-0.2783840326799194,-0.7385078348213711],[-0.25822061852277245,-0.5785078390371418]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.15550781176367912,-2.120424484362163,0.71338606911949],"aabb_xy":[[-0.22050780964532696,-2.171548148068704],[-0.09050781388203134,-2.0693008206556223]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[-0.4904564120793259,1.585716905951522,0.71338606911949],"aabb_xy":[[-0.5704564090935739,1.5655823542781107],[-0.4104564150650779,1.6058514576249332]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[0.3330039567759122,1.7079858981539782,0.71338606911949],"aabb_xy":[[0.31784108379897513,1.6928204408588596],[0.3481668297528493,1.7231513554490971]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664652738158457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2344.png","name":"2344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2344.png","name":"2344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1925.png","name":"1925"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3901.png","name":"3901"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9234.png","name":"9234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9353.png","name":"9353"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":789.3750490322948,"rotation_z_degrees":171.56568603351593,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011160978248338609,0.003322297919445806,-0.013819614249287265]},{"name":"camera_2","offset_m":[0.006593791363338385,0.01062622696112359,-0.002288264031947363]},{"name":"camera_3","offset_m":[-0.01928505867816416,0.0022858671242230524,0.00782122445790688]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00139035771412813,-0.0018381617037974895,0.001171523299480759],"end_effector_yaw_offset_degrees":0.23707299634410672},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013715233116497645,-0.000509885249357788,0.0018341818093570764],"end_effector_yaw_offset_degrees":-0.3947700416171833},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010200340809954542,-0.0017515882978676295,-0.0015080228568249972],"end_effector_yaw_offset_degrees":0.5318065383411625}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004400497189921487,0.0029555554433120896],"position_m":[0.34280049718992145,0.0882555554433121,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037338172254152433,-0.0006371155335768361],"position_m":[0.22103381722541524,-0.08783711553357684,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016075539035805822,0.0011622434875593586],"position_m":[0.35299244609641944,0.23676224348755937,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004564291440728543,-0.0014534071802572478],"position_m":[0.25096429144072857,-0.33715340718025727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69f3b0b0be89101b3bfe3cc38a03aee7821952d60aac7d56d0ab6f30b3ff50dc","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2344/tex_ceiling_textures_9353/tex_floor_textures_9234/tex_table_textures_1925/tex_wall_textures_3901","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8884983017408024021,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8884983017408024021,"visual_seed":8884983017408024021,"scene_id":"lab_003","finished_at":"2026-09-03T09:38:18"} +{"episode_id":"ep_000026","started_at":"2026-09-03T09:38:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.14654173936616088,-0.3790200670647521,0.71338606911949],"aabb_xy":[[-0.21054173665180953,-0.420526786017596],[-0.08254174208051224,-0.3375133481119081]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.2522474559652127,-1.2027131267526447,0.71338606911949],"aabb_xy":[[0.24147448204384492,-1.237713124971684],[0.2630204298865805,-1.167713128533606]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.21640993770205402,-0.7790660484444083,0.71338606911949],"aabb_xy":[[-0.2364683493152943,-0.7991311353535658],[-0.19635152608881373,-0.7590009615352508]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.14935487699761674,-0.8562675199009775,0.71338606911949],"aabb_xy":[[-0.22935487565450274,-0.8707723788252403],[-0.06935487834073073,-0.8417626609767147]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.6113208325480264,0.8391597586406281,0.71338606911949],"aabb_xy":[[-0.6349059560119212,0.7741597563951963],[-0.5877357090841315,0.9041597608860599]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[-0.3105343662303483,-2.4167690220240665,0.71338606911949],"aabb_xy":[[-0.3280343653647154,-2.4266486490616543],[-0.2930343670959811,-2.4068893949864787]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[0.07528465161191067,-0.7306342660987946,0.71338606911949],"aabb_xy":[[0.05707882795066299,-0.7416596666807863],[0.09349047527315835,-0.719608865516803]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.5958978242853095,-0.11305925483179102,0.71338606911949],"aabb_xy":[[0.5409241022489766,-0.1680592543960242],[0.6508715463216423,-0.05805925526755784]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[0.23850838683516118,-0.6211806295499456,0.71338606911949],"aabb_xy":[[0.23407775748032103,-0.6266290012846282],[0.24293901619000138,-0.615732257815263]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.25494896693040175,0.10447618171159068,0.71338606911949],"aabb_xy":[[-0.2629853016316866,0.0964380624071739],[-0.2469126322291169,0.11251430101600746]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.2525177519588444,-1.9101706075055882,0.71338606911949],"aabb_xy":[[-0.2634235280464071,-1.9901706039044176],[-0.2416119758712817,-1.8301706111067593]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.1480339204105915,1.522595768261922,0.71338606911949],"aabb_xy":[[-0.21203392275339306,1.4776549170177893],[-0.08403391806778994,1.5675366195060543]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.6323183020417056,-2.4983606578313866,0.71338606911949],"aabb_xy":[[0.5910694910117907,-2.5533606573436036],[0.6735671130716202,-2.4433606583191687]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.32079169630249965,-0.18686057708330184,0.71338606911949],"aabb_xy":[[-0.37027211751645844,-0.25086057499615366],[-0.27131127508854086,-0.12286057917045001]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.6256854164555412,-1.9570220133712828,0.71338606911949],"aabb_xy":[[0.6087746840191992,-1.970494218963897],[0.6425961488918828,-1.9435498077786681]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.4426932502155374,0.9917126598342936,0.71338606911949],"aabb_xy":[[-0.4520402577978327,0.9774090376166494],[-0.43334624263324223,1.0060162820519376]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.0812151747263441,-1.2084459253776811,0.71338606911949],"aabb_xy":[[-0.10954488467488432,-1.2129066675713982],[-0.05288546477780387,-1.203985183183964]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.38259918576332713,-1.8169410097418264,0.71338606911949],"aabb_xy":[[-0.4465991828754329,-1.865973379536237],[-0.3185991886512215,-1.7679086399474158]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.4655571001649345,0.7909048890931509,0.71338606911949],"aabb_xy":[[-0.5133632677787032,0.725904886386092],[-0.41775093255116585,0.8559048918002098]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[-0.4438305133801386,-0.9844127421118578,0.71338606911949],"aabb_xy":[[-0.4938079302453921,-1.0344127436011061],[-0.3938530965148849,-0.9344127406226093]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.4481937556184689,1.1850082893766998,0.71338606911949],"aabb_xy":[[-0.5281937525815081,1.107932647732926],[-0.36819375865542975,1.262083931020473]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.45797549248185143,-0.5666276846082381,0.71338606911949],"aabb_xy":[[-0.4992800355455874,-0.6306276841763551],[-0.41667094941811544,-0.5026276850401209]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682625960633736,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7002.png","name":"7002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7002.png","name":"7002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9279.png","name":"9279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2457.png","name":"2457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5311.png","name":"5311"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/143.png","name":"143"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":605.8054073779474,"rotation_z_degrees":202.96356972322442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012844163093484472,-0.00015999567506504164,-0.009782709468279239]},{"name":"camera_2","offset_m":[-0.005386034165036708,0.015726408251226207,0.010902928626231795]},{"name":"camera_3","offset_m":[0.018801483880406183,-0.008115357601515502,0.008658119530356407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014524302332311874,-0.0018323221408857804,0.00028069462415451427],"end_effector_yaw_offset_degrees":0.789743463100524},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005124204411429654,0.0015659869969592791,0.0006676237425743432],"end_effector_yaw_offset_degrees":0.32110866366618707},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00012699829636961496,-0.0011716831650392585,-0.0016933679806162801],"end_effector_yaw_offset_degrees":-0.5036816548207466}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004364412385347449,-0.001408455686746747],"position_m":[0.34276441238534744,0.08389154431325326,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004426199688171477,0.0031071911387933254],"position_m":[0.2128738003118285,-0.08409280886120668,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.252521453045795e-05,0.0018533778173744821],"position_m":[0.3546525252145305,0.2374533778173745,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004204389343143805,0.0023830887892060783],"position_m":[0.25060438934314383,-0.33331691121079393,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a9fc63558196d55ce64e1c527b6d5ed1beaa4df9d1006d78df6a41ab26749c70","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7002/tex_ceiling_textures_143/tex_floor_textures_5311/tex_table_textures_9279/tex_wall_textures_2457","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3937043264513310026,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3937043264513310026,"visual_seed":3937043264513310026,"scene_id":"lab_003","finished_at":"2026-09-03T09:40:46"} +{"episode_id":"ep_000027","started_at":"2026-09-03T09:44:55","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.43953373706783305,1.222407425766158,0.71338606911949],"aabb_xy":[[-0.5035337362376029,1.1756407386471952],[-0.3755337378980631,1.2691741128851202]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.5086496055763741,0.2804046020191149,0.71338606911949],"aabb_xy":[[0.44464960335596715,0.2360315178938266],[0.5726496077967812,0.32477768614440317]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.4541376141236664,0.6062749163733234,0.71338606911949],"aabb_xy":[[0.4470961631729187,0.5992481646355289],[0.4611790650744139,0.613301668111118]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.16603159991288574,0.8918302050041951,0.71338606911949],"aabb_xy":[[0.15288035394159638,0.8668302052475085],[0.1791828458841751,0.9168302047608816]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[-0.16349987157078671,0.6064533417277347,0.71338606911949],"aabb_xy":[[-0.16981197110712515,0.600686402474516],[-0.15718777203444828,0.6122202809809536]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.6084045430128833,-0.7530629285701775,0.71338606911949],"aabb_xy":[[-0.645438652440943,-0.7874401359038868],[-0.5713704335848235,-0.718685721236468]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[0.313417822458534,-0.7574047539376669,0.71338606911949],"aabb_xy":[[0.3026448485371662,-0.7924047521567058],[0.3241907963799018,-0.7224047557186278]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.26908277818514664,-1.7200018144166138,0.71338606911949],"aabb_xy":[[-0.291582777999049,-1.7244764307870943],[-0.24658277837124426,-1.7155271980461329]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.24429321737149723,-1.544803589227253,0.71338606911949],"aabb_xy":[[-0.2619260529650248,-1.562426535242876],[-0.22666038177796966,-1.52718064321163]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.3938403360339433,-2.134581696538565,0.71338606911949],"aabb_xy":[[0.32384033264238127,-2.1698974702419953],[0.46384033942550523,-2.0992659228351336]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.05738468192546908,-2.043608370270539,0.71338606911949],"aabb_xy":[[-0.09238468023616453,-2.0513233851940846],[-0.02238468361477363,-2.0358933553469933]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.6010281552898515,1.4313473258579132,0.71338606911949],"aabb_xy":[[0.5760281560178893,1.4150019622617507],[0.6260281545618138,1.4476926894540754]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.20584383706466547,1.4861231299161664,0.71338606911949],"aabb_xy":[[-0.2698438387426628,1.437605738436852],[-0.1418438353866681,1.5346405213954804]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.4574782601536066,-1.8749149243126477,0.71338606911949],"aabb_xy":[[-0.5214782574392552,-1.9164216432654915],[-0.39347826286795795,-1.8334082053598035]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.5405313315624382,-1.179793153153436,0.71338606911949],"aabb_xy":[[-0.5624210791513788,-1.2697931504426851],[-0.5186415839734972,-1.089793155864187]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.5178601230593269,-0.22073113510374576,0.71338606911949],"aabb_xy":[[-0.5238971360599917,-0.22675783617269402],[-0.5118231100586622,-0.2147044340347976]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.6799141225762875,-2.571852991507627,0.71338606911949],"aabb_xy":[[0.676000249380865,-2.5806020069141837],[0.6838279957717099,-2.56310397610107]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.35936191521156524,1.6232464374641151,0.71338606911949],"aabb_xy":[[0.35232160527802825,1.543246438064444],[0.36640222514510223,1.7032464368637867]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.002159770311265241,1.4369501830872626,0.71338606911949],"aabb_xy":[[-0.061840230066268376,1.3872049162364504],[0.06615977068879886,1.486695449938075]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.15638018714688307,-0.395655418216482,0.71338606911949],"aabb_xy":[[-0.2463801836477548,-0.4415670606349402],[-0.06638019064601129,-0.34974377579802374]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.5915703647609176,-1.6998350389128507,0.71338606911949],"aabb_xy":[[-0.6274838691859072,-1.7357485471296052],[-0.5556568603359279,-1.6639215306960962]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.026906825799444922,1.5679282419360772,0.71338606911949],"aabb_xy":[[-0.03632430036930767,1.5585120647983581],[-0.01748935122958217,1.5773444190737962]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.5233714784044781,0.7740830749120806,0.71338606911949],"aabb_xy":[[0.4883714792116596,0.7631160289144179],[0.5583714775972961,0.7850501209097431]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.09208608970735432,-2.265010212664574,0.71338606911949],"aabb_xy":[[0.07441045911875598,-2.2826904289439764],[0.10976172029595264,-2.247329996385171]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.15554767315390627,0.39016099520098635,0.71338606911949],"aabb_xy":[[-0.17913279661780115,0.32516099295555456],[-0.13196254969001145,0.45516099744641814]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.1394925201545435,1.1362329584754587,0.71338606911949],"aabb_xy":[[-0.2034925194487117,1.0722468181066045],[-0.07549252086037525,1.2002190988443129]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[0.1601860366684602,1.0660916011291262,0.71338606911949],"aabb_xy":[[0.08018603340444708,1.0525315688202128],[0.24018603993247334,1.0796516334380395]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[-0.24489238497641558,-2.2141189843423383,0.71338606911949],"aabb_xy":[[-0.25047405661054434,-2.2266189841601136],[-0.23931071334228685,-2.201618984524563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631705163535452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2241.png","name":"2241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2241.png","name":"2241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9704.png","name":"9704"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1992.png","name":"1992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2614.png","name":"2614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.4455127297342,"rotation_z_degrees":165.8952412965495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019039199606350338,0.017240775239464875,0.011583217696538101]},{"name":"camera_2","offset_m":[0.007567943326580756,0.008219538490300424,0.013872816476350653]},{"name":"camera_3","offset_m":[0.016616403255717952,2.840388567619534e-05,-0.009439452773114794]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001505490072972787,0.0007293950859269395,-0.0017199536580810944],"end_effector_yaw_offset_degrees":-0.2766604425571786},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-8.987494601657127e-05,-0.0006936343314377215,-0.0008682682925491103],"end_effector_yaw_offset_degrees":0.2830582900005225},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019152759734888678,0.0007535080414671738,0.001870472469781075],"end_effector_yaw_offset_degrees":-0.8906701938772215}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029352263342361197,-0.001949691067857515],"position_m":[0.3354647736657639,0.08335030893214249,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020860296807741364,-0.0020996591580851997],"position_m":[0.21938602968077414,-0.0892996591580852,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00405897710144844,-0.001668472955693482],"position_m":[0.3505410228985516,0.23393152704430653,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028352600794403363,0.003582054675181248],"position_m":[0.24923526007944036,-0.33211794532481875,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd1c4a1fd78052fed2e3d13ddaa7f9fc7043a0ac93c24ab6bc35971728636b1e","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2241/tex_ceiling_textures_6379/tex_floor_textures_2614/tex_table_textures_9704/tex_wall_textures_1992","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4395344311770959128,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4395344311770959128,"visual_seed":4395344311770959128,"scene_id":"lab_003","finished_at":"2026-09-03T09:47:18"} +{"episode_id":"ep_000028","started_at":"2026-09-03T09:48:44","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.5376708737970015,0.3323354929057065,0.71338606911949],"aabb_xy":[[0.48769780826448617,0.28233549309317363],[0.5876439393295171,0.38233549271823947]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.30352228964208805,-2.235175361403973,0.71338606911949],"aabb_xy":[[0.23352228625052604,-2.2704911351074033],[0.37352229303365,-2.1998595877005416]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.25757749245585904,1.2501870951827376,0.71338606911949],"aabb_xy":[[0.2482838742187084,1.2126870966946033],[0.26687111069300956,1.287687093670871]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.6174590525304731,-1.6540578251941866,0.71338606911949],"aabb_xy":[[0.5815455481054833,-1.689971333410941],[0.6533725569554626,-1.6181443169774319]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.40169563636809635,1.593479035268253,0.71338606911949],"aabb_xy":[[0.3545662573662607,1.5294790342238507],[0.448825015369932,1.6574790363126546]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.42882703696892155,-1.42034865999227,0.71338606911949],"aabb_xy":[[0.37884408678144216,-1.47034865963483],[0.47880998715640083,-1.3703486603497093]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.11513142171443635,1.084450637274566,0.71338606911949],"aabb_xy":[[-0.15638023274435106,1.0294506377623482],[-0.07388261068452161,1.1394506367867832]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.40312745578690024,1.3393708714335704,0.71338606911949],"aabb_xy":[[0.3657961792616577,1.3047178166387183],[0.4404587323121429,1.3740239262284228]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.12913856324042905,-2.2435012544895896,0.71338606911949],"aabb_xy":[[-0.19313856253459727,-2.307487394858444],[-0.06513856394626083,-2.1795151141207354]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.6140551820204556,-0.08687865344856505,0.71338606911949],"aabb_xy":[[0.5240551855195837,-0.13279029586702326],[0.7040551785213273,-0.0409670110301068]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.6765130773149518,0.5127953930966416,0.71338606911949],"aabb_xy":[[-0.6908475024411153,0.5007351775421027],[-0.6621786521887884,0.5248556086511804]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.20997960916086034,0.763763250948668,0.71338606911949],"aabb_xy":[[0.20193624923490516,0.6787632498533016],[0.2180229690868155,0.8487632520440345]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.5786728769806636,-1.9845925914619937,0.71338606911949],"aabb_xy":[[-0.5902418577276003,-2.009592591578926],[-0.5671038962337271,-1.9595925913450623]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.2123136735284108,-1.5695447663698112,0.71338606911949],"aabb_xy":[[0.14831367118560923,-1.6144856176139435],[0.27631367587121236,-1.5246039151256785]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.12003167616411481,1.6176417948487871,0.71338606911949],"aabb_xy":[[-0.15753167651234257,1.6058503992677033],[-0.08253167581588704,1.6294331904298704]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.05612212947780715,-0.8042233465178281,0.71338606911949],"aabb_xy":[[0.05116610929292596,-0.8267233467199498],[0.06107814966268836,-0.7817233463157066]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.09694371001071411,1.0544910123514133,0.71338606911949],"aabb_xy":[[0.09097717106997832,1.0485298676920491],[0.1029102489514499,1.0604521570107774]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.2590779203121738,-1.1776028389475135,0.71338606911949],"aabb_xy":[[-0.3390717438907321,-1.257602841540355],[-0.17908409673361564,-1.097602836354672]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.5644164598726464,-1.173033743128589,0.71338606911949],"aabb_xy":[[-0.5693157521792098,-1.2007106624311576],[-0.5595171675660828,-1.14535682382602]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.27814731467114645,-2.027800053960809,0.71338606911949],"aabb_xy":[[-0.2955780297501529,-2.04507216862466],[-0.2607165995921399,-2.0105279392969577]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.15437329496391172,0.4891933838447571,0.71338606911949],"aabb_xy":[[-0.23437329362079773,0.47468852492049435],[-0.07437329630702572,0.50369824276902]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.09851854711961694,-1.3376337371455664,0.71338606911949],"aabb_xy":[[0.08296277770935169,-1.3531841703899736],[0.11407431652988223,-1.3220833039011592]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.683126175998884,-1.9897199987197989,0.71338606911949],"aabb_xy":[[0.6531586190890584,-2.0197199990176853],[0.7130937329087097,-1.9597199984219136]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.010197953797719483,-2.3834860091454195,0.71338606911949],"aabb_xy":[[-0.03471157789472534,-2.407750602447456],[0.014315670299286378,-2.359221415843383]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.300010121096396,-2.077358521474406,0.71338606911949],"aabb_xy":[[0.23601012379404956,-2.121724948442263],[0.36401011839874237,-2.0329920945065494]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[0.583422977743411,1.8108597400165345,0.71338606911949],"aabb_xy":[[0.5754294879481291,1.802861608076059],[0.5914164675386931,1.8188578719570103]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[0.5708687220477373,-0.9072325210659573,0.71338606911949],"aabb_xy":[[0.4808687253121271,-0.9604159843832518],[0.6608687187833475,-0.8540490577486628]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663085645827307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8469.png","name":"8469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8469.png","name":"8469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5246.png","name":"5246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2048.png","name":"2048"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/591.png","name":"591"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":768.8011898416648,"rotation_z_degrees":317.26980540927576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016353906541783616,0.014498432991362113,0.006430470588961356]},{"name":"camera_2","offset_m":[0.007685953907434557,0.004707608350993403,-0.006992891891430899]},{"name":"camera_3","offset_m":[-0.019563442873008943,0.014197943084390315,0.005906763107363561]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014142183516595692,0.00018093899757048266,-0.00013555287908077404],"end_effector_yaw_offset_degrees":0.4473427294572583},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007564819363853016,-0.0008059234032579937,-0.0011750779905285165],"end_effector_yaw_offset_degrees":0.20872308114799232},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005479806135575364,0.0007450353533337653,-0.0015865179289400763],"end_effector_yaw_offset_degrees":0.7894566395586198}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002647351067938619,-0.0004981607645078261],"position_m":[0.33575264893206136,0.08480183923549217,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002577555906901379,0.0038579796715404726],"position_m":[0.21987755590690136,-0.08334202032845953,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004517823393805789,-0.0006943707528038572],"position_m":[0.35008217660619423,0.23490562924719616,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013590565870018525,-0.004797700875403715],"position_m":[0.24504094341299815,-0.3404977008754037,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6cc858f168367635725e28ca95ded3eed941d80b3da3df9ae238e3083a219752","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8469/tex_ceiling_textures_591/tex_floor_textures_1475/tex_table_textures_5246/tex_wall_textures_2048","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1549094166992793086,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1549094166992793086,"visual_seed":1549094166992793086,"scene_id":"lab_003","finished_at":"2026-09-03T09:51:05"} +{"episode_id":"ep_000029","started_at":"2026-09-03T09:51:08","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.12039021007560491,1.2602697552661493,0.71338606911949],"aabb_xy":[[-0.1382593178300604,1.2464368472889382],[-0.10252110232114942,1.2741026632433603]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.6954824957741796,-0.03990192183813068,0.71338606911949],"aabb_xy":[[0.6899008241400508,-0.052401921655906174],[0.7010641674083085,-0.02740192202035518]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.35316049597538846,1.2528249258996662,0.71338606911949],"aabb_xy":[[0.3379883266937551,1.2376560689714629],[0.3683326652570218,1.2679937828278696]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.6755016723524094,1.1392762021237397,0.71338606911949],"aabb_xy":[[0.6519165488885145,1.0742761998783081],[0.6990867958163042,1.2042762043691717]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.6282502283491569,0.6676957950230604,0.71338606911949],"aabb_xy":[[0.6173986221002813,0.6568365042954093],[0.6391018345980325,0.6785550857507113]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.1253020688197508,0.874833581918034,0.71338606911949],"aabb_xy":[[-0.14418645258826102,0.8559476571376813],[-0.10641768505124061,0.8937195066983868]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[-0.12189948394536743,-1.8758428025440343,0.71338606911949],"aabb_xy":[[-0.1393994832234543,-1.8931809026103805],[-0.10439948466728055,-1.8585047024776886]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.24020735477953137,0.7880400189071821,0.71338606911949],"aabb_xy":[[0.20972310465250119,0.7380400191256862],[0.2706916049065615,0.8380400186886781]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.5727480825269085,-0.31313277057908806,0.71338606911949],"aabb_xy":[[0.5227706656616548,-0.36313277206833655],[0.6227254993921619,-0.26313276908983946]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.2176624121990851,0.059325990955295005,0.71338606911949],"aabb_xy":[[-0.22565640077678845,0.05132591086020465],[-0.20966842362138166,0.06732607105038535]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.5926479672262802,-1.214652249177392,0.71338606911949],"aabb_xy":[[-0.630147967574508,-1.2264436447584752],[-0.5551479668780525,-1.2028608535963081]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.5546993178937849,0.28537336990644446,0.71338606911949],"aabb_xy":[[0.5046993175332188,0.23539338269684149],[0.604699318254351,0.33535335711604736]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.5446158920105397,1.3621676844473711,0.71338606911949],"aabb_xy":[[-0.5946158930296751,1.3257014687095432],[-0.49461589099140457,1.398633900185199]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.2916975472124354,-1.0501445389919473,0.71338606911949],"aabb_xy":[[-0.33294635824235014,-1.1051445385041645],[-0.25044873618252067,-0.9951445394797297]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.2083188214660906,1.7494026815523882,0.71338606911949],"aabb_xy":[[-0.24581882225808604,1.7430348405941982],[-0.17081882067409515,1.7557705225105786]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.3656157294931106,1.4677950439908938,0.71338606911949],"aabb_xy":[[0.35820327395172213,1.4619438335692658],[0.3730281850344991,1.4736462544125217]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.5717126495409642,-1.000850170203235,0.71338606911949],"aabb_xy":[[-0.5969334864008037,-1.0260739210561216],[-0.5464918126811243,-0.9756264193503482]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.09194750776998928,-6.733701766847844e-06,0.71338606911949],"aabb_xy":[[-0.11444750729369665,-0.022502681152387623],[-0.06944750824628185,0.022489213748853928]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.0035900561410810994,1.597157003378865,0.71338606911949],"aabb_xy":[[-0.03358171887495143,1.5671570040420644],[0.02640160659278923,1.6271570027156654]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.09439267597930434,-1.5295365218533385,0.71338606911949],"aabb_xy":[[0.06606296603076413,-1.533997264047056],[0.12272238592784458,-1.525075779659622]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.07531525910863712,-1.4959799434917243,0.71338606911949],"aabb_xy":[[-0.0978289509320943,-1.5659799440927318],[-0.052801567285179915,-1.4259799428907167]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.562860487127071,0.821548911797878,0.71338606911949],"aabb_xy":[[-0.6228604869736377,0.7647302896048392],[-0.5028604872805041,0.8783675339909166]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.1418509294633209,-0.37411845202416716,0.71338606911949],"aabb_xy":[[-0.20685092949762363,-0.42081912870449445],[-0.07685092942901817,-0.32741777534383987]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.3472983006694681,-1.7859596599132743,0.71338606911949],"aabb_xy":[[-0.3847983021850998,-1.7971864329294196],[-0.3097982991538364,-1.7747328868971295]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.45224201997618363,-0.4979685404582286,0.71338606911949],"aabb_xy":[[0.4022420213302624,-0.547888084117691],[0.5022420186221048,-0.44804899679876614]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.08488350638387732,-1.684639886336511,0.71338606911949],"aabb_xy":[[-0.13268967399764597,-1.74963988904357],[-0.03707733877010868,-1.619639883629452]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.2858193458085756,0.8475205465198496,0.71338606911949],"aabb_xy":[[-0.3658193460821826,0.7745709986941328],[-0.20581934553496864,0.9204700943455663]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.4743635524694025,-1.4185375424220834,0.71338606911949],"aabb_xy":[[-0.5393635506253216,-1.4448337869719956],[-0.4093635543134834,-1.3922412978721712]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.46842310376076185,0.44282759560671714,0.71338606911949],"aabb_xy":[[-0.5260535726480325,0.3828275966800065],[-0.4107926348734909,0.5028275945334277]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[0.09490437418999464,-2.094122054219393,0.71338606911949],"aabb_xy":[[0.014910550611436424,-2.1741220568122346],[0.17489819776855287,-2.0141220516265514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707426489671892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6680.png","name":"6680"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6680.png","name":"6680"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7102.png","name":"7102"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1660.png","name":"1660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9389.png","name":"9389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6632.png","name":"6632"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.5089496429082,"rotation_z_degrees":270.91811939399076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013214871246879563,0.015283306776089096,0.002658060917107522]},{"name":"camera_2","offset_m":[-0.017489612427294823,0.015779899422934302,0.0031781985744033514]},{"name":"camera_3","offset_m":[-0.006663112925892358,-0.017974612706968682,-0.010449537680263061]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019470536907152548,-0.001625164149239034,0.0013011649875919943],"end_effector_yaw_offset_degrees":0.3351254315966439},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011084530847080675,-0.0016021524587756253,0.0019585145744412938],"end_effector_yaw_offset_degrees":-0.42746171271026},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006956717993615784,-0.0005064302635060555,0.0003455318842041878],"end_effector_yaw_offset_degrees":-0.582544290928138}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008954739104317308,-0.0042845427634457325],"position_m":[0.3392954739104317,0.08101545723655426,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025971393743474346,-0.001226807080857604],"position_m":[0.21470286062565255,-0.08842680708085761,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003206492955496922,0.0005243212275592435],"position_m":[0.35780649295549694,0.23612432122755925,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00292644412041495,0.002987397527869887],"position_m":[0.24932644412041496,-0.33271260247213014,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0daa68102953ed38393a23a72b0b823f09f6dc9d65d9170a839545f8a788fb94","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6680/tex_ceiling_textures_6632/tex_floor_textures_9389/tex_table_textures_7102/tex_wall_textures_1660","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3612573466611606174,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3612573466611606174,"visual_seed":3612573466611606174,"scene_id":"lab_003","finished_at":"2026-09-03T09:53:32"} +{"episode_id":"ep_000030","started_at":"2026-09-03T09:53:35","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.28539180063294,1.3083338831382787,0.71338606911949],"aabb_xy":[[0.25080071777889473,1.2433338828532476],[0.31998288348698517,1.3733338834233098]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.4306842143189056,-2.414404388530587,0.71338606911949],"aabb_xy":[[0.4246472013182409,-2.420431089599535],[0.43672122731957036,-2.408377687461639]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.4896159648938343,0.9270181141247633,0.71338606911949],"aabb_xy":[[0.42461596378789107,0.902052741056635],[0.5546159659997776,0.9519834871928916]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.05110295323754632,-0.23978960736371313,0.71338606911949],"aabb_xy":[[-0.0878975863624526,-0.2766954824602954],[-0.01430832011264005,-0.20288373226713083]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.29694795762415155,-1.3346653935661712,0.71338606911949],"aabb_xy":[[-0.37694795978691403,-1.4146205771923146],[-0.21694795546138906,-1.2547102099400274]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.45734291710619424,-1.6049041713123147,0.71338606911949],"aabb_xy":[[0.4023429179296047,-1.659893846087272],[0.5123429162827837,-1.5499144965373568]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.3372998680082195,-0.17763120397398646,0.71338606911949],"aabb_xy":[[-0.3427578136452396,-0.25763120728164557],[-0.33184192237119947,-0.09763120066632733]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.6875077016233042,1.0515871576541707,0.71338606911949],"aabb_xy":[[0.6700077023452173,1.0342490575878245],[0.7050077009013911,1.0689252577205164]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.31558216233471786,-1.922736681531013,0.71338606911949],"aabb_xy":[[-0.3514956667597075,-1.9586501897477673],[-0.2796686579097281,-1.8868231733142582]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.4553169178850564,0.5923066932640348,0.71338606911949],"aabb_xy":[[-0.46324019812380474,0.5698066930260315],[-0.4473936376463081,0.6148066935020382]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.1962933991185688,-1.6046543452019948,0.71338606911949],"aabb_xy":[[0.1890110827419051,-1.6946543488115033],[0.2035757154952324,-1.5146543415924854]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.24863878493152303,1.685173094901263,0.71338606911949],"aabb_xy":[[0.16863878166750992,1.6716130625923498],[0.32863878819553616,1.6987331272101764]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.28697258402930403,-1.6495340344734235,0.71338606911949],"aabb_xy":[[-0.350972583199074,-1.696300721592386],[-0.2229725848595341,-1.602767347354461]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.5721376725191365,-0.9442645491014166,0.71338606911949],"aabb_xy":[[-0.5999827092997436,-0.9750490478397283],[-0.5442926357385294,-0.913480050363105]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.6280641038265532,-1.7585574160625173,0.71338606911949],"aabb_xy":[[-0.6780483395347304,-1.808557414876013],[-0.578079868118376,-1.7085574172490219]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.19076762804238612,1.450015825587815,0.71338606911949],"aabb_xy":[[0.1718832442738759,1.4311299008074623],[0.20965201181089632,1.4689017503681678]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.3467189196314189,-1.214767110597511,0.71338606911949],"aabb_xy":[[0.3288498118769633,-1.228600018574722],[0.3645880273858743,-1.2009342026203003]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.5412345474531182,1.4664870043082785,0.71338606911949],"aabb_xy":[[-0.5756968948512597,1.4319931219104554],[-0.5067722000549761,1.5009808867061007]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.45677972508001363,-2.196760123586887,0.71338606911949],"aabb_xy":[[0.4487363651540584,-2.2817601246822536],[0.46482308500596875,-2.111760122491521]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.4986658848748312,-2.4843924618088646,0.71338606911949],"aabb_xy":[[-0.5219477270729624,-2.5693924631060927],[-0.47538404267669976,-2.3993924605116366]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.581443835196053,0.18881093410004723,0.71338606911949],"aabb_xy":[[-0.6430345944200458,0.1248109359910004],[-0.5198530759720602,0.2528109322090942]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.6892185120783891,-1.4783452975976463,0.71338606911949],"aabb_xy":[[0.6853046388829666,-1.4870943130042031],[0.6931323852738115,-1.4695962821910895]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.004375417173670737,-2.404178296721882,0.71338606911949],"aabb_xy":[[-0.006465061052844168,-2.421364578012531],[0.015215895400185642,-2.3869920154312334]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.5121605748894781,1.7677809372623794,0.71338606911949],"aabb_xy":[[-0.5621605759086133,1.7313147215245517],[-0.4621605738703428,1.8042471530002075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658422886761947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8959.png","name":"8959"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8447.png","name":"8447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":508.0542639824512,"rotation_z_degrees":263.72535694770687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016889534886473313,0.015480503537762456,0.01957391243950826]},{"name":"camera_2","offset_m":[0.0053924753490613535,-0.011501404652597302,0.0032058099869709637]},{"name":"camera_3","offset_m":[-0.004568583918831833,-0.007606659596287089,-0.0029558436448573616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010257717899575082,0.001896487697788362,0.001805884981508168],"end_effector_yaw_offset_degrees":0.1818623814113316},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019859293451182604,-0.0008180838329507846,0.0008384891352658159],"end_effector_yaw_offset_degrees":-0.9799663580120048},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014511162696322453,6.647879533834208e-05,-3.2002154576377465e-05],"end_effector_yaw_offset_degrees":0.6220325177701829}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030530608763670733,0.0019067495491801468],"position_m":[0.34145306087636706,0.08720674954918015,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037692747365526626,0.00411739687607708],"position_m":[0.21353072526344732,-0.08308260312392292,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032331732184621457,0.003217940483517502],"position_m":[0.35136682678153786,0.2388179404835175,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003229372607338383,-0.003950430201962868],"position_m":[0.2496293726073384,-0.33965043020196284,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0f75cfef248f278f4d914f67472cbcc2706701e916d68497926ebcc0a6385a72","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8323/tex_ceiling_textures_8004/tex_floor_textures_471/tex_table_textures_8959/tex_wall_textures_8447","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":9143353344030927246,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":9143353344030927246,"visual_seed":9143353344030927246,"scene_id":"lab_003","finished_at":"2026-09-03T09:55:54"} +{"episode_id":"ep_000031","started_at":"2026-09-03T09:55:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.22697844011276358,-1.6108316168402799,0.71338606911949],"aabb_xy":[[0.2192752494386865,-1.618540987539018],[0.2346816307868406,-1.6031222461415418]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.5319035383073267,-1.7447214705073821,0.71338606911949],"aabb_xy":[[-0.5818766038398423,-1.7947214703199155],[-0.4819304727748114,-1.6947214706948497]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[-0.5196766023842684,-0.9715830766160898,0.71338606911949],"aabb_xy":[[-0.539960905107667,-0.9918657017587986],[-0.49939229966086957,-0.9513004514733809]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.5970779981491487,0.5989732564261572,0.71338606911949],"aabb_xy":[[0.5602274502121612,0.5614732556031234],[0.6339285460861365,0.6364732572491909]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.46355661181651886,-2.097881271618424,0.71338606911949],"aabb_xy":[[0.43855661254455663,-2.114226635214586],[0.4885566110884812,-2.0815359080222615]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.442605467346866,-0.34206056750960867,0.71338606911949],"aabb_xy":[[0.38260546675084983,-0.39687304005483215],[0.5026054679428822,-0.2872480949643852]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.20215185789988704,-1.684862437586161,0.71338606911949],"aabb_xy":[[-0.22598807554049213,-1.7748624383946479],[-0.17831564025928198,-1.594862436777675]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.5892076246474776,-2.4218855934100705,0.71338606911949],"aabb_xy":[[0.5592159619136072,-2.4518855927468706],[0.6191992873813479,-2.3918855940732695]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.2929491540458924,-1.427137823605344,0.71338606911949],"aabb_xy":[[0.2811809672512349,-1.5121378235105658],[0.30471734084054997,-1.3421378237001225]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.11221916950326494,-1.4345722142622226,0.71338606911949],"aabb_xy":[[-0.19221916666284022,-1.4461198152200394],[-0.03221917234368964,-1.4230246133044053]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.38362776463341447,1.722155310084863,0.71338606911949],"aabb_xy":[[-0.3967790106047039,1.697155310328177],[-0.3704765186621251,1.74715530984155]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.48596007459834023,-0.3171976207201621,0.71338606911949],"aabb_xy":[[-0.5709600730157636,-0.40207191618244703],[-0.40096007618091706,-0.23232332525787708]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[-0.5491814658731364,-1.315796085684041,0.71338606911949],"aabb_xy":[[-0.6141814640290555,-1.3420923302339534],[-0.4841814677172174,-1.289499841134129]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.17851324973618787,0.5659982065540246,0.71338606911949],"aabb_xy":[[-0.2335132479379327,0.5254762399275869],[-0.12351325153444305,0.606520173180462]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.35101559366951207,-1.6249998698678039,0.71338606911949],"aabb_xy":[[-0.43101559413972806,-1.6333105774821526],[-0.27101559319929613,-1.616689162253456]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.373408558803733,0.6168759662482777,0.71338606911949],"aabb_xy":[[0.3484085596380999,0.6099237205429211],[0.39840855796936614,0.6238282119536342]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.42859603921943057,1.6791144600942292,0.71338606911949],"aabb_xy":[[0.3645960389454523,1.6290483598969412],[0.49259603949340874,1.7291805602915171]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[0.15384861775822956,-0.9421821260235972,0.71338606911949],"aabb_xy":[[0.09384861750682838,-0.9964634510600616],[0.21384861800963073,-0.8879008009871323]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[-0.13753696885332578,0.8149054373403866,0.71338606911949],"aabb_xy":[[-0.1876344328343994,0.7509054368305748],[-0.08743950487225216,0.8789054378501984]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.01757389007515675,1.6197657899681794,0.71338606911949],"aabb_xy":[[-0.09757388866247617,1.5404501880300183],[0.06242610851216267,1.69908139190634]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.29039358353512457,1.5578675638911368,0.71338606911949],"aabb_xy":[[0.25289358324294975,1.5538260884905333],[0.3278935838272994,1.5619090392917403]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.20308940193550107,1.459928095404964,0.71338606911949],"aabb_xy":[[0.15809681521705063,1.4149280961305153],[0.24808198865395145,1.5049280946794128]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.00997303577315356,-0.7788193079531993,0.71338606911949],"aabb_xy":[[-0.059973034419074756,-0.8287388516126617],[0.040026962872767635,-0.7288997642937369]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.6101536747445637,-2.0411547984008958,0.71338606911949],"aabb_xy":[[0.575153673393082,-2.061514534357716],[0.6451536760960455,-2.0207950624440745]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.42880637638045727,-1.243996134805784,0.71338606911949],"aabb_xy":[[0.3860396695010371,-1.3079961382275864],[0.47157308325987746,-1.1799961313839815]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[0.31894967535686636,-1.0685193626036296,0.71338606911949],"aabb_xy":[[0.25394967435636584,-1.1193057277583043],[0.3839496763573669,-1.0177329974489544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671274893128664,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7861.png","name":"7861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5238.png","name":"5238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":635.0953431141468,"rotation_z_degrees":251.91531235174656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018778093523463317,0.016396065581276275,0.016625472559829307]},{"name":"camera_2","offset_m":[-0.005592589111531151,0.00593860890411874,-0.012175248131838736]},{"name":"camera_3","offset_m":[-0.00561717850338554,0.012690945050829221,0.002673954773781642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014638249387135278,0.000930498071956538,-0.0010877689810833125],"end_effector_yaw_offset_degrees":0.9932567317550043},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00191129277152771,-0.0005481941939644082,-0.0004517709688801035],"end_effector_yaw_offset_degrees":0.8845297661626981},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009268300492714216,0.001573720176160592,0.001539400059111308],"end_effector_yaw_offset_degrees":-0.9425255814530578}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019309200981137984,-0.003635497395085129],"position_m":[0.3403309200981138,0.08166450260491487,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002655800503614421,0.0049517221448282375],"position_m":[0.2199558005036144,-0.08224827785517176,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00451080371790813,-0.0040815280812517545],"position_m":[0.3500891962820919,0.23151847191874825,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004442645204444306,-0.004424097108590739],"position_m":[0.2508426452044443,-0.34012409710859076,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7fb6257cbc9b72687076c9f14b90414e71efcb5a8081ef81ba2f4e5238b58185","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0047.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8004/tex_ceiling_textures_1700/tex_floor_textures_5238/tex_table_textures_7861/tex_wall_textures_4804","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4028925874674339106,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4028925874674339106,"visual_seed":4028925874674339106,"scene_id":"lab_003","finished_at":"2026-09-03T09:58:23"} +{"episode_id":"ep_000032","started_at":"2026-09-03T09:58:26","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[0.6785359182010098,0.149323540430518,0.71338606911949],"aabb_xy":[[0.6450957430049901,0.11587991459958787],[0.7119760933970293,0.182767166261448]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.04391025739616483,-0.6928813403922698,0.71338606911949],"aabb_xy":[[0.013942700486339166,-0.7228813406901555],[0.0738778143059905,-0.662881340094384]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[-0.1257713246809441,1.4881510859415719,0.71338606911949],"aabb_xy":[[-0.2057713279449572,1.4745910536326583],[-0.04577132141693094,1.501711118250485]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.10073611640766933,-1.466129436833433,0.71338606911949],"aabb_xy":[[-0.10714993005085424,-1.4725392570811011],[-0.09432230276448436,-1.4597196165857644]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.6159851751256358,0.335507941981775,0.71338606911949],"aabb_xy":[[0.5934851746135952,0.3130160836163766],[0.6384851756376764,0.3579998003471733]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[0.5968189862330913,-0.41698358521852086,0.71338606911949],"aabb_xy":[[0.5622279033790459,-0.48198358550355186],[0.6314100690871364,-0.35198358493348975]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.3630334075490634,-0.17338330791278622,0.71338606911949],"aabb_xy":[[-0.36953504405706805,-0.183151129939096],[-0.3565317710410588,-0.16361548588647645]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.23678750825304767,-2.5115830634039935,0.71338606911949],"aabb_xy":[[-0.24939020739012413,-2.524178459628859],[-0.22418480911597122,-2.498987667179128]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.11156123646005667,-1.1254952532865314,0.71338606911949],"aabb_xy":[[-0.13406123627395905,-1.1299698696570122],[-0.0890612366461543,-1.1210206369160507]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[0.4634194559445475,-1.4768887417562946,0.71338606911949],"aabb_xy":[[0.45808694128993444,-1.4822130700015304],[0.4687519705991604,-1.4715644135110593]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.3852163337230209,0.5377743643451796,0.71338606911949],"aabb_xy":[[-0.40771546944924786,0.5152743635669165],[-0.3627171979967939,0.5602743651234424]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.2448921307019606,1.7235815188131336,0.71338606911949],"aabb_xy":[[0.22361412255848825,1.6585815164870603],[0.2661701388454327,1.7885815211392064]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.17931290297728497,-0.2521105691138632,0.71338606911949],"aabb_xy":[[-0.2689999792854004,-0.3421105693683137],[-0.08962582666916952,-0.1621105688594126]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.5872848429977255,-1.764872867210993,0.71338606911949],"aabb_xy":[[0.5222848403599321,-1.81635246591044],[0.652284845635519,-1.713393268511546]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.6986534079527429,-2.0262615750741255,0.71338606911949],"aabb_xy":[[0.6811534088183756,-2.0361412021117133],[0.71615340708711,-2.0163819480365377]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.44732228748134845,0.13008578638834445,0.71338606911949],"aabb_xy":[[-0.484822287298382,0.12544757507720258],[-0.4098222876643149,0.13472399769948631]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.40391756601837364,-0.7658997952218156,0.71338606911949],"aabb_xy":[[-0.48391756709149397,-0.7756778415592],[-0.3239175649452533,-0.7561217488844312]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[-0.15382999390226082,-1.6855224622107312,0.71338606911949],"aabb_xy":[[-0.1662973520119965,-1.697987786844055],[-0.1413626357925252,-1.673057137577408]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.6907939284024338,1.275230422788554,0.71338606911949],"aabb_xy":[[0.6828004386071518,1.2672322908480786],[0.6987874181977158,1.2832285547290299]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.19111766621908377,0.8648150157348269,0.71338606911949],"aabb_xy":[[0.15611766624258794,0.8553503996872103],[0.2261176661955796,0.8742796317824435]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.1043802422276755,0.12410397162772524,0.71338606911949],"aabb_xy":[[-0.18438024081499493,0.04478836968956435],[-0.02438024364035608,0.20341957356588614]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.5257273517232839,-0.13938859706186824,0.71338606911949],"aabb_xy":[[-0.549563569363889,-0.22938859787035476],[-0.5018911340826788,-0.04938859625338178]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.5989794862526286,-1.1935297685715196,0.71338606911949],"aabb_xy":[[-0.64897948489855,-1.2434493122309818],[-0.5489794876067076,-1.143610224912057]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.574677549050419,1.6747959305827531,0.71338606911949],"aabb_xy":[[0.5106775526230972,1.627626306760657],[0.638677545477741,1.7219655544048498]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[0.3221721820454142,1.4452786397824,0.71338606911949],"aabb_xy":[[0.27269176083145547,1.3812786418695482],[0.37165260325937305,1.5092786376952518]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[-0.30640055876902306,0.16780757488026765,0.71338606911949],"aabb_xy":[[-0.33268938308946366,0.14153614122561642],[-0.28011173444858234,0.19407900853491888]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_26","position":[-0.07235180790965612,1.1637516526123974,0.71338606911949],"aabb_xy":[[-0.1363518043052292,1.0997883641936639],[-0.00835181151408304,1.227714941031131]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.06781926502046554,-0.7140460060033915,0.71338606911949],"aabb_xy":[[-0.07266285978169552,-0.7188976584823757],[-0.06297567025923557,-0.7091943535244075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646480114859267,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6870.png","name":"6870"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6870.png","name":"6870"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6701.png","name":"6701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9651.png","name":"9651"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3424.png","name":"3424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/123.png","name":"123"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":818.5784384322045,"rotation_z_degrees":220.3881773367921,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01767147212503375,0.007306457285407381,-0.013367180494470464]},{"name":"camera_2","offset_m":[0.006535638866745262,0.0007372090588678125,-0.01253031181501346]},{"name":"camera_3","offset_m":[-0.012720032847829655,-0.014599016918079872,0.015960271817819057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009265240992949609,0.0006060500851540907,0.0003324056895888036],"end_effector_yaw_offset_degrees":0.7369697978505994},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00047623781942284014,0.0017189070078229038,0.001566554709206784],"end_effector_yaw_offset_degrees":0.9959182167341072},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017105049503660982,0.0014666647531867269,0.0015699394463873544],"end_effector_yaw_offset_degrees":-0.6406828444561754}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001597452615417225,-0.001602125514017434],"position_m":[0.3385597452615417,0.08369787448598257,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002153825425801157,-0.001211360734201292],"position_m":[0.21945382542580116,-0.08841136073420129,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029632679799176964,-0.00038788458773742016],"position_m":[0.35163673202008233,0.23521211541226258,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018307202487645325,0.0007016245211255876],"position_m":[0.24456927975123546,-0.3349983754788744,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8762a36179cc00a2084ba0b2db24978b672d4fc36e0524f8fba3a00b77ad4ddb","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6870/tex_ceiling_textures_123/tex_floor_textures_3424/tex_table_textures_6701/tex_wall_textures_9651","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1042308323640816801,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1042308323640816801,"visual_seed":1042308323640816801,"scene_id":"lab_003","finished_at":"2026-09-03T10:00:56"} +{"episode_id":"ep_000033","started_at":"2026-09-03T10:03:54","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.20879401708161982,-1.0165395276184843,0.71338606911949],"aabb_xy":[[-0.27379401711592255,-1.0632402042988118],[-0.14379401704731712,-0.9698388509381572]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.6139575816422559,-1.8493450929914461,0.71338606911949],"aabb_xy":[[-0.6739575814888226,-1.9061637151844846],[-0.553957581795689,-1.7925264707984072]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.6132887120036576,-2.449307096661953,0.71338606911949],"aabb_xy":[[-0.6584600298518266,-2.513307093806491],[-0.5681173941554887,-2.3853070995174144]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.5126607458549766,-0.5403361965989619,0.71338606911949],"aabb_xy":[[0.4890756223910817,-0.6053361988443936],[0.5362458693188714,-0.47533619435353003]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.48700163591757384,0.9902739445642994,0.71338606911949],"aabb_xy":[[-0.49245958155459385,0.9102739412566403],[-0.4815436902805537,1.0702739478719585]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.3272478573204196,1.5917546539053355,0.71338606911949],"aabb_xy":[[-0.3640424904453259,1.5548487788087533],[-0.29045322419551334,1.6286605290019178]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.383975903944907,-0.4858082242953867,0.71338606911949],"aabb_xy":[[-0.42925451882605625,-0.5498082236435704],[-0.33869728906375773,-0.42180822494720305]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.41060993356557324,-1.7805485673048587,0.71338606911949],"aabb_xy":[[-0.46060993314190807,-1.830529146256965],[-0.36060993398923863,-1.7305679883527532]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[-0.0858124129638066,0.6122028204883474,0.71338606911949],"aabb_xy":[[-0.09522988753366934,0.6027866433506284],[-0.07639493839394385,0.6216189976260664]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.17402951469520178,0.7530339725594044,0.71338606911949],"aabb_xy":[[-0.18202350327290515,0.745033892464314],[-0.16603552611749836,0.7610340526544946]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.052969074617452816,1.4786530148868535,0.71338606911949],"aabb_xy":[[0.016473253990174075,1.4421690724600957],[0.08946489524473156,1.5151369573136109]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.5172084814341062,-1.5330478671266075,0.71338606911949],"aabb_xy":[[-0.6068955577422218,-1.623047867381058],[-0.4275214051259909,-1.443047866872157]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[0.15584594993729906,1.2638005190241395,0.71338606911949],"aabb_xy":[[0.1478096152360142,1.2557623997197227],[0.1638822846385839,1.2718386383285563]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.30911301631536725,-1.6068777212458119,0.71338606911949],"aabb_xy":[[0.2741130163388714,-1.6163423372934287],[0.3441130162918631,-1.5974131051981955]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.4380131742691734,-0.22442753547449001,0.71338606911949],"aabb_xy":[[-0.4880131746297395,-0.27440752268409296],[-0.38801317390860735,-0.1744475482648871]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.40056742648444565,1.365086432458992,0.71338606911949],"aabb_xy":[[0.39613679712960553,1.3596380607243097],[0.4049980558392859,1.3705348041936747]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.38733521736626575,-1.389839492566227,0.71338606911949],"aabb_xy":[[-0.3921788121274957,-1.3946911450452113],[-0.3824916226050358,-1.384987840087243]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.5323124856998076,-0.2318655812976136,0.71338606911949],"aabb_xy":[[0.47718728007021677,-0.29186558273890073],[0.5874376913293983,-0.17186557985632644]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.5936864272193976,-1.1730284661273043,0.71338606911949],"aabb_xy":[[-0.6111864263537646,-1.1829080931648919],[-0.5761864280850303,-1.1631488390897162]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.15186055517869346,-1.6135290342543547,0.71338606911949],"aabb_xy":[[0.09423008629142257,-1.6735290331810648],[0.20949102406596426,-1.5535290353276436]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.43471383017163,-1.137026950836973,0.71338606911949],"aabb_xy":[[0.3509916046715476,-1.227026954371669],[0.5184360556717125,-1.047026947302277]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[-0.5425696331456616,-2.151941334534824,0.71338606911949],"aabb_xy":[[-0.5586315606041792,-2.2369413363474155],[-0.5265077056871439,-2.066941332722232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6720558071514754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9235.png","name":"9235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7309.png","name":"7309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8124.png","name":"8124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2270.png","name":"2270"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":541.7034764945614,"rotation_z_degrees":82.57600656348764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00043340631377492694,-0.012678333722337967,0.002858336679352029]},{"name":"camera_2","offset_m":[-0.015358203150455777,0.014972412863877991,-0.01218964353252368]},{"name":"camera_3","offset_m":[-0.005940655893715214,-0.008633267686789833,-0.01652534316954101]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014826267707088512,-0.0007496653611157287,0.0013513272882983342],"end_effector_yaw_offset_degrees":0.027729885027675483},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014970760857384796,0.0005566162986064948,0.0005173222788443232],"end_effector_yaw_offset_degrees":-0.5943587397368812},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00012988179978111122,-5.7265923235585775e-05,-0.0011883035454850633],"end_effector_yaw_offset_degrees":-0.8368256475489266}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[1.2250678102744203e-06,-0.0010954124736792439],"position_m":[0.33840122506781023,0.08420458752632076,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001699637590719736,-0.0047026252785183865],"position_m":[0.21560036240928027,-0.09190262527851839,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035197544767040087,0.00340746533143733],"position_m":[0.358119754476704,0.23900746533143732,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018753556125049942,-0.0038857884903927475],"position_m":[0.24452464438749502,-0.3395857884903927,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"311e968ccb56c9825650549db5504c83055fe09b69c1ce3a2c2ae207e83f8e4e","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5452/tex_ceiling_textures_2270/tex_floor_textures_8124/tex_table_textures_9235/tex_wall_textures_7309","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2326029815410724117,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2326029815410724117,"visual_seed":2326029815410724117,"scene_id":"lab_003","finished_at":"2026-09-03T10:06:25"} +{"episode_id":"ep_000034","started_at":"2026-09-03T10:07:50","dimensions":{"distractor":{"count":21,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.5823855508231252,-1.2167712704711122,0.71338606911949],"aabb_xy":[[-0.6062217684637302,-1.306771271279599],[-0.5585493331825201,-1.126771269662626]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.14977060995282188,-2.3633335955806567,0.71338606911949],"aabb_xy":[[-0.21977061155510136,-2.3767663887823143],[-0.0797706083505424,-2.349900802378999]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.0959059202827025,0.9913626236779831,0.71338606911949],"aabb_xy":[[-0.13090592017872138,0.9829883881660432],[-0.06090592038668364,0.999736859189923]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.25762538393860424,-0.9600177320476255,0.71338606911949],"aabb_xy":[[0.22012538359037642,-0.9718091276287091],[0.29512538428683194,-0.948226336466542]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.22709755176906088,1.466662293319517,0.71338606911949],"aabb_xy":[[0.18959755166346787,1.459840131466536],[0.2645975518746537,1.4734844551724982]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.03810836158863928,-2.4378775011019123,0.71338606911949],"aabb_xy":[[-0.05597746934309478,-2.4517104090791233],[-0.02023925383418379,-2.424044593124701]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.2869653041102361,-1.8025837845440855,0.71338606911949],"aabb_xy":[[-0.35696530052019776,-1.8230217201957668],[-0.2169653077002742,-1.7821458488924034]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.022579813166246465,-0.6982182231804801,0.71338606911949],"aabb_xy":[[-0.08757981427218975,-0.7231835962486085],[0.04242018793969682,-0.6732528501123519]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.09989782965831151,0.7113320616806194,0.71338606911949],"aabb_xy":[[-0.12317967185644284,0.6263320603833913],[-0.07661598746018015,0.7963320629778474]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.4117218757965532,-1.1567442378852066,0.71338606911949],"aabb_xy":[[-0.5017218794734715,-1.2181766444623108],[-0.32172187211963504,-1.095311831308102]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.41818375185842926,-1.0073282465498683,0.71338606911949],"aabb_xy":[[0.35418375256426105,-1.0713143869187225],[0.4821837511525975,-0.9433421061810141]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.2688382761574053,-1.6147760999591037,0.71338606911949],"aabb_xy":[[0.2038382782757575,-1.665899763665645],[0.3338382740390531,-1.5636524362525632]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.2554343226531568,-2.46157901226254,0.71338606911949],"aabb_xy":[[0.16574724634504134,-2.5515790125169904],[0.34512139896127225,-2.3715790120080893]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.26945323872128485,0.7645136497504108,0.71338606911949],"aabb_xy":[[-0.349453241985298,0.7509536174414975],[-0.18945323545727172,0.7780736820593241]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.2500660387686344,-0.5059477778955115,0.71338606911949],"aabb_xy":[[-0.28756603926599267,-0.5099164614436299],[-0.21256603827127618,-0.5019790943473931]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.28698619148505344,-0.6285554825715578,0.71338606911949],"aabb_xy":[[-0.3446166603723243,-0.6885554814982682],[-0.22935572259778259,-0.568555483644847]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.6388636256682431,1.598948005807539,0.71338606911949],"aabb_xy":[[-0.692879221950143,1.5349480029152816],[-0.584848029386343,1.6629480086997959]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.22066174673014782,-1.819692875522628,0.71338606911949],"aabb_xy":[[0.21532417106414328,-1.8446928764517678],[0.22599932239615242,-1.7946928745934883]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.6684277721701195,-0.8876792852177116,0.71338606911949],"aabb_xy":[[0.6628461005359907,-0.9001792850354872],[0.6740094438042483,-0.8751792853999362]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.5138098593662475,0.14186892382646654,0.71338606911949],"aabb_xy":[[-0.6038098558671191,0.09595728140800829],[-0.42380986286537564,0.18778056624492476]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.6953054491336854,-2.0721835719161716,0.71338606911949],"aabb_xy":[[0.6806620435796524,-2.086842291572956],[0.7099488546877184,-2.0575248522593874]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663901663126574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1357.png","name":"1357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4923.png","name":"4923"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4774.png","name":"4774"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8313.png","name":"8313"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":666.301801063815,"rotation_z_degrees":111.1267720722405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010202453065404505,0.014569984282093735,-0.0004953328971298195]},{"name":"camera_2","offset_m":[-0.011694438161404813,-0.008743282105628665,0.013849773562774264]},{"name":"camera_3","offset_m":[0.014690122668814,-0.00720099520971699,-0.010464767195923947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014405944144999633,-0.00048641551297440343,0.001307667878589523],"end_effector_yaw_offset_degrees":0.9813177989766391},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010910485466373984,0.0005426739821981033,-0.0007973687245971086],"end_effector_yaw_offset_degrees":0.7789184626120009},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00014489874940365162,-0.0010229000325268976,0.0011255643905594328],"end_effector_yaw_offset_degrees":-0.32076071598434464}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007629863389843729,-0.0021443064866723985],"position_m":[0.33916298633898434,0.0831556935133276,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003431767216844464,-0.0027201261137603993],"position_m":[0.22073176721684445,-0.08992012611376039,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023426834981781974,-0.004166992393071316],"position_m":[0.35225731650182185,0.2314330076069287,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010842418292260252,0.002785035061853994],"position_m":[0.24748424182922604,-0.332914964938146,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9002a6338f6d9856d60a8552b11b70757cb0cf9071efefac2467f77dfcf1caa9","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8504/tex_ceiling_textures_8313/tex_floor_textures_4774/tex_table_textures_1357/tex_wall_textures_4923","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8329510546378477130,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8329510546378477130,"visual_seed":8329510546378477130,"scene_id":"lab_003","finished_at":"2026-09-03T10:10:21"} +{"episode_id":"ep_000035","started_at":"2026-09-03T10:11:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.6104220423017852,0.6730198444131252,0.71338606911949],"aabb_xy":[[0.5929220431674179,0.6631402173755373],[0.6279220414361523,0.682899471450713]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.01166319419771289,1.7496412120342586,0.71338606911949],"aabb_xy":[[-0.07666319235363195,1.7233449674843464],[0.05333680395820617,1.7759374565841708]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.49315910386797723,-1.2352807138039554,0.71338606911949],"aabb_xy":[[-0.5176727279649831,-1.2595453071059919],[-0.4686454797709713,-1.211016120501919]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.16700460686334118,0.643266012110288,0.71338606911949],"aabb_xy":[[0.12570006379960516,0.5792660125421709],[0.20830914992707714,0.7072660116784051]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.6235800210628768,-1.6406137045733018,0.71338606911949],"aabb_xy":[[0.5949306887024605,-1.6692592638503774],[0.6522293534232929,-1.6119681452962258]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.2154347259109568,-0.620349346245114,0.71338606911949],"aabb_xy":[[0.1854671690011311,-0.6503493465429997],[0.24540228282078244,-0.5903493459472282]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.5666257284359426,0.7699548507934337,0.71338606911949],"aabb_xy":[[0.5557741221870669,0.7590955600657827],[0.5774773346848181,0.7808141415210847]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.6180296992506162,-0.7018151611458205,0.71338606911949],"aabb_xy":[[0.5380296981774959,-0.711593207483205],[0.6980297003237366,-0.6920371148084361]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.25389138539671136,1.7924314638933265,0.71338606911949],"aabb_xy":[[-0.29074193333369897,1.7549314630702926],[-0.21704083745972375,1.82993146471636]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.11124536260497009,0.9158824240040992,0.71338606911949],"aabb_xy":[[-0.19124536403509726,0.8363652689914897],[-0.03124536117484286,0.9953995790167086]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.6112824316042946,-0.9128305015000144,0.71338606911949],"aabb_xy":[[0.6073219478345603,-0.920498366085535],[0.615242915374029,-0.9051626369144938]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.6317791230817569,0.029772484595075976,0.71338606911949],"aabb_xy":[[-0.6692791231873498,0.02295032274209485],[-0.5942791229761639,0.03659464644805709]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.37442834562249216,-1.4287420852902222,0.71338606911949],"aabb_xy":[[0.2844283462041213,-1.4621175821344117],[0.46442834504086306,-1.3953665884460322]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.1909470146624671,-1.344814518965788,0.71338606911949],"aabb_xy":[[0.17539124525220187,-1.3603649522101955],[0.20650278407273243,-1.329264085721381]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.4819947818009105,-1.883468681520791,0.71338606911949],"aabb_xy":[[0.43202171626839514,-1.9334686813333242],[0.5319678473334261,-1.8334686817082584]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[-0.4377351347362987,-2.553786978771176,0.71338606911949],"aabb_xy":[[-0.4711753099323182,-2.587230604602105],[-0.404294959540279,-2.5203433529402455]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.3696970892686766,-2.555067618171849,0.71338606911949],"aabb_xy":[[0.36098312021874207,-2.5775676188310364],[0.37841105831861105,-2.53256761751266]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[-0.021419471465246143,-2.5290964824519713,0.71338606911949],"aabb_xy":[[-0.04391947197728674,-2.551588340817369],[0.0010805290467944574,-2.5066046240865725]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.5828574344702976,-0.9206611672800415,0.71338606911949],"aabb_xy":[[-0.6468574376889354,-0.9673842791790499],[-0.5188574312516597,-0.8739380553810332]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.10292950255653965,-1.4469316199237838,0.71338606911949],"aabb_xy":[[-0.16292950315255583,-1.501744092469007],[-0.042929501960523475,-1.3921191473785601]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.6248150569451936,0.5370153526805606,0.71338606911949],"aabb_xy":[[0.5748150582992724,0.48709580902109817],[0.6748150555911148,0.5869348963400229]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.06453376942831779,-1.110958806150642,0.71338606911949],"aabb_xy":[[0.014533768144477805,-1.1609376605412638],[0.11453377071215773,-1.0609799517600196]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.07445802522726441,-0.4964022588167962,0.71338606911949],"aabb_xy":[[-0.12445802617779722,-0.5279514058203176],[-0.024458024276731605,-0.4648531118132748]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.45175509055223584,0.5285442156949638,0.71338606911949],"aabb_xy":[[0.42720887492948517,0.4982953191459267],[0.4763013061749866,0.5587931122440007]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.34694751839333,0.41692937282616294,0.71338606911949],"aabb_xy":[[-0.43694752072734905,0.33944701824105034],[-0.25694751605931093,0.49441172741127565]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[0.524143804446586,-2.434682937983969,0.71338606911949],"aabb_xy":[[0.5164406137725089,-2.4423923086827073],[0.5318469951206629,-2.426973567285231]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6622620817738956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1253.png","name":"1253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1253.png","name":"1253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7559.png","name":"7559"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1173.png","name":"1173"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":644.3441050840402,"rotation_z_degrees":240.9240598420239,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017581479344249355,0.01507769678339568,0.016746683273924565]},{"name":"camera_2","offset_m":[-0.0003821944568793527,0.0033847670791876394,0.012292953924514603]},{"name":"camera_3","offset_m":[0.007404652210574899,0.017939976987027016,0.01975628734331013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013593766861122588,-0.0018732354082380263,-1.6654843667560787e-05],"end_effector_yaw_offset_degrees":0.32412770009061775},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012899471456134723,-0.0017958524766562309,-0.0009709508692315651],"end_effector_yaw_offset_degrees":0.26166795574589496},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001545966688336721,-0.0006926811439545322,0.0019003989880737736],"end_effector_yaw_offset_degrees":0.28246026921312817}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0047075024735006256,0.004850095433595076],"position_m":[0.3431075024735006,0.09015009543359508,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028820091988496876,-0.0001314215032566582],"position_m":[0.21441799080115032,-0.08733142150325665,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003931694823790804,-0.004598037698618417],"position_m":[0.3506683051762092,0.2310019623013816,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003969745988159204,0.0004846706950481479],"position_m":[0.24243025401184082,-0.33521532930495185,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fd61f37e662c9bf38c240e820fc9e1787836fc1d6128c190e45cbbe0cc1b0128","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1253/tex_ceiling_textures_1173/tex_floor_textures_3597/tex_table_textures_7559/tex_wall_textures_6311","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2992687769765694735,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2992687769765694735,"visual_seed":2992687769765694735,"scene_id":"lab_003","finished_at":"2026-09-03T10:14:20"} +{"episode_id":"ep_000036","started_at":"2026-09-03T10:23:05","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.21397369625319906,-1.6195834723007874,0.71338606911949],"aabb_xy":[[0.17647369558862033,-1.6352705303010096],[0.2514736969177777,-1.6038964143005652]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.6745358018619887,0.3341257942301903,0.71338606911949],"aabb_xy":[[0.663762827940621,0.2991257960111513],[0.6853087757833566,0.3691257924492293]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.13239588996885443,0.7124395598308162,0.71338606911949],"aabb_xy":[[0.06739589208720666,0.6613158961242753],[0.19739588785050227,0.7635632235373572]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.4366608811756572,-1.439548462526646,0.71338606911949],"aabb_xy":[[-0.44036414250479605,-1.4432504808353637],[-0.43295761984651837,-1.4358464442179277]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.49865261901360924,-0.8897345366140965,0.71338606911949],"aabb_xy":[[-0.5211490404474733,-0.9122345364208438],[-0.47615619757974514,-0.867234536807349]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.25859564233202886,-0.6496959193144451,0.71338606911949],"aabb_xy":[[-0.32859564446345835,-0.6724578849401407],[-0.18859564020059927,-0.6269339536887494]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.13910032659745253,-2.4918563499441384,0.71338606911949],"aabb_xy":[[-0.21910032802757973,-2.571373504956748],[-0.05910032516732533,-2.412339194931529]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.0943889911998973,1.5382415633001565,0.71338606911949],"aabb_xy":[[0.047259612198061615,1.474241562255754],[0.14151837020173297,1.602241564344558]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.13139072888566827,0.4176159773729662,0.71338606911949],"aabb_xy":[[-0.1688907293830265,0.4136472938248478],[-0.09389072838831,0.4215846609210846]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.45528629829433354,-1.102763134083616,0.71338606911949],"aabb_xy":[[-0.4741706820628437,-1.1216490588639687],[-0.4364019145258233,-1.0838772093032631]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.09124006042810506,1.3732815678230859,0.71338606911949],"aabb_xy":[[-0.09945460554378902,1.364604977525444],[-0.08302551531242106,1.3819581581207268]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.3227384819009747,0.38682812921418863,0.71338606911949],"aabb_xy":[[-0.3927384783109364,0.3663901935625068],[-0.2527384854910128,0.40726606486587025]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.3467331168701817,1.221557288841455,0.71338606911949],"aabb_xy":[[-0.40172632820731846,1.1665572885026614],[-0.2917399055330449,1.2765572891802486]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.4427241481543793,-0.8829698915426873,0.71338606911949],"aabb_xy":[[0.37272414476281734,-0.9182856652461182],[0.5127241515459413,-0.8476541178392565]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[0.3267749441589596,-1.9660505386021299,0.71338606911949],"aabb_xy":[[0.28927494405336657,-1.972872700455111],[0.3642749442645525,-1.9592283767491487]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.5270096280256346,0.023215693334901033,0.71338606911949],"aabb_xy":[[-0.544803134960551,0.00541594773910337],[-0.5092161210907181,0.0410154389306987]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.6847088882239222,-1.868693670645155,0.71338606911949],"aabb_xy":[[-0.6927452229252071,-1.8767317899495717],[-0.6766725535226374,-1.8606555513407381]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[0.6002007473147981,-2.221788528419146,0.71338606911949],"aabb_xy":[[0.5652007490446782,-2.2288626561141336],[0.635200745584918,-2.2147144007241573]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[-0.6743487113804079,-0.2936351149134415,0.71338606911949],"aabb_xy":[[-0.682392071306363,-0.37863511600880795],[-0.6663053514544527,-0.2086351138180751]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.37452290992218784,1.423286832944703,0.71338606911949],"aabb_xy":[[0.3045229081134424,1.4019330641805157],[0.4445229117309333,1.4446406017088904]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.6006704442473423,1.2038088546672259,0.71338606911949],"aabb_xy":[[0.5898299660208274,1.186622573376577],[0.6115109224738572,1.2209951359578743]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.4812076749826962,-1.8209963099120166,0.71338606911949],"aabb_xy":[[-0.5187076752748709,-1.82503778531262],[-0.4437076746905214,-1.816954834511413]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.44012511669852755,-1.3332486527951457,0.71338606911949],"aabb_xy":[[-0.45327636266981697,-1.3582486525518322],[-0.42697387072723825,-1.3082486530384592]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[0.5128941976767034,0.3581866346160072,0.71338606911949],"aabb_xy":[[0.46292090367344285,0.3081866340614598],[0.5628674916799637,0.4081866351705545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685839350721258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4019.png","name":"4019"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4019.png","name":"4019"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9706.png","name":"9706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5517.png","name":"5517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1683.png","name":"1683"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":727.3296171472753,"rotation_z_degrees":61.68283702060776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007124905067064242,-0.0005366687917931177,0.0061759666575493186]},{"name":"camera_2","offset_m":[-0.00045800423061749876,-0.014649311905092565,0.007375049566180812]},{"name":"camera_3","offset_m":[0.015309047228447208,0.01867859392137367,0.010491388867004799]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015462699909468314,-0.000793914402805914,0.0011356433272076837],"end_effector_yaw_offset_degrees":0.041194180971225514},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019955411922006326,-0.001583970916566674,-0.00032966012255715156],"end_effector_yaw_offset_degrees":-0.8750689737642059},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009442209493382217,0.0017973416874549346,0.0005325865776202045],"end_effector_yaw_offset_degrees":0.28699151015101076}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00012824840400495544,0.000252150160945549],"position_m":[0.33827175159599504,0.08555215016094556,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003124338214060221,-0.0029742013693491863],"position_m":[0.2204243382140602,-0.09017420136934919,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019354557718281838,-0.002238076256378987],"position_m":[0.3565354557718282,0.23336192374362102,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002058813713178782,-0.001205162244126986],"position_m":[0.2484588137131788,-0.336905162244127,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cb7972940d671a83eecf6bd8926360cd197182922d71cd431d493dd7c2aea75f","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4019/tex_ceiling_textures_1683/tex_floor_textures_5517/tex_table_textures_9706/tex_wall_textures_9970","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8652890514161280680,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8652890514161280680,"visual_seed":8652890514161280680,"scene_id":"lab_003","finished_at":"2026-09-03T10:25:28"} +{"episode_id":"ep_000037","started_at":"2026-09-03T10:25:30","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.15314690187661284,-0.0599651982222138,0.71338606911949],"aabb_xy":[[-0.20314690131680846,-0.1099331227065301],[-0.10314690243641722,-0.009997273737897494]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.5175838801173975,-2.106719926522227,0.71338606911949],"aabb_xy":[[0.4278968038092821,-2.196719926776677],[0.607270956425513,-2.016719926267776]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.015908165248822104,-1.0781017747623043,0.71338606911949],"aabb_xy":[[-0.05340816574618035,-1.0820704583104228],[0.021591835248536143,-1.0741330912141858]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.21496423368416806,-1.5132740571192411,0.71338606911949],"aabb_xy":[[0.20151770705012473,-1.5267439087723322],[0.2284107603182114,-1.49980420546615]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.373091871779607,-2.2569843010983344,0.71338606911949],"aabb_xy":[[0.3630101647010335,-2.3369842989904486],[0.38317357885818043,-2.1769843032062193]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.08890100862714723,0.578507224414869,0.71338606911949],"aabb_xy":[[-0.11889267136101755,0.5485072250780685],[-0.0589093458932769,0.6085072237516695]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[0.5538095390471589,0.4403239877721372,0.71338606911949],"aabb_xy":[[0.5173137184198802,0.40384004534537965],[0.5903053596744376,0.4768079301988948]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.3918549739576663,1.3833788294739335,0.71338606911949],"aabb_xy":[[-0.3997782541964146,1.3608788292359302],[-0.38393169371891794,1.405878829711937]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[0.5528092190267582,1.2291854098402424,0.71338606911949],"aabb_xy":[[0.4888092169770262,1.1890909267509346],[0.6168092210764902,1.2692798929295506]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.174819615371391,-0.9183183805465769,0.71338606911949],"aabb_xy":[[-0.1797189076779545,-0.9459952998491457],[-0.16992032306482752,-0.8906414612440081]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.5467385548718944,-1.210498411915566,0.71338606911949],"aabb_xy":[[0.48273855449436065,-1.260243678766378],[0.6107385552494279,-1.1607531450647535]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.01402679042389754,-1.277791697765406,0.71338606911949],"aabb_xy":[[-0.050973208133175296,-1.3075442311792886],[0.07902678898097037,-1.2480391643515234]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.44897960767523926,-0.12948996422906411,0.71338606911949],"aabb_xy":[[0.39916282821040444,-0.17948996271336748],[0.49879638714007396,-0.07948996574476075]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.34906437890973907,-1.6425236972576516,0.71338606911949],"aabb_xy":[[-0.3951494701644705,-1.7065236945102067],[-0.30297928765500753,-1.5785237000050965]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.40524644178376756,-1.451186139134909,0.71338606911949],"aabb_xy":[[0.3747621916567374,-1.501186138916405],[0.4357306919107977,-1.401186139353413]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.4104085168221296,1.5396812075574702,0.71338606911949],"aabb_xy":[[-0.41840200661741167,1.531683075616995],[-0.4024150270268476,1.5476793394979462]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.13804274260063554,-1.9966589081479604,0.71338606911949],"aabb_xy":[[-0.22804273910150727,-2.0425705505664182],[-0.04804274609976377,-1.950747265729502]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.6561469412364855,0.22413223364388646,0.71338606911949],"aabb_xy":[[0.5921469439508369,0.1826255146910425],[0.7201469385221342,0.2656389525967304]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.0859078217341892,1.6298309917451168,0.71338606911949],"aabb_xy":[[0.015907819925443753,1.6084772229809297],[0.15590782354293464,1.6511847605093044]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.09578896571244133,-1.8349611446795246,0.71338606911949],"aabb_xy":[[0.02578896232087936,-1.8702769183829555],[0.16578896910400331,-1.7996453709760938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691469364657757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9157.png","name":"9157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8690.png","name":"8690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9452.png","name":"9452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2648.png","name":"2648"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":832.7960914320518,"rotation_z_degrees":282.9015663545776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012972675784319078,-0.0028610512271392656,-0.011119449486531456]},{"name":"camera_2","offset_m":[-0.01725330334527505,-0.011680888021973278,-0.01372584131924913]},{"name":"camera_3","offset_m":[-0.0033878106565652065,-0.015262199989727318,-0.012113316780012475]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015331163346729833,-1.8889240770172695e-05,0.0016851476023311373],"end_effector_yaw_offset_degrees":0.07976042774967862},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016609023648543031,0.0005053955200064564,-0.0007718182033858553],"end_effector_yaw_offset_degrees":-0.11378698742449345},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001458789124303549,0.00012452795885941866,0.0004489933340500506],"end_effector_yaw_offset_degrees":-0.5739623799333398}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00019265786985304435,0.003931305840935742],"position_m":[0.33859265786985304,0.08923130584093575,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003472700586083754,-0.002042735594063473],"position_m":[0.22077270058608375,-0.08924273559406347,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007086376815160951,0.002615693867451558],"position_m":[0.3553086376815161,0.23821569386745156,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004286380122089946,0.003945837549935975],"position_m":[0.25068638012208994,-0.331754162450064,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d221be91afa277303fe9533c0a9a8af61fb63145d2d0f258b99467bdc10b3f5f","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3590/tex_ceiling_textures_2648/tex_floor_textures_9452/tex_table_textures_9157/tex_wall_textures_8690","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3674575692185694690,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3674575692185694690,"visual_seed":3674575692185694690,"scene_id":"lab_003","finished_at":"2026-09-03T10:28:21"} +{"episode_id":"ep_000038","started_at":"2026-09-03T10:28:24","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.03142850333825298,-2.269131270869178,0.71338606911949],"aabb_xy":[[-0.06792432396553172,-2.3056152132959356],[0.005067317289025763,-2.2326473284424204]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.45987145292205794,-0.587341339373733,0.71338606911949],"aabb_xy":[[-0.4850922897818975,-0.6125650902266196],[-0.43465061606221816,-0.5621175885208461]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.609934550057647,-1.8803447892540155,0.71338606911949],"aabb_xy":[[0.5499345502110802,-1.9371634114470542],[0.6699345499042137,-1.8235261670609768]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.18822182353503236,1.0939104348413786,0.71338606911949],"aabb_xy":[[0.15363074068098712,1.0289104345563476],[0.22281290638907755,1.1589104351264097]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.27304567896339205,0.9947134450871187,0.71338606911949],"aabb_xy":[[-0.28117336715670527,0.985799836676411],[-0.2649179907700788,1.0036270534978264]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.6184026832863294,1.0788105967597206,0.71338606911949],"aabb_xy":[[-0.6264390179876143,1.0707724774553038],[-0.6103663485850446,1.0868487160641374]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[-0.3019179740531282,-2.251525252143049,0.71338606911949],"aabb_xy":[[-0.3819179727100142,-2.266030111067312],[-0.2219179753962422,-2.237020393218786]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.5057868102764137,1.4833121120312893,0.71338606911949],"aabb_xy":[[-0.5598024065583136,1.419312109139032],[-0.4517712139945136,1.5473121149235463]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.27006162761018004,-1.0656558484236036,0.71338606911949],"aabb_xy":[[0.2628178615639347,-1.1456558466272058],[0.27730539365642537,-0.985655850220001]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.132064429259663,-2.0800774683620955,0.71338606911949],"aabb_xy":[[-0.18204323776997888,-2.1300774683678143],[-0.08208562074934711,-2.0300774683563767]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.4675620026191052,-0.3145675633682501,0.71338606911949],"aabb_xy":[[0.41756272745066897,-0.3645675646441972],[0.5175612777875414,-0.26456756209230287]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.45147972965170413,-2.4798119675330823,0.71338606911949],"aabb_xy":[[0.446021784014684,-2.5598119708407414],[0.45693767528872414,-2.399811964225423]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.08557508739381392,1.5074151275534198,0.71338606911949],"aabb_xy":[[0.07641520844993732,1.5008839095098827],[0.09473496633769052,1.5139463455969568]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.23358865375854898,0.5110816362094677,0.71338606911949],"aabb_xy":[[-0.27108865455054443,0.5047137952512775],[-0.19608865296655356,0.5174494771676577]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.5244292018159502,-0.08653716198245887,0.71338606911949],"aabb_xy":[[0.5164352132382468,-0.09453724207754921],[0.5324231903936536,-0.07853708188736852]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.35959600399381175,0.9147333145642156,0.71338606911949],"aabb_xy":[[0.3467241004928716,0.8347333141503795],[0.3724679074947519,0.9947333149780518]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.3667824857993041,-0.9255157267498701,0.71338606911949],"aabb_xy":[[-0.4010793968170447,-0.9598126129598114],[-0.33248557478156343,-0.8912188405399287]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.555187263764448,0.0739166388262893,0.71338606911949],"aabb_xy":[[-0.6051872647835833,0.03745042308846137],[-0.5051872627453128,0.11038285456411726]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.43661408292226134,0.6263545387925777,0.71338606911949],"aabb_xy":[[-0.4649437928708016,0.6218937965988607],[-0.40828437297372117,0.6308152809862948]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.4751885374970673,1.2412182556384095,0.71338606911949],"aabb_xy":[[-0.5095048146716852,1.1912182556652318],[-0.4408722603224494,1.2912182556115872]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.35562290929419205,-1.1335511623386632,0.71338606911949],"aabb_xy":[[-0.42562291142562153,-1.1563131279643586],[-0.28562290716276245,-1.1107891967129673]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[0.6771045121288133,0.32616554370861817,0.71338606911949],"aabb_xy":[[0.6521045129631802,0.31921329800326165],[0.7021045112944464,0.3331177894139748]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.10496144344005465,-1.4576641510727393,0.71338606911949],"aabb_xy":[[0.01496143976313646,-1.5190965576498432],[0.19496144711697277,-1.3962317444956347]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.5924583321386011,-1.553951077118165,0.71338606911949],"aabb_xy":[[-0.6033641082261638,-1.633951073516994],[-0.5815525560510384,-1.4739510807193357]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.2647354709439505,-0.3295392850232006,0.71338606911949],"aabb_xy":[[-0.3287354713214841,-0.37928455187401283],[-0.20073547056641688,-0.2797940181723883]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.23650554677550717,1.45919881391108,0.71338606911949],"aabb_xy":[[0.16650554338394516,1.4238830402076494],[0.3065055501670691,1.4945145876145112]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[-0.1928448431158185,-0.5157774342776995,0.71338606911949],"aabb_xy":[[-0.22784484224577414,-0.5215226553533636],[-0.15784484398586282,-0.5100322132020354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664924074441755,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8255.png","name":"8255"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8255.png","name":"8255"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1956.png","name":"1956"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9974.png","name":"9974"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7328.png","name":"7328"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":544.1028269975727,"rotation_z_degrees":300.94886750097845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006354898340344559,0.006993255792160733,-0.0028736031104373873]},{"name":"camera_2","offset_m":[0.0005169862878765079,-0.00033847017727852563,-0.004012514577875704]},{"name":"camera_3","offset_m":[-0.0031198982144370196,-0.014800790516035525,0.011356482131821544]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010152889035404554,0.0017358647668191608,0.0014573617336923524],"end_effector_yaw_offset_degrees":0.576491881359507},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001286669332502772,0.0017234923517360687,0.0017590194216025473],"end_effector_yaw_offset_degrees":-0.7830870709589537},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008077648842846634,-0.0019854718003663426,-0.0003601703196057678],"end_effector_yaw_offset_degrees":-0.7158433915759657}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001998169906819283,0.0027983463642516984],"position_m":[0.34039816990681926,0.0880983463642517,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004509222878210999,0.0018692844955348802],"position_m":[0.21279077712178898,-0.08533071550446512,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0042525473218247,0.003759665392294693],"position_m":[0.35034745267817535,0.2393596653922947,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005818618967208759,0.002104481851473834],"position_m":[0.2469818618967209,-0.33359551814852617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9d3e9101a985ce66f22090d7cafad961c109c90424e8ac3a6ddc4b4f0f160f49","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8255/tex_ceiling_textures_7328/tex_floor_textures_9974/tex_table_textures_3028/tex_wall_textures_1956","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3116983635296181903,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3116983635296181903,"visual_seed":3116983635296181903,"scene_id":"lab_003","finished_at":"2026-09-03T10:30:56"} +{"episode_id":"ep_000039","started_at":"2026-09-03T10:30:58","dimensions":{"distractor":{"count":35,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.05572415520696761,1.4960216983333727,0.71338606911949],"aabb_xy":[[-0.03427584152864262,1.4428382350160782],[0.14572415194257782,1.5492051616506672]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.4722087301004023,-2.530269170760074,0.71338606911949],"aabb_xy":[[0.45974137199066667,-2.542734495393398],[0.48467608821013797,-2.517803846126751]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.13367640227814337,1.3010960661638626,0.71338606911949],"aabb_xy":[[0.1262639467367549,1.2952448557422347],[0.14108885781953184,1.3069472765854906]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.51878065309109,0.09330416691995147,0.71338606911949],"aabb_xy":[[-0.608780656768008,0.03187176034284709],[-0.4287806494141716,0.15473657349705577]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.5073171784241115,-1.342231632805118,0.71338606911949],"aabb_xy":[[-0.553402269678843,-1.4062316300576732],[-0.4612320871693801,-1.278231635552563]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[-0.4033554746855631,-0.2452935558590883,0.71338606911949],"aabb_xy":[[-0.4533285402180786,-0.29529355567162124],[-0.35338240915304764,-0.19529355604655546]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.2508491528329556,-0.7910948374582358,0.71338606911949],"aabb_xy":[[0.24314596215887851,-0.7988042081569738],[0.2585523435070326,-0.7833854667594978]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.022158424833032098,1.6955566442319232,0.71338606911949],"aabb_xy":[[-0.04433095180968294,1.6733809770758],[1.4102143618740373e-05,1.717732311388046]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.6480240252531742,-0.21309052116726912,0.71338606911949],"aabb_xy":[[0.5980240256768395,-0.26307110011937507],[0.698024024829509,-0.16310994221516317]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.6461011274286717,-2.2835238287633084,0.71338606911949],"aabb_xy":[[0.6364694912082419,-2.2931611415430173],[0.6557327636491012,-2.2738865159835995]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.5537410190421186,0.17248411643280148,0.71338606911949],"aabb_xy":[[0.5338499791617783,0.15982830514810467],[0.5736320589224588,0.18513992771749835]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.2561038114383576,-2.0390114198348654,0.71338606911949],"aabb_xy":[[0.1761038142787823,-2.0505590207926825],[0.3361038085979329,-2.0274638188770484]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.04043557333581893,-1.3054829206151242,0.71338606911949],"aabb_xy":[[-0.009563701832617233,-1.3554829218910716],[0.0904348485042551,-1.2554829193391772]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[0.5475775630751307,0.2922460356097143,0.71338606911949],"aabb_xy":[[0.4835775657894821,0.2507393166568703],[0.6115775603607794,0.33375275456255826]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.6295839397277099,0.6797517640061468,0.71338606911949],"aabb_xy":[[0.6144210667507729,0.6645863067110281],[0.6447468127046471,0.6949172213012657]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.4695174957128391,0.3478857462635556,0.71338606911949],"aabb_xy":[[-0.5545174941302624,0.2630114508012707],[-0.3845174972954159,0.43276004172584065]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.23485411126694156,-2.1775193265565713,0.71338606911949],"aabb_xy":[[-0.2988541115409198,-2.2275854267538593],[-0.17085411099296333,-2.1274532263592834]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.21906248336204398,1.3630400164899243,0.71338606911949],"aabb_xy":[[-0.2244000590280486,1.3380400155607846],[-0.21372490769603947,1.3880400174190641]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.24191361683698787,1.5727906327921395,0.71338606911949],"aabb_xy":[[0.23249614226712512,1.5633744556544205],[0.2513310914068506,1.5822068099298585]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.29245558360436497,-0.18992305394257603,0.71338606911949],"aabb_xy":[[-0.2984221225451007,-0.19588419860194003],[-0.2864890446636291,-0.18396190928321196]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.5011087922786308,-0.3854145317056248,0.71338606911949],"aabb_xy":[[0.43110879067635133,-0.3988473249072824],[0.5711087938809103,-0.37198173850396726]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.6434883948360819,-0.5350506545412879,0.71338606911949],"aabb_xy":[[0.57348839842612,-0.5554885901929695],[0.7134883912460436,-0.514612718889606]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.3973278511057572,1.6976306413010884,0.71338606911949],"aabb_xy":[[-0.45134344738765714,1.633630638408831],[-0.34331225482385713,1.7616306441933454]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[-0.6298626510870539,-1.7922070040211582,0.71338606911949],"aabb_xy":[[-0.6392096586693491,-1.806510626238802],[-0.6205156435047586,-1.777903381803514]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.18275028972755547,-0.6434740186943717,0.71338606911949],"aabb_xy":[[0.14525029130415512,-0.6566382326622022],[0.22025028815095582,-0.630309804726541]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.5067312399795982,-0.024531684661910802,0.71338606911949],"aabb_xy":[[0.4980172709296636,-0.047031685321099026],[0.5154452090295325,-0.002031684002722581]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.49288742786738365,-0.9348993891889719,0.71338606911949],"aabb_xy":[[-0.5578874305051771,-0.9863789878884188],[-0.42788742522959017,-0.8834197904895249]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[-0.4188808395902055,0.6275764206633458,0.71338606911949],"aabb_xy":[[-0.4261420871606129,0.6147894103998364],[-0.4116195920197981,0.6403634309268553]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.24808414513821064,-0.7206047799457769,0.71338606911949],"aabb_xy":[[0.24104269418746305,-0.7276315316835714],[0.25512559608895824,-0.7135780282079823]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[-0.4382619712506732,-1.9269014467899634,0.71338606911949],"aabb_xy":[[-0.5022619676462463,-1.9908647352086972],[-0.37426197485510004,-1.8629381583712301]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.2818027748350894,-0.8878890760214955,0.71338606911949],"aabb_xy":[[-0.31609968585283005,-0.9221859622314366],[-0.2475058638173488,-0.8535921898115539]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.020020858436930467,0.9631926874327976,0.71338606911949],"aabb_xy":[[-0.05997914021995554,0.9486878285085348],[0.10002085709381647,0.9776975463570604]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_32","position":[0.0032277826686718525,-1.7529804549772323,0.71338606911949],"aabb_xy":[[-0.060772217708861764,-1.8027257218280444],[0.06722778304620547,-1.7032351881264198]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_33","position":[-0.449821972663742,-1.7557627645951033,0.71338606911949],"aabb_xy":[[-0.49979938952899555,-1.8057627660843516],[-0.3998445557984884,-1.7057627631058545]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_34","position":[0.22852637392411668,-1.2160145905939377,0.71338606911949],"aabb_xy":[[0.21388296837008366,-1.2306733102507217],[0.24316977947814963,-1.2013558709371532]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688915064403704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/878.png","name":"878"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/878.png","name":"878"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5430.png","name":"5430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4212.png","name":"4212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5003.png","name":"5003"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.4230751162621,"rotation_z_degrees":320.27425460266875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017985072594467105,-0.014848301409757458,-0.018018848492252416]},{"name":"camera_2","offset_m":[-0.003963465835096908,0.003972586634931538,0.0017107447708752908]},{"name":"camera_3","offset_m":[0.00740731190216588,0.012954936538303177,-0.0048798541247067635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007415305194022133,0.000825790667973204,-0.0007268410678741804],"end_effector_yaw_offset_degrees":0.5822780022198699},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016240375448308606,0.0006795563911913892,9.209071572850508e-05],"end_effector_yaw_offset_degrees":0.38560679184743574},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000930726720005702,-0.000338782511940702,0.0008702331493347197],"end_effector_yaw_offset_degrees":-0.299301802078608}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002216299429533364,-6.452661968002222e-05],"position_m":[0.3361837005704666,0.08523547338031998,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001989694267307115,-0.004459288003975116],"position_m":[0.2192896942673071,-0.09165928800397512,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002698695154757298,-0.003410032549127853],"position_m":[0.3572986951547573,0.23218996745087214,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003963817814625404,0.001283205052844686],"position_m":[0.2503638178146254,-0.3344167949471553,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c59465538c2b22c03836dc7e227cd20075809cf99e25eac996655f4d3befc2a8","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_878/tex_ceiling_textures_5003/tex_floor_textures_6868/tex_table_textures_5430/tex_wall_textures_4212","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5735503974668646318,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5735503974668646318,"visual_seed":5735503974668646318,"scene_id":"lab_003","finished_at":"2026-09-03T10:33:21"} +{"episode_id":"ep_000040","started_at":"2026-09-03T10:33:24","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.5019385943839867,0.3333088148106227,0.71338606911949],"aabb_xy":[[0.43793859411000846,0.2832427146133348],[0.5659385946579649,0.3833749150079107]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.3913441466256835,1.2575248586095604,0.71338606911949],"aabb_xy":[[0.3825420913167108,1.2497135324546311],[0.4001462019346562,1.2653361847644893]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.1561512760365985,-1.1104683828478523,0.71338606911949],"aabb_xy":[[0.14822799579785018,-1.1329683830858557],[0.16407455627534684,-1.087968382609849]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.5821521788038595,1.6129618004183457,0.71338606911949],"aabb_xy":[[-0.6043247057805102,1.5907861332622226],[-0.5599796518272085,1.6351374675744688]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.5015890879645855,0.5846867493037213,0.71338606911949],"aabb_xy":[[-0.5365890862752809,0.5769717343801756],[-0.46658908965389,0.5924017642272669]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.1881512404624205,0.18345202849298348,0.71338606911949],"aabb_xy":[[-0.19617751109304649,0.17470053351563086],[-0.1801249698317945,0.1922035234703361]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.583035911536362,-2.4629609040465876,0.71338606911949],"aabb_xy":[[-0.6186650674363217,-2.4985935708034406],[-0.5474067556364022,-2.4273282372897347]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.17370424091943637,-2.05401249540607,0.71338606911949],"aabb_xy":[[0.1237309469161759,-2.1040124959606175],[0.2236775349226968,-2.0040124948515228]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.14865783604151295,-0.45941491717943617,0.71338606911949],"aabb_xy":[[-0.16383000532314632,-0.4745837741076395],[-0.13348566675987963,-0.4442460602512328]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.48853376963637163,0.6417116195027641,0.71338606911949],"aabb_xy":[[0.48049040971041646,0.5567116184073977],[0.4965771295623268,0.7267116205981305]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.5136295895101001,1.0561565820625596,0.71338606911949],"aabb_xy":[[-0.5216659242113848,1.0481184627581428],[-0.5055932548088151,1.0641947013669764]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.5556793460880407,-1.350716631675082,0.71338606911949],"aabb_xy":[[0.5327636332029909,-1.3736209288115055],[0.5785950589730907,-1.3278123345386585]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.21930759768367192,-0.6156431980270576,0.71338606911949],"aabb_xy":[[-0.26930759712386754,-0.6656111225113739],[-0.1693075982434763,-0.5656752735427413]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.348650788395384,1.669979638294898,0.71338606911949],"aabb_xy":[[0.28465509100028735,1.605979639994189],[0.4126464857904805,1.7339796365956064]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.006087064682176457,0.7339086817224447,0.71338606911949],"aabb_xy":[[-0.08608088826073468,0.6539086791296032],[0.07390675889638176,0.8139086843152863]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.5440284050001722,1.4139347717449255,0.71338606911949],"aabb_xy":[[-0.5990284046219181,1.3589510789574528],[-0.4890284053784264,1.4689184645323983]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.12988722450421597,-1.5529120196712587,0.71338606911949],"aabb_xy":[[-0.16488722277433585,-1.5599861473662469],[-0.09488722623409604,-1.5458378919762705]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.5934667665592581,-1.7288033070750681,0.71338606911949],"aabb_xy":[[-0.6574667657290281,-1.7755699941940306],[-0.5294667673894882,-1.6820366199561056]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.23375459485545869,-1.4995223826416357,0.71338606911949],"aabb_xy":[[0.18375459449489256,-1.5495023698512387],[0.28375459521602464,-1.4495423954320328]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.3929343428745085,-0.14755796284627953,0.71338606911949],"aabb_xy":[[-0.40106203106782173,-0.15647157125698716],[-0.3848066546811953,-0.13864435443557185]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.05645533730593166,-0.9579959832309402,0.71338606911949],"aabb_xy":[[-0.06722831122729944,-0.9929959814499792],[-0.045682363384563884,-0.9229959850119013]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.3919451981536939,0.6565168620466428,0.71338606911949],"aabb_xy":[[0.38751456879885376,0.6510684903119605],[0.3963758275085341,0.6619652337813257]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[0.322895779920096,0.729492651717583,0.71338606911949],"aabb_xy":[[0.3097445339488067,0.7044926519608965],[0.3360470258913854,0.7544926514742697]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.03846271991939276,-0.32953545888197144,0.71338606911949],"aabb_xy":[[-0.051909246553436095,-0.3430053105350626],[-0.02501619328534943,-0.31606560722888016]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[-0.1588137638639866,-0.15549609242056306,0.71338606911949],"aabb_xy":[[-0.22881376725554856,-0.1908118661239939],[-0.0888137604724246,-0.12018031871713218]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.11433513599543299,-1.8805664514262839,0.71338606911949],"aabb_xy":[[-0.1215789020416783,-1.9605664496298862],[-0.10709136994918765,-1.8005664532226815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681850681921154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7146.png","name":"7146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7146.png","name":"7146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4416.png","name":"4416"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6090.png","name":"6090"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9169.png","name":"9169"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.183485928244,"rotation_z_degrees":102.10251111972796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005581518865816903,-0.019902827892336012,-0.0052451210554348825]},{"name":"camera_2","offset_m":[-0.007695250860472229,0.015477821647943094,0.013551802543182435]},{"name":"camera_3","offset_m":[0.0037531658031019037,0.013568355946876307,0.01617330754641212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007336264316141899,0.0007057986140768953,8.048271588826728e-05],"end_effector_yaw_offset_degrees":0.12211440804662721},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014658279602817992,0.00025918887831644305,0.0018893736785870847],"end_effector_yaw_offset_degrees":0.5704775457237066},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00044459862598458474,0.0011288759549499235,-0.001986251280001769],"end_effector_yaw_offset_degrees":0.3775856115660441}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029459692903139223,0.0027952621968501826],"position_m":[0.33545403070968605,0.08809526219685018,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00370367514849856,0.0006527947479991461],"position_m":[0.21359632485150143,-0.08654720525200085,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006194110251398011,0.0033968546828966285],"position_m":[0.35398058897486023,0.23899685468289664,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00326829859692256,-0.0043861330023841506],"position_m":[0.24966829859692258,-0.34008613300238416,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"64ba87e63b0f423edfebc15aebb1b9b9dd9e90691bfbbeeeb6d282785086d098","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7146/tex_ceiling_textures_9169/tex_floor_textures_9616/tex_table_textures_4416/tex_wall_textures_6090","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6762142024138994189,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6762142024138994189,"visual_seed":6762142024138994189,"scene_id":"lab_003","finished_at":"2026-09-03T10:35:53"} +{"episode_id":"ep_000041","started_at":"2026-09-03T10:37:14","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.5410258510305535,-0.00017478371115053903,0.71338606911949],"aabb_xy":[[0.5060258511345346,-0.00854901922309048],[0.5760258509265723,0.008199451800789402]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.5743533500221158,-1.651776202082985,0.71338606911949],"aabb_xy":[[-0.6643533523561349,-1.7292585566680974],[-0.4843533476880968,-1.574293847497872]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.5139603250145155,-1.4690667849225123,0.71338606911949],"aabb_xy":[[-0.5389603242864777,-1.4854121485186744],[-0.48896032574255316,-1.4527214213263497]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.5787462431110909,-0.13504924750908476,0.71338606911949],"aabb_xy":[[-0.6287462434716569,-0.18502923471868768],[-0.5287462427505247,-0.0850692602994818]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.27363864911271485,-1.092807221446188,0.71338606911949],"aabb_xy":[[-0.2773419104418537,-1.0965092397549057],[-0.2699353877835759,-1.0891052031374697]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.6011881285349023,-0.9886150299406382,0.71338606911949],"aabb_xy":[[0.5371881293651324,-1.0353817170596007],[0.6651881277046723,-0.9418483428216757]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.3972994620668613,-0.8153850097213986,0.71338606911949],"aabb_xy":[[0.33729946222029444,-0.8722036319144372],[0.457299461913428,-0.7585663875283598]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.43170269846092557,1.643980659976855,0.71338606911949],"aabb_xy":[[-0.4358186485729982,1.6398651049440094],[-0.42758674834885285,1.6480962150097005]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.42778967097255305,1.682081805394286,0.71338606911949],"aabb_xy":[[0.39401411178186013,1.6680433101811214],[0.4615652301632461,1.6961203006074512]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.48239578662331795,0.577372715562241,0.71338606911949],"aabb_xy":[[0.39239578988770774,0.5241892522449464],[0.5723957833589282,0.6305561788795354]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.14538704944734282,-1.0965810461877215,0.71338606911949],"aabb_xy":[[-0.18038704857729848,-1.1023262672633853],[-0.11038705031738716,-1.0908358251120571]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.20770415668895487,1.0220206478313139,0.71338606911949],"aabb_xy":[[-0.21712163125881762,1.0126044706935948],[-0.19828668211909212,1.0314368249690329]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.6196758222169663,-1.2811429259994116,0.71338606911949],"aabb_xy":[[0.5396758189529531,-1.294702958308325],[0.6996758254809794,-1.2675828936904983]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.26017621795303925,1.6990370489258164,0.71338606911949],"aabb_xy":[[0.2226762171610438,1.6926692079676258],[0.2976762187450347,1.7054048898840062]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.004574110544296461,1.2707876476901645,0.71338606911949],"aabb_xy":[[-0.04255526845753921,1.206787646645762],[0.05170348954613213,1.334787648734566]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.4830877704766524,1.2311866397914497,0.71338606911949],"aabb_xy":[[-0.5043657786201247,1.1661866374653767],[-0.46180976233318016,1.2961866421175228]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[-0.2825916133395472,-2.462309510031984,0.71338606911949],"aabb_xy":[[-0.2872267284917805,-2.466176845109132],[-0.27795649818731377,-2.4584421749548344]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[0.39102254674011583,-1.6037185896910242,0.71338606911949],"aabb_xy":[[0.3270225463625822,-1.6534638565418367],[0.45502254711764945,-1.5539733228402122]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.2741688091808822,-0.15490659005107865,0.71338606911949],"aabb_xy":[[-0.28187199985495925,-0.16261596074981666],[-0.26646561850680517,-0.14719721935234065]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.18758623571891975,-0.3403091289210707,0.71338606911949],"aabb_xy":[[-0.200817181253601,-0.3535365479430701],[-0.17435529018423843,-0.32708170989907126]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[0.43127574764342946,-2.3786849170955184,0.71338606911949],"aabb_xy":[[0.3900269366135147,-2.4336849166077354],[0.47252455867334414,-2.3236849175833005]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.5532506137434312,1.0346588103134597,0.71338606911949],"aabb_xy":[[-0.5751403613323719,0.9446588130242107],[-0.5313608661544903,1.1246588076027089]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.34793305040884004,0.08679869612294899,0.71338606911949],"aabb_xy":[[-0.35497336034237703,0.006798696723277599],[-0.34089274047530305,0.16679869552262042]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.4009959926625061,-1.7442699333483898,0.71338606911949],"aabb_xy":[[-0.411836470889021,-1.761456214639038],[-0.39015551443599117,-1.7270836520577406]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.5198061578857067,-1.9835044280958893,0.71338606911949],"aabb_xy":[[-0.6098061615626248,-2.0449368346729937],[-0.4298061542087884,-1.922072021518785]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.5868207327765558,-2.2010837349170878,0.71338606911949],"aabb_xy":[[-0.6468207330279568,-2.255365059953552],[-0.5268207325251545,-2.1468024098806224]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.3881804749464559,1.2542618048497745,0.71338606911949],"aabb_xy":[[0.370680475668369,1.2369237047834283],[0.40568047422454273,1.2715999049161202]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_27","position":[0.04499939097260797,0.9747268922300423,0.71338606911949],"aabb_xy":[[-0.010125814656982804,0.914726890788755],[0.10012459660219875,1.0347268936713292]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[0.503145682450493,-1.9927104231249424,0.71338606911949],"aabb_xy":[[0.43914568217651473,-2.042776523322231],[0.5671456827244712,-1.9426443229276547]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_29","position":[-0.35048887334537454,0.3354131037463617,0.71338606911949],"aabb_xy":[[-0.37500249744238034,0.31114851044432523],[-0.3259752492483686,0.35967769704839814]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[-0.6056372781893391,-1.164329727553076,0.71338606911949],"aabb_xy":[[-0.6137509328627161,-1.172435544007105],[-0.5975236235159619,-1.1562239110990469]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_31","position":[0.5815466097595317,1.0598286735073028,0.71338606911949],"aabb_xy":[[0.572252991522381,1.022328675019169],[0.5908402279966821,1.0973286719954367]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_32","position":[-0.433258106563878,-1.5773558908822105,0.71338606911949],"aabb_xy":[[-0.4428897427843076,-1.5869932036619192],[-0.42362647034344836,-1.5677185781025014]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_33","position":[-0.14550805023085756,-2.5304825489996134,0.71338606911949],"aabb_xy":[[-0.1955073253992937,-2.5804825502755606],[-0.09550877506242136,-2.4804825477236663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677076843168472,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3654.png","name":"3654"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3654.png","name":"3654"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4148.png","name":"4148"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4396.png","name":"4396"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/197.png","name":"197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4864.png","name":"4864"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":571.8217187067027,"rotation_z_degrees":89.53408847243875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018349396325474724,0.017600338126768544,-0.01043537576713304]},{"name":"camera_2","offset_m":[-0.01884531428892296,-0.007312280346689733,-0.019061303839589788]},{"name":"camera_3","offset_m":[0.018873707971855568,0.003632703167176711,-0.013856609864012315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015158847967528906,0.0011743949107208209,0.001977287292765522],"end_effector_yaw_offset_degrees":0.742291869798329},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000822896624944927,-0.001242600638193465,0.0019049077698873327],"end_effector_yaw_offset_degrees":-0.3613653595014732},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012817775849778864,-0.00017986495807217786,0.0007122630261884692],"end_effector_yaw_offset_degrees":-0.779649384836046}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00486306443569881,-0.002832501182900333],"position_m":[0.3335369355643012,0.08246749881709967,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037300653336163284,-0.001211723108146605],"position_m":[0.21356993466638366,-0.0884117231081466,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00041706602478928587,-0.0006804276733859138],"position_m":[0.35501706602478933,0.2349195723266141,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006553306371658227,0.0025730737785146004],"position_m":[0.24574466936283418,-0.3331269262214854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29b85d5eca28bf7f7172408d4903878f92f5ba1b9922f149817091400827857e","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3654/tex_ceiling_textures_4864/tex_floor_textures_197/tex_table_textures_4148/tex_wall_textures_4396","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":890630001115134956,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":890630001115134956,"visual_seed":890630001115134956,"scene_id":"lab_003","finished_at":"2026-09-03T10:39:37"} +{"episode_id":"ep_000042","started_at":"2026-09-03T10:43:51","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.11692072423870725,1.4793078886581106,0.71338606911949],"aabb_xy":[[-0.1519207233686629,1.4735626675824465],[-0.0819207251087516,1.4850531097337747]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.4884871602103691,-1.748953305997055,0.71338606911949],"aabb_xy":[[-0.5087714629337677,-1.7692359311397636],[-0.46820285748697027,-1.728670680854346]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.6142073261224998,-1.1299989277052986,0.71338606911949],"aabb_xy":[[-0.6392073256742382,-1.1401414115704331],[-0.5892073265707612,-1.1198564438401637]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.46079571287804133,-1.2738730322344611,0.71338606911949],"aabb_xy":[[0.430804050144171,-1.3038730315712614],[0.49078737561191166,-1.2438730328976604]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.4384341195996957,0.9249751796576762,0.71338606911949],"aabb_xy":[[0.3584341193260887,0.8520256318319593],[0.5184341198733027,0.9979247274833928]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.25630586409285344,-1.1041234236506228,0.71338606911949],"aabb_xy":[[-0.3203058673114913,-1.1508465355496313],[-0.19230586087421558,-1.0574003117516146]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.041367170069079195,-1.5554866807274512,0.71338606911949],"aabb_xy":[[-0.04480784630913637,-1.5593481137018157],[-0.03792649382902202,-1.5516252477530867]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.6282009226459428,-0.21654673289630555,0.71338606911949],"aabb_xy":[[0.5907009225403499,-0.22336889474928665],[0.6657009227515358,-0.2097245710433244]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.06798455059233299,-2.5380958913430858,0.71338606911949],"aabb_xy":[[0.060281359918255936,-2.5458052620418234],[0.07568774126641002,-2.530386520644347]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.27709897123089433,-2.399170976070266,0.71338606911949],"aabb_xy":[[0.22709969606245822,-2.4491709773462134],[0.32709824639933055,-2.349170974794319]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.6035428088467318,-2.132648873107598,0.71338606911949],"aabb_xy":[[0.581370281870081,-2.1548245402637205],[0.6257153358233827,-2.1104732059514744]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.32835926323166864,-0.175941776838191,0.71338606911949],"aabb_xy":[[-0.3923592665213767,-0.2192766958421086],[-0.26435925994196047,-0.13260685783427337]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.2658000343748329,-1.3623136522750914,0.71338606911949],"aabb_xy":[[-0.2739277225681461,-1.3712272606857991],[-0.2576723461815197,-1.353400043864384]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.10550450417229507,-2.355966187813686,0.71338606911949],"aabb_xy":[[-0.16950450454982868,-2.4057114546644978],[-0.04150450379476145,-2.3062209209628732]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.0743964917258999,0.44008670852703924,0.71338606911949],"aabb_xy":[[-0.12439649267643271,0.4085375615235177],[-0.024396490775367097,0.47163585553056053]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.3286683934865569,0.9679314487656376,0.71338606911949],"aabb_xy":[[-0.3654630266114631,0.9310255736690554],[-0.2918737603616506,1.00483732386222]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.16186402213581275,-2.1842740254166473,0.71338606911949],"aabb_xy":[[0.09786402187534195,-2.229282824769575],[0.22586402239628356,-2.139265226063719]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.5565406847565711,0.9700854043662419,0.71338606911949],"aabb_xy":[[-0.6365406821601645,0.890092833168059],[-0.47654068735297767,1.0500779755644245]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.3547577912549572,-1.938014969095217,0.71338606911949],"aabb_xy":[[-0.35918842060979744,-1.9434633408299002],[-0.3503271619001171,-1.9325665973605348]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.35801136543456086,1.456031432461161,0.71338606911949],"aabb_xy":[[-0.43800518901311913,1.3760314298683196],[-0.2780175418560027,1.5360314350540027]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.22765326069905956,-1.2554970894277526,0.71338606911949],"aabb_xy":[[0.2133188355728961,-1.2675573049822915],[0.241987685825223,-1.2434368738732138]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.3368201390204024,-1.2133091640245057,0.71338606911949],"aabb_xy":[[0.33270418890832976,-1.2174247190573513],[0.3409360891324751,-1.2091936089916602]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.3829214599772318,0.34020247304740137,0.71338606911949],"aabb_xy":[[-0.4179214598732507,0.3318282375354614],[-0.34792146008121294,0.3485767085593413]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[-0.46015439519050627,-0.2880331588076812,0.71338606911949],"aabb_xy":[[-0.46756685073189475,-0.2938843692293092],[-0.4527419396491178,-0.2821819483860533]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.40742998687029003,0.5337306074437063,0.71338606911949],"aabb_xy":[[-0.41471230324695363,0.4437306038341972],[-0.4001476704936263,0.6237306110532151]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.5619537033099553,-1.2936846674799318,0.71338606911949],"aabb_xy":[[-0.6469537017273785,-1.3785589629422166],[-0.4769537048925321,-1.2088103720176466]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.19152546239024537,1.1031052925115699,0.71338606911949],"aabb_xy":[[-0.28152545889111713,1.0571936500931114],[-0.10152546588937363,1.1490169349300279]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.40395222818005405,1.704902437988299,0.71338606911949],"aabb_xy":[[-0.45383492505775036,1.6549024387420244],[-0.3540695313023579,1.7549024372345738]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[-0.15085331231409205,0.794403737074374,0.71338606911949],"aabb_xy":[[-0.19585331378032092,0.7494038802128933],[-0.1058533108478632,0.8394035939358547]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[0.06188385935309282,0.9833052123291481,0.71338606911949],"aabb_xy":[[0.04277155199511396,0.9641704334519061],[0.08099616671107168,1.0024399912063902]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_30","position":[-0.589167705514195,-0.05192992965446486,0.71338606911949],"aabb_xy":[[-0.679167705237369,-0.07500328218964468],[-0.4991677057910207,-0.028856577119285017]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_31","position":[-0.3456878025924061,0.7738325422518786,0.71338606911949],"aabb_xy":[[-0.4306878012844807,0.7418466788569995],[-0.2606878039003314,0.8058184056467572]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_32","position":[0.6952155199101242,0.6397274337476158,0.71338606911949],"aabb_xy":[[0.6727155200962218,0.635252817377135],[0.7177155197240266,0.6442020501180965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700156178659359,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4893.png","name":"4893"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9248.png","name":"9248"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7772.png","name":"7772"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":640.9065388876799,"rotation_z_degrees":72.57555098735934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006146339506784906,0.008193341071353707,-0.00029399508466387836]},{"name":"camera_2","offset_m":[0.0020013179080205154,0.014472611927954609,-0.007555772361706832]},{"name":"camera_3","offset_m":[-0.014908752026705017,-0.018178564661997895,0.003914683328244815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017314326780390457,-0.0018598937774105028,-0.0008299114471476225],"end_effector_yaw_offset_degrees":0.2884635948165588},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00040469702006187586,0.0017100925165658529,0.0001850264742814917],"end_effector_yaw_offset_degrees":-0.9418991875908265},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000479391941153093,-0.0015005025197761803,-0.0006891509580119917],"end_effector_yaw_offset_degrees":-0.6841649099197042}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029547575977452193,0.003137839863233206],"position_m":[0.3413547575977452,0.08843783986323321,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004141609576476967,0.0009018373617053557],"position_m":[0.21315839042352303,-0.08629816263829465,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00144089884195347,0.0031335496490813323],"position_m":[0.3560408988419535,0.23873354964908133,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004065933266906278,0.004933692156728459],"position_m":[0.2504659332669063,-0.33076630784327155,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8912b7eb01e6adb4613ac115ed0b3f19768706ff4b488357d30a03ece03bc618","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6362/tex_ceiling_textures_7772/tex_floor_textures_5160/tex_table_textures_4893/tex_wall_textures_9248","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2147249853125564676,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2147249853125564676,"visual_seed":2147249853125564676,"scene_id":"lab_003","finished_at":"2026-09-03T10:46:17"} +{"episode_id":"ep_000043","started_at":"2026-09-03T10:46:21","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[0.1317620947656144,1.1077955998618054,0.71338606911949],"aabb_xy":[[0.06176209316333492,1.0943628066601478],[0.20176209636789388,1.121228393063463]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[-0.32788463339950386,-2.28326472452915,0.71338606911949],"aabb_xy":[[-0.3379663404780773,-2.3632647224212637],[-0.3178029263209303,-2.2032647266370344]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.4530848818759856,0.8834449435747702,0.71338606911949],"aabb_xy":[[0.4030848832300644,0.8335253999153078],[0.5030848805219068,0.9333644872342326]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.2757641448149565,-1.2015163576921628,0.71338606911949],"aabb_xy":[[-0.2838777994883336,-1.2096221741461919],[-0.2676504901415794,-1.1934105412381337]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.3673136540542533,-1.7921155916014124,0.71338606911949],"aabb_xy":[[-0.4048136524776536,-1.8052798055692427],[-0.3298136556308529,-1.7789513776335817]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.4029137607971711,-1.4671035353950739,0.71338606911949],"aabb_xy":[[-0.4669137599669411,-1.5138702225140364],[-0.3389137616274012,-1.4203368482761114]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.3701865163683542,-0.9880362294630145,0.71338606911949],"aabb_xy":[[0.2901865142055917,-1.0679914130891581],[0.4501865185311167,-0.9080810458368708]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.5969804497552454,0.9041221221286624,0.71338606911949],"aabb_xy":[[-0.6274646998822756,0.8541221223471663],[-0.5664961996282153,0.9541221219101582]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.6008692238161096,1.7329078725304927,0.71338606911949],"aabb_xy":[[-0.655864701636769,1.6779078710965856],[-0.5458737459954502,1.7879078739643994]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.48441474206497137,-0.6894837492264669,0.71338606911949],"aabb_xy":[[-0.5484147413591396,-0.7534698895953211],[-0.4204147427708032,-0.6254976088576127]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.3242641610720249,-1.112345349455457,0.71338606911949],"aabb_xy":[[-0.3592641610485207,-1.1218099655030735],[-0.28926416109552905,-1.1028807334078403]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.4028453715389686,-0.33982776970478,0.71338606911949],"aabb_xy":[[0.3851697409503702,-0.3575079859841827],[0.4205210021275669,-0.3221475534253772]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.403611774140368,-0.15903157053006423,0.71338606911949],"aabb_xy":[[-0.4486043608588184,-0.20403156980451298],[-0.35861918742191756,-0.11403157125561547]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.4367113304064213,-2.2613790255550454,0.71338606911949],"aabb_xy":[[-0.4671094415055648,-2.291785927556715],[-0.40631321930727765,-2.230972123553376]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.053103551621858536,0.15265207728884134,0.71338606911949],"aabb_xy":[[-0.10307661715437402,0.10265207747630847],[-0.0031304860893430703,0.20265207710137428]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.44920138229628837,1.715985388743714,0.71338606911949],"aabb_xy":[[-0.4842013821923073,1.707611153231774],[-0.41420138240026955,1.724359624255654]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[0.3556631113649984,-2.2019616668509725,0.71338606911949],"aabb_xy":[[0.3146451679786275,-2.25196166748193],[0.3966810547513693,-2.151961666220015]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.5080767659978478,-1.6360240815397198,0.71338606911949],"aabb_xy":[[-0.5455767645734685,-1.6487603772032777],[-0.4705767674222269,-1.6232877858761618]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.5872553330145494,-1.2876403278580864,0.71338606911949],"aabb_xy":[[-0.6522553356523427,-1.339119926557533],[-0.5222553303767558,-1.2361607291586392]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.22518463611140005,-0.7118001734990713,0.71338606911949],"aabb_xy":[[0.16118463971582694,-0.7757634619178049],[0.2891846325069731,-0.6478368850803378]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.3783214456494427,0.6671900075122208,0.71338606911949],"aabb_xy":[[-0.43332144385118754,0.626668040885783],[-0.32332144744769786,0.7077119741386582]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.25314538029738365,0.24445886176060716,0.71338606911949],"aabb_xy":[[-0.26399698654625925,0.23359957103295612],[-0.24229377404850805,0.2553181524882582]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.5343444060721819,-0.07666898062712946,0.71338606911949],"aabb_xy":[[-0.5606332303926225,-0.10294041428178068],[-0.5080555817517411,-0.05039754697247822]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.15567137002194442,-0.6413058487232737,0.71338606911949],"aabb_xy":[[-0.18998764719656236,-0.6913058486964515],[-0.12135509284732648,-0.5913058487500961]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.16059389698723248,-2.3898267028706925,0.71338606911949],"aabb_xy":[[0.09059389517848704,-2.41118047163488],[0.23059389879597791,-2.368472934106505]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.4764695564428205,1.368729608359931,0.71338606911949],"aabb_xy":[[0.42147730580730963,1.313729606616618],[0.5314618070783315,1.4237296101032435]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.22997192611940936,-0.24505315042557996,0.71338606911949],"aabb_xy":[[-0.27122073714932404,-0.30005314993779736],[-0.1887231150894946,-0.19005315091336247]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.3850530555105163,0.27605897254168843,0.71338606911949],"aabb_xy":[[-0.4490530527961649,0.23455225358884452],[-0.3210530582248676,0.31756569149453245]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.2714759824441135,1.4580151474943608,0.71338606911949],"aabb_xy":[[-0.29364850942076426,1.435839480338238],[-0.24930345546746258,1.480190814650484]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685678804937178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6569.png","name":"6569"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6569.png","name":"6569"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2591.png","name":"2591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1668.png","name":"1668"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1431.png","name":"1431"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2204.png","name":"2204"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":816.083649499762,"rotation_z_degrees":278.71005387123756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017689880777172852,0.005254310810055451,0.0032689493707155834]},{"name":"camera_2","offset_m":[-0.0006500735090700267,0.004113279448413887,0.002242755909616728]},{"name":"camera_3","offset_m":[0.009663803606216527,-0.01155771582950138,0.005483152328042033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005678127307488325,0.0006601307596142219,0.0014437540842454134],"end_effector_yaw_offset_degrees":-0.1961038136456883},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004182716944382326,7.642076298519304e-05,0.0003549792705943317],"end_effector_yaw_offset_degrees":-0.6714202742697395},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008991907380484316,-0.0018760727916691548,0.0019783739509167467],"end_effector_yaw_offset_degrees":-0.9229134287786684}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013985544237120396,-0.0005853904854854711],"position_m":[0.3370014455762879,0.08471460951451452,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003941377585287902,-0.004807865753896126],"position_m":[0.2133586224147121,-0.09200786575389612,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.3313178759093098e-05,0.002787738901332176],"position_m":[0.3546233131787591,0.2383877389013322,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008406428967273616,0.00031133482981048326],"position_m":[0.24724064289672737,-0.3353886651701895,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e0ba9e1ff44678efe13fc63b82f35945d2e23ed220237320906c9dc4d1d2fec","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6569/tex_ceiling_textures_2204/tex_floor_textures_1431/tex_table_textures_2591/tex_wall_textures_1668","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2908295600522427414,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2908295600522427414,"visual_seed":2908295600522427414,"scene_id":"lab_003","finished_at":"2026-09-03T10:48:47"} +{"episode_id":"ep_000044","started_at":"2026-09-03T10:48:49","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.45996770543686627,-0.11672028985968508,0.71338606911949],"aabb_xy":[[0.39996770457605335,-0.16814671986617144],[0.5199677062976789,-0.06529385985319867]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.40590045760020144,-0.41036214103642665,0.71338606911949],"aabb_xy":[[-0.428400458112242,-0.432853999401825],[-0.3834004570881608,-0.3878702826710283]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.16975685987980083,-0.6379889701637331,0.71338606911949],"aabb_xy":[[-0.18409128500596428,-0.650049185718272],[-0.15542243475363737,-0.6259287546091943]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.6151975113728299,0.42888872518732013,0.71338606911949],"aabb_xy":[[0.6058505037905347,0.41458510296967616],[0.6245445189551252,0.4431923474049642]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.6461714242369623,1.138077237901146,0.71338606911949],"aabb_xy":[[0.6342386898751343,1.1256950850932863],[0.6581041585987905,1.150459390709005]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.09219511343598474,1.2488222530978286,0.71338606911949],"aabb_xy":[[-0.09703870819721473,1.2439706006188447],[-0.08735151867475478,1.253673905576813]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.6167365970003871,-0.06043316635257412,0.71338606911949],"aabb_xy":[[-0.6337466942904376,-0.07656765485084804],[-0.5997264997103363,-0.0442986778543002]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.24963877215393293,-2.1103811485205504,0.71338606911949],"aabb_xy":[[-0.2841011195520746,-2.1448750309183726],[-0.21517642475579107,-2.0758872661227272]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.5174905674506486,1.6202544377408823,0.71338606911949],"aabb_xy":[[-0.554990567394415,1.6119613477060455],[-0.4799905675068822,1.6285475277757187]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.20133803357108426,-1.1854165307572861,0.71338606911949],"aabb_xy":[[0.17883803356093594,-1.1995127503968894],[0.22383803358123253,-1.1713203111176829]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.5263760587459887,0.31914195865823425,0.71338606911949],"aabb_xy":[[-0.5716546736271378,0.25514195931005057],[-0.4810974438648393,0.3831419580064179]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.5545982191795551,-1.361631296597795,0.71338606911949],"aabb_xy":[[0.47459821890594817,-1.4345808444235117],[0.6345982194531621,-1.2886817487720783]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.18629122466995363,1.6039529035374351,0.71338606911949],"aabb_xy":[[0.16879122539186672,1.5866148034710892],[0.20379122394804047,1.621291003603781]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.43534384969850226,-2.1525670943582984,0.71338606911949],"aabb_xy":[[-0.4528437831324856,-2.1700670942785325],[-0.41784391626451883,-2.1350670944380634]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.09328625761752574,-0.9953615304165895,0.71338606911949],"aabb_xy":[[-0.1046479922708119,-1.0067299968228776],[-0.08192452296423958,-0.9839930640103013]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.570028801446316,-1.8766120257055503,0.71338606911949],"aabb_xy":[[-0.5999963583561416,-1.906612026003436],[-0.5400612445364903,-1.8466120254076646]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.4123613408554496,-0.604396158248822,0.71338606911949],"aabb_xy":[[0.3423613444454877,-0.6248340939005035],[0.4823613372654113,-0.58395822259714]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.04480988087328963,1.7576979422043864,0.71338606911949],"aabb_xy":[[-0.08980246759174004,1.7126979429299374],[0.00018270584516077298,1.8026979414788349]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.23944962387220486,-0.9327916698548746,0.71338606911949],"aabb_xy":[[-0.2744496238487007,-0.9422562859024913],[-0.20444962389570903,-0.9233270538072581]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.4428608258603759,-2.22111629042918,0.71338606911949],"aabb_xy":[[0.4368942869196401,-2.227077435088544],[0.4488273648011117,-2.2151551457698155]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.49260675670866694,-2.1368681343123916,0.71338606911949],"aabb_xy":[[0.46809313261166113,-2.161132727614428],[0.5171203808056728,-2.112603541010355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681958420790871,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7509.png","name":"7509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7509.png","name":"7509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3134.png","name":"3134"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6827.png","name":"6827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1070.png","name":"1070"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":671.0945474411835,"rotation_z_degrees":186.96247233968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0047957253624312975,0.01149465816980862,0.003987718552887338]},{"name":"camera_2","offset_m":[0.014525174722078187,-0.01790860283551468,0.012270781803141843]},{"name":"camera_3","offset_m":[-0.014378013349694997,-0.006796495204927689,-0.0192880750449147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00047077524641521104,0.00044081289558346465,0.0015560370559932826],"end_effector_yaw_offset_degrees":0.22106969696772305},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012152818002973734,0.0010258402987366319,0.001588851475882269],"end_effector_yaw_offset_degrees":-0.3603991938822204},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006788164443680014,0.00010701502421029503,0.0002702040582051278],"end_effector_yaw_offset_degrees":-0.0027755895584664625}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012087712756626845,-0.0020104940457060672],"position_m":[0.3396087712756627,0.08328950595429394,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012834306669351515,0.0032726718683414426],"position_m":[0.21601656933306485,-0.08392732813165855,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009370396798110267,-0.0006764338389397464],"position_m":[0.35553703967981104,0.23492356616106025,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002432877417942323,-0.0031376941675650893],"position_m":[0.24883287741794233,-0.3388376941675651,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f810955d71a5631b486e0950a0ae42a107b171df17a3957cd8a0c01bb051c5cc","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7509/tex_ceiling_textures_1070/tex_floor_textures_6827/tex_table_textures_6806/tex_wall_textures_3134","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4735836548408470737,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4735836548408470737,"visual_seed":4735836548408470737,"scene_id":"lab_003","finished_at":"2026-09-03T10:51:12"} +{"episode_id":"ep_000045","started_at":"2026-09-03T10:52:32","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[0.541745099728774,-0.033301896534903896,0.71338606911949],"aabb_xy":[[0.4777451024431254,-0.07480861548774786],[0.6057450970144227,0.008204822417940065]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.5544357491268092,1.214535418877278,0.71338606911949],"aabb_xy":[[-0.6044305820547508,1.1645354199820344],[-0.5044409161988676,1.2645354177725214]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.48902325732767676,-0.9251236293468814,0.71338606911949],"aabb_xy":[[-0.5135368814246826,-0.9493882226489178],[-0.4645096332306709,-0.9008590360448449]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.5701520094982635,1.6183228289179445,0.71338606911949],"aabb_xy":[[0.5289031984683487,1.563322829405727],[0.6114008205281781,1.673322828430162]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.4843272074346424,-2.3487655576354363,0.71338606911949],"aabb_xy":[[-0.532133375048411,-2.413765560342495],[-0.4365210398208737,-2.283765554928377]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.450675132243163,-2.43979385652259,0.71338606911949],"aabb_xy":[[0.38667513365659056,-2.486800819922099],[0.5146751308297355,-2.3927868931230813]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.17031404473423795,-1.437562762456551,0.71338606911949],"aabb_xy":[[-0.2203140433801591,-1.4874823061160132],[-0.12031404608831672,-1.3876432187970884]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[0.23052910791754255,1.2884234251420983,0.71338606911949],"aabb_xy":[[0.19302910797377615,1.2801303351072617],[0.26802910786130896,1.2967165151769349]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.383300208973751,0.06276981271109117,0.71338606911949],"aabb_xy":[[-0.3893372219744158,0.05674311164214296],[-0.37726319597308633,0.06879651378003937]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[0.4512460283590676,0.5266607868275668,0.71338606911949],"aabb_xy":[[0.4153325239340779,0.4907472786108121],[0.48715953278405727,0.5625742950443213]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.18327500944427877,-0.8296134664123838,0.71338606911949],"aabb_xy":[[0.12327500959771198,-0.8864320886054223],[0.24327500929084556,-0.772794844219345]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.5390572265309224,-1.5469873174213502,0.71338606911949],"aabb_xy":[[0.5215572273965552,-1.5568669444589378],[0.5565572256652895,-1.5371076903837622]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.00720907276189886,1.096267596415847,0.71338606911949],"aabb_xy":[[-0.015336760955212081,1.0873539880051393],[0.0009186154314143602,1.1051812048265548]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.5066075242616839,1.366848106324471,0.71338606911949],"aabb_xy":[[0.5025293663546342,1.3627671260762078],[0.5106856821687336,1.3709290865727344]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.5044156373718318,-1.820539944111295,0.71338606911949],"aabb_xy":[[0.47941563782009333,-1.8306824279764295],[0.5294156369235703,-1.81039746024616]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.09232637624395468,-0.4281737645167363,0.71338606911949],"aabb_xy":[[-0.12732637543677294,-0.43914081051439885],[-0.0573263770511364,-0.4172067185190736]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.15332387191345698,1.765282506512483,0.71338606911949],"aabb_xy":[[0.14356788240428306,1.7555199724532486],[0.16307986142263084,1.7750450405717175]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.4785766108006373,-0.9365632026895616,0.71338606911949],"aabb_xy":[[0.46147453284226914,-0.9536700082208314],[0.49567868875900545,-0.9194563971582919]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.6136888975560537,-2.193420649125999,0.71338606911949],"aabb_xy":[[-0.6936888955368387,-2.201022190087851],[-0.5336888995752685,-2.185819108164147]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.07535513799975158,-1.91095112360441,0.71338606911949],"aabb_xy":[[-0.00464485896328759,-1.9880267652481836],[0.15535513496279074,-1.8338754819606367]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.32640015783380893,-1.3136469821510448,0.71338606911949],"aabb_xy":[[0.2364001541568907,-1.3750793887281492],[0.416400161510727,-1.2522145755739404]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.022818148584639597,0.4738240612316038,0.71338606911949],"aabb_xy":[[-0.03870264184996475,0.4594711209327797],[-0.006933655319314447,0.4881770015304278]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[0.3361120768621668,1.6590390068775807,0.71338606911949],"aabb_xy":[[0.312526953398272,1.5940390046321489],[0.35969720032606173,1.7240390091230124]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.0717116953507222,0.950480232251302,0.71338606911949],"aabb_xy":[[-0.13571169726306453,0.8945690829932915],[-0.007711693438379866,1.0063913815093124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711576843387077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9840.png","name":"9840"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9840.png","name":"9840"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5463.png","name":"5463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8770.png","name":"8770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7662.png","name":"7662"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":509.53754276461177,"rotation_z_degrees":179.59943046756615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006708030488033034,-0.006696122198474366,-0.0033234532971340124]},{"name":"camera_2","offset_m":[0.004538078369958273,-0.01278127414624216,0.00626113764549828]},{"name":"camera_3","offset_m":[-0.005445738098097,-0.007597744754388626,0.009952985513904344]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011490874889293766,0.0008258876853340959,0.001856909387852497],"end_effector_yaw_offset_degrees":0.8331760388163727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011058766013712475,0.0010287621310351783,-0.001019121596316197],"end_effector_yaw_offset_degrees":-0.9061589766422513},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012589133392329752,-0.0010325334607684691,-0.0002483086239533198],"end_effector_yaw_offset_degrees":-0.9098947842542959}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004260623322447809,-0.0013116738603291033],"position_m":[0.33413937667755217,0.0839883261396709,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004166517609405402,0.004896503419134724],"position_m":[0.2214665176094054,-0.08230349658086528,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030341761286315156,0.0021561034645838596],"position_m":[0.3576341761286315,0.23775610346458387,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022634639162869242,-0.0024415256074062307],"position_m":[0.24866346391628694,-0.33814152560740623,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7af0cee4d09854f21fef60a3e10230303b7ca7c480f457d250d7b45c7a3c800d","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9840/tex_ceiling_textures_7662/tex_floor_textures_1556/tex_table_textures_5463/tex_wall_textures_8770","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3634106737086127863,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3634106737086127863,"visual_seed":3634106737086127863,"scene_id":"lab_003","finished_at":"2026-09-03T10:55:01"} +{"episode_id":"ep_000046","started_at":"2026-09-03T10:59:11","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.3404736117389944,-0.5524265912128694,0.71338606911949],"aabb_xy":[[0.2554736133215711,-0.6373008866751545],[0.42547361015641755,-0.46755229575058455]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.33107438838612935,1.1717902452107194,0.71338606911949],"aabb_xy":[[0.31820248488518915,1.091790244796883],[0.34394629188706943,1.2517902456245553]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.16446744516341294,1.1200731489904556,0.71338606911949],"aabb_xy":[[0.10046744786106654,1.0757067220225989],[0.22846744246575934,1.1644395759583124]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.3256595217224276,-0.8343287872096321,0.71338606911949],"aabb_xy":[[0.3104966487454906,-0.849494244504751],[0.34082239469936476,-0.8191633299145135]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[0.3340374186190811,1.7434382609791617,0.71338606911949],"aabb_xy":[[0.2927886075891663,1.6884382614669442],[0.3752862296489958,1.7984382604913791]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.017212733470485575,-0.6804323943643029,0.71338606911949],"aabb_xy":[[-0.0467872629250875,-0.7443956827830364],[0.08121272986605865,-0.6164691059455693]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.11008855147077101,-1.3496101169857986,0.71338606911949],"aabb_xy":[[-0.14758855265556375,-1.3540283396818589],[-0.07258855028597819,-1.3451918942897378]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.09364398039262589,0.5929645559852688,0.71338606911949],"aabb_xy":[[0.08239892482200804,0.5817227582611735],[0.10488903596324371,0.604206353709364]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.6320575453046141,-2.361653755031422,0.71338606911949],"aabb_xy":[[-0.646700950858647,-2.376312474688206],[-0.617414139750581,-2.3469950353746376]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.32384886910496385,1.6593903025660448,0.71338606911949],"aabb_xy":[[-0.40384886650855717,1.579397731367862],[-0.24384887170137035,1.7393828737642276]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.22537371689225028,-1.5930372990396915,0.71338606911949],"aabb_xy":[[0.20082750126949955,-1.6232861955887283],[0.249919932515001,-1.5627884024906542]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.25853422390581077,0.9366375436067451,0.71338606911949],"aabb_xy":[[-0.266158491995989,0.9290043200702014],[-0.2509099558156325,0.9442707671432888]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[0.6297733705230064,-1.501629415669576,0.71338606911949],"aabb_xy":[[0.6256375141903063,-1.539129415113933],[0.6339092268557067,-1.464129416225219]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.561278490869891,-1.8537790813322976,0.71338606911949],"aabb_xy":[[-0.6111611877475872,-1.9037790805785726],[-0.5113957939921948,-1.8037790820860231]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.18908230333848786,1.0778469116695737,0.71338606911949],"aabb_xy":[[-0.21158230286219523,1.0553509642189527],[-0.16658230381478042,1.1003428591201942]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.017765093472922433,1.6327325363497187,0.71338606911949],"aabb_xy":[[-0.0462349068010558,1.5826664361524307],[0.08176509374690066,1.6827986365470067]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.40810125085139415,1.251759183173641,0.71338606911949],"aabb_xy":[[0.40178915131505577,1.2459922439204223],[0.41441335038773264,1.2575261224268601]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.5186538097730222,0.909765834608165,0.71338606911949],"aabb_xy":[[-0.5886538061829838,0.889327898956483],[-0.44865381336306026,0.9302037702598465]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.41792445036221365,-1.471397256037331,0.71338606911949],"aabb_xy":[[-0.5016466758622962,-1.561397259572027],[-0.3342022248621312,-1.381397252502635]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.0747168515095078,1.783012924123677,0.71338606911949],"aabb_xy":[[0.037216851012149554,1.7790442405755582],[0.11221685200686604,1.7869816076717953]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.4322823383548509,1.020766017148378,0.71338606911949],"aabb_xy":[[-0.4386961519980358,1.0143561969007093],[-0.4258685247116659,1.027175837396046]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.2655520561066888,0.44722319742082606,0.71338606911949],"aabb_xy":[[-0.28313035829563565,0.4296487078467211],[-0.24797375391774196,0.4647976869949309]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.48712395398421093,1.2114158817929415,0.71338606911949],"aabb_xy":[[0.4769709384300614,1.1753463402202007],[0.49727696953836015,1.2474854233656814]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.6708175278126446,0.9508082089029002,0.71338606911949],"aabb_xy":[[-0.6883642227287635,0.9133082073386488],[-0.6532708328965257,0.9883082104671513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6719993902668393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9207.png","name":"9207"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9207.png","name":"9207"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9628.png","name":"9628"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8528.png","name":"8528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6839.png","name":"6839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3040.png","name":"3040"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":804.689149265933,"rotation_z_degrees":113.40173207039665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001676136841128311,-0.00658532695776644,-0.002415764066891972]},{"name":"camera_2","offset_m":[0.012398298653877569,-0.007998289618943387,-0.015018154266372817]},{"name":"camera_3","offset_m":[-0.00215152381008513,0.009568956086207142,0.0037885799106579243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015383148758752498,-0.0018303620148285198,-0.001615799196530693],"end_effector_yaw_offset_degrees":0.17325247674861188},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007804728846512784,-0.0002141298166809507,-0.0016654554643954233],"end_effector_yaw_offset_degrees":-0.63255467282382},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005773381497659279,-0.0018961546519550292,0.00150699795817358],"end_effector_yaw_offset_degrees":-0.5840023735624695}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002081032362829963,-0.0036710530806556897],"position_m":[0.34048103236282995,0.08162894691934432,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013404078652047768,-0.003580218727447703],"position_m":[0.21864040786520478,-0.09078021872744771,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00378785867980072,0.002542533158354258],"position_m":[0.3583878586798007,0.23814253315835426,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023845177162170016,-0.00487410939357657],"position_m":[0.248784517716217,-0.3405741093935766,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e6480df54a137ac49aaa55ca86fead95ad2a4a329ba4f8de12d9fa90e77d17a6","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9207/tex_ceiling_textures_3040/tex_floor_textures_6839/tex_table_textures_9628/tex_wall_textures_8528","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1984649070853238717,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1984649070853238717,"visual_seed":1984649070853238717,"scene_id":"lab_003","finished_at":"2026-09-03T11:01:34"} +{"episode_id":"ep_000047","started_at":"2026-09-03T11:01:37","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.21082358548419483,-2.5466640470543465,0.71338606911949],"aabb_xy":[[-0.24582358375431468,-2.5537381747493346],[-0.17582358721407487,-2.5395899193593583]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.1867873605342123,-0.9949552144476197,0.71338606911949],"aabb_xy":[[0.17950504415754862,-1.0849552180571287],[0.19406967691087593,-0.9049552108381107]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.6574899086337691,0.5409949042147573,0.71338606911949],"aabb_xy":[[0.6199899084618972,0.50829416883185],[0.694989908805641,0.5736956395976643]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.007179096388960193,-2.3074645302833954,0.71338606911949],"aabb_xy":[[-0.010320902889126682,-2.324802630349741],[0.02467909566704707,-2.290126430217049]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.3844090617725582,-1.719464368313607,0.71338606911949],"aabb_xy":[[0.3625003796332071,-1.7413650351336976],[0.40631774391190917,-1.697563701493516]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.43955194195469466,0.057534835535121065,0.71338606911949],"aabb_xy":[[-0.4513201287493523,-0.0274651643701005],[-0.42778375516003725,0.14253483544034265]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.010936248096874102,-2.042323169628927,0.71338606911949],"aabb_xy":[[-0.03722507241731476,-2.0685946032835774],[0.015352576223566559,-2.016051735974275]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.3527864174100728,0.7405532789843652,0.71338606911949],"aabb_xy":[[0.31528641622527986,0.7361350562883046],[0.39028641859486546,0.7449715016804256]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.30944259574518457,-0.14606210640447426,0.71338606911949],"aabb_xy":[[-0.3140777108974179,-0.14992944148162288],[-0.3048074805929511,-0.14219477132732558]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.3511365325835884,-1.9513963875324742,0.71338606911949],"aabb_xy":[[-0.3630086155950895,-2.036396387226125],[-0.3392644495720873,-1.8663963878388241]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.6694028760912931,-1.7903362755721033,0.71338606911949],"aabb_xy":[[0.6550684509651297,-1.8023964911266421],[0.6837373012174566,-1.7782760600175644]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[-0.31644109084574723,0.2156852251074679,0.71338606911949],"aabb_xy":[[-0.3213971110306284,0.19318522490534631],[-0.31148507066086606,0.23818522530958955]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.5320951607637965,-2.3690991693613355,0.71338606911949],"aabb_xy":[[0.46209515863236683,-2.3918611349870305],[0.6020951628952259,-2.3463372037356396]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.05044765602714696,1.0307787017217858,0.71338606911949],"aabb_xy":[[0.032869353838200104,1.0132042121476807],[0.06802595821609381,1.0483531912958908]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.14502514932304789,-2.491097433889225,0.71338606911949],"aabb_xy":[[0.10372060625931187,-2.555097433457342],[0.18632969238678385,-2.427097434321108]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.36405363635361465,-1.405399604453191,0.71338606911949],"aabb_xy":[[0.326553634837983,-1.4166263774693357],[0.4015536378692464,-1.3941728314370456]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.6234116140582133,-0.2958746965969188,0.71338606911949],"aabb_xy":[[-0.6466934562563447,-0.3808746978941468],[-0.600129771860082,-0.2108746952996907]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.6039913092161839,0.8817900932843732,0.71338606911949],"aabb_xy":[[-0.6539913087925188,0.8318095143322675],[-0.5539913096398493,0.9317706722364794]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.41015706584263995,1.2778047595833106,0.71338606911949],"aabb_xy":[[-0.4474883423678826,1.2431517047884584],[-0.3728257893173973,1.312457814378163]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.38640355559763334,-1.0997690262189599,0.71338606911949],"aabb_xy":[[-0.41473326554617357,-1.1042297684126772],[-0.3580738456490931,-1.095308284025243]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.20843984209006533,1.5334257731392547,0.71338606911949],"aabb_xy":[[-0.23093984161377268,1.5109298256886334],[-0.18593984256635787,1.555921720589875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694698711609166,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2989.png","name":"2989"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1479.png","name":"1479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3929.png","name":"3929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/963.png","name":"963"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":522.029853025119,"rotation_z_degrees":47.547958276087584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010221444632332797,-0.012284060017906783,-0.016750672309980265]},{"name":"camera_2","offset_m":[0.002941541617280153,0.00015176067365353998,0.010778092344848021]},{"name":"camera_3","offset_m":[0.006509350252924873,0.006681035173918756,0.0009042646826998325]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013664910755830048,0.00047008476543442326,-0.0010020458083560943],"end_effector_yaw_offset_degrees":0.8213375155703722},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-9.455940605808334e-05,0.0012668624273284557,-0.0016263776854732878],"end_effector_yaw_offset_degrees":0.9495406703875457},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014504484702166365,-0.00012239835283391043,-0.001537546409297279],"end_effector_yaw_offset_degrees":-0.8917743357157593}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006085262540298899,-0.003569350423821994],"position_m":[0.3377914737459701,0.08173064957617801,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00374801745662115,-0.004960688750391647],"position_m":[0.21355198254337884,-0.09216068875039164,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027025331562534893,-0.0017593986761290704],"position_m":[0.3573025331562535,0.23384060132387094,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017755605649293483,0.0034648911175914144],"position_m":[0.24462443943507067,-0.3322351088824086,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9984284a20772b6b385b275ca6646d18e1ca255abaaa66ba45d71017b17f165b","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_968/tex_ceiling_textures_963/tex_floor_textures_3929/tex_table_textures_2989/tex_wall_textures_1479","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8230635368563829647,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8230635368563829647,"visual_seed":8230635368563829647,"scene_id":"lab_003","finished_at":"2026-09-03T11:04:01"} +{"episode_id":"ep_000048","started_at":"2026-09-03T11:04:05","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.4747905793024518,-0.23877027344045088,0.71338606911949],"aabb_xy":[[-0.496068587445924,-0.30377027576652393],[-0.4535125711589795,-0.1737702711143778]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[-0.2564789990324173,-0.14665107730120086,0.71338606911949],"aabb_xy":[[-0.2599196752724745,-0.15051251027556534],[-0.25303832279236016,-0.14278964432683638]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.4836576509585999,1.438545287769394,0.71338606911949],"aabb_xy":[[0.4502174757625803,1.4051016619384635],[0.5170978261546195,1.4719889136003237]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.404357291809098,1.4865007455447397,0.71338606911949],"aabb_xy":[[-0.419459593270116,1.4713992239136773],[-0.3892549903480798,1.5016022671758011]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.38929848321611293,-1.9134901832077984,0.71338606911949],"aabb_xy":[[-0.4242984845675946,-1.933849919164619],[-0.35429848186463114,-1.8931304472509773]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.6076321729501717,-1.567929634138562,0.71338606911949],"aabb_xy":[[0.5982851653678765,-1.5822332563562063],[0.6169791805324669,-1.5536260119209182]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.5520854867682801,0.029965028914951564,0.71338606911949],"aabb_xy":[[0.4880854847185482,-0.0101294541743564],[0.6160854888180122,0.07005951200425953]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.2873618765093925,-2.5436601019038827,0.71338606911949],"aabb_xy":[[-0.2938635130173971,-2.553427923930193],[-0.2808602400013879,-2.5338922798775734]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.5059901769034079,0.8190491190001823,0.71338606911949],"aabb_xy":[[0.4985777213620194,0.8131979085785542],[0.5134026324447963,0.8249003294218101]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.24396215614956585,1.2926432555783656,0.71338606911949],"aabb_xy":[[0.15427507984145042,1.202643255323915],[0.3336492324576813,1.382643255832816]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.44369476644899264,0.33766977236021534,0.71338606911949],"aabb_xy":[[-0.47869476475968803,0.32995475743666974],[-0.40869476813829714,0.34538478728376104]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.5171280042672928,1.0138990746159044,0.71338606911949],"aabb_xy":[[-0.5811280061796351,0.9579879253578942],[-0.45312800235495043,1.0698102238739151]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.12202226122752258,-0.6167377898224884,0.71338606911949],"aabb_xy":[[-0.16056795405272362,-0.6552835608786769],[-0.08347656840232154,-0.5781920187662997]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.5674974044501371,-2.1606651070748977,0.71338606911949],"aabb_xy":[[0.5074974041987358,-2.2149464321113617],[0.6274974047015381,-2.106383782038433]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.604667635659139,0.32844094628819054,0.71338606911949],"aabb_xy":[[-0.6547650996402125,0.26444094577837873],[-0.5545701716780652,0.39244094679800234]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.34935505548248885,-0.6651845264738812,0.71338606911949],"aabb_xy":[[-0.37185147691635295,-0.6876845262806286],[-0.32685863404862475,-0.6426845266671337]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.515633884692404,-2.441145696972153,0.71338606911949],"aabb_xy":[[0.4656338843318379,-2.491125684181756],[0.56563388505297,-2.39116570976255]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.08059465428754431,1.5623007978022403,0.71338606911949],"aabb_xy":[[-0.09183970985816216,1.551059000078145],[-0.06934959871692649,1.5735425955263356]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.24077600872304666,-0.41705933577826126,0.71338606911949],"aabb_xy":[[-0.26436113218694157,-0.48205933802369305],[-0.21719088525915184,-0.3520593335328295]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.4261857080880043,-0.7424163326548201,0.71338606911949],"aabb_xy":[[-0.5061857091611246,-0.7521943789922044],[-0.346185707014884,-0.7326382863174355]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.1568256402011876,-0.437122429659206,0.71338606911949],"aabb_xy":[[-0.1648519108318136,-0.44587392463655867],[-0.1487993695705616,-0.42837093468185344]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[0.5049685227276395,-2.2852608360175575,0.71338606911949],"aabb_xy":[[0.4824693870014125,-2.3077608367958202],[0.5274676584538665,-2.2627608352392947]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[0.02333206849904179,-1.0899887551700838,0.71338606911949],"aabb_xy":[[-0.01416793179313303,-1.0940302305706873],[0.06083206879121661,-1.0859472797694802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704524618348757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1420.png","name":"1420"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1420.png","name":"1420"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6031.png","name":"6031"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4191.png","name":"4191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6725.png","name":"6725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2184.png","name":"2184"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":576.5173590900044,"rotation_z_degrees":5.609667308280848,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017282187675640128,-0.017787192728739982,0.012645681200566871]},{"name":"camera_2","offset_m":[-0.0006993545669109515,-0.00767875200690305,0.016727636755019138]},{"name":"camera_3","offset_m":[0.0017993177937571311,0.0010624501123803615,-0.009373807677277229]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001068288950595412,0.00036280542275123886,0.0010385246617099645],"end_effector_yaw_offset_degrees":0.47867087233028416},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005488802798323741,0.0015025714171836698,-0.0009670854428183776],"end_effector_yaw_offset_degrees":-0.8582455638262569},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004944158729722715,-0.0019030372034796583,8.338365362845586e-05],"end_effector_yaw_offset_degrees":-0.4049986923562534}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006063909608626187,-0.0003560311421981254],"position_m":[0.3390063909608626,0.08494396885780188,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003990454224732214,-0.0012394143846855767],"position_m":[0.2212904542247322,-0.08843941438468558,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004525445305672899,-0.0038508594410400507],"position_m":[0.3591254453056729,0.23174914055895995,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025324876249625504,0.0006402889399208236],"position_m":[0.24893248762496256,-0.3350597110600792,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bb48eebb4cd66ca530a61e470385e54cd45eaa51354becd2e0d250f65554d196","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0077.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1420/tex_ceiling_textures_2184/tex_floor_textures_6725/tex_table_textures_6031/tex_wall_textures_4191","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3036851463952057322,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3036851463952057322,"visual_seed":3036851463952057322,"scene_id":"lab_003","finished_at":"2026-09-03T11:06:46"} +{"episode_id":"ep_000049","started_at":"2026-09-03T11:06:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.2550266884473602,-0.8856628292273121,0.71338606911949],"aabb_xy":[[0.24038328289332717,-0.9003215488840962],[0.26967009400139313,-0.8710041095705278]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.5315134039921678,1.1765855723135883,0.71338606911949],"aabb_xy":[[-0.5490134042515046,1.1624940301248157],[-0.5140134037328313,1.190677114502361]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[0.4999553157772383,0.8794711762191101,0.71338606911949],"aabb_xy":[[0.48084300841925937,0.8603363973418681],[0.5190676231352171,0.8986059550963521]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.5302950185814403,1.3898764643290886,0.71338606911949],"aabb_xy":[[0.5003274616716147,1.3598764640312029],[0.560262575491266,1.4198764646269744]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.21850688335673407,0.4951807690717862,0.71338606911949],"aabb_xy":[[0.20071337642181766,0.47738102347598854],[0.23630039029165054,0.5129805146675839]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.5327789222636432,-0.9256351684481123,0.71338606911949],"aabb_xy":[[0.5152789229855563,-0.9429732685144584],[0.5502789215417301,-0.9082970683817665]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.41331797428650535,-1.7344096859167735,0.71338606911949],"aabb_xy":[[-0.4438022244135355,-1.7844096856982692],[-0.3828337241594752,-1.6844096861352773]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.02604277191606208,1.6343742040525764,0.71338606911949],"aabb_xy":[[-0.023940178271417253,1.5843742044100158],[0.0760257221035414,1.6843742036951366]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.15056209553341426,-1.767066685059711,0.71338606911949],"aabb_xy":[[-0.16141370178228986,-1.777925975787362],[-0.13971048928453866,-1.75620739433206]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.36050659236827576,-2.525149744842116,0.71338606911949],"aabb_xy":[[0.3545400534275399,-2.5311108895014796],[0.3664731313090115,-2.5191886001827513]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.12097681763795043,-0.30741716518108486,0.71338606911949],"aabb_xy":[[-0.1384767510719338,-0.32491716510131935],[-0.10347688420396704,-0.28991716526085026]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.13379413363748194,-1.255590705359903,0.71338606911949],"aabb_xy":[[-0.17481207702385282,-1.30559070599086],[-0.09277619025111106,-1.2055907047289454]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.6059482349199423,-0.9074676978924605,0.71338606911949],"aabb_xy":[[-0.6427428680448486,-0.9443735729890427],[-0.569153601795036,-0.8705618227958781]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.505870300500344,-1.1415324769653514,0.71338606911949],"aabb_xy":[[0.4978269405743888,-1.2265324780607176],[0.5139136604262992,-1.0565324758699848]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.5971565703184637,0.8753802319063468,0.71338606911949],"aabb_xy":[[-0.6587473295424565,0.8113802337973001],[-0.5355658110944709,0.9393802300153938]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.4310855562993745,1.1406940228517475,0.71338606911949],"aabb_xy":[[0.36608555534224724,1.0887458109180417],[0.49608555725650166,1.1926422347854528]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.5735248304705611,0.3228787392081953,0.71338606911949],"aabb_xy":[[-0.6635248269714329,0.276967096789737],[-0.4835248339696894,0.3687903816266535]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.6726095260280031,0.01874725376857711,0.71338606911949],"aabb_xy":[[-0.6896196233180536,0.0026127652703031856],[-0.6555994287379523,0.034881742266851035]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.10908220723786322,-2.0782468350728207,0.71338606911949],"aabb_xy":[[0.049082205594941364,-2.130246984364765],[0.16908220888078507,-2.0262466857808765]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.0999205215900083,-0.8845785412736946,0.71338606911949],"aabb_xy":[[-0.11702259954837646,-0.9016853468049643],[-0.08281844363164015,-0.8674717357424248]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.57333349679548,1.5455701837639855,0.71338606911949],"aabb_xy":[[0.5483334975235177,1.529224820167823],[0.5983334960674422,1.5619155473601476]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[0.20060291996505786,-0.7459957424256025,0.71338606911949],"aabb_xy":[[0.1356029220834101,-0.7971194061321436],[0.2656029178467057,-0.6948720787190618]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.2282670903817433,-1.775327013346824,0.71338606911949],"aabb_xy":[[-0.24260151550790676,-1.7873872289013628],[-0.21393266525557986,-1.7632667977922851]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[-0.01731123362847864,1.2509064984473248,0.71338606911949],"aabb_xy":[[-0.06731123457901145,1.2193573514438032],[0.03268876732205417,1.282455645450846]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[0.6352426216889044,-0.5506429693856596,0.71338606911949],"aabb_xy":[[0.5502426229968298,-0.5826288327805383],[0.7202426203809791,-0.5186571059907806]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.5865225995951566,1.160486103714352,0.71338606911949],"aabb_xy":[[0.5479769067699555,1.121940332658163],[0.6250682924203576,1.1990318747705404]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.5150461848795586,0.12602546563305062,0.71338606911949],"aabb_xy":[[-0.5790461840493284,0.07925877851408818],[-0.45104618570978855,0.17279215275201312]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[0.3611284033025781,-1.4209118588135279,0.71338606911949],"aabb_xy":[[0.32735284411188514,-1.434950354026693],[0.3949039624932711,-1.4068733636003627]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[0.15116216601801147,-0.5481752621297935,0.71338606911949],"aabb_xy":[[0.13922943165618337,-0.5605574149376529],[0.1630949003798395,-0.5357931093219341]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663028151977734,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/519.png","name":"519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/519.png","name":"519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/264.png","name":"264"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6984.png","name":"6984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2310.png","name":"2310"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1331.png","name":"1331"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":511.9770745658537,"rotation_z_degrees":291.5331668801236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01848897107174703,0.00503659844883407,0.019875180630623695]},{"name":"camera_2","offset_m":[0.010654173963235224,0.0038399030779201933,0.0007810914899052876]},{"name":"camera_3","offset_m":[-0.002757875744966932,-0.013302055191742612,-0.008549324848665841]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017609638194683616,0.0013241624527194603,0.0017659624858949],"end_effector_yaw_offset_degrees":0.9316787666170017},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001410357209820645,-0.0004771419222812309,0.0018882732767136934],"end_effector_yaw_offset_degrees":-0.29757647540114296},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000685728065399252,-0.0007571964074841167,0.0017439096004688752],"end_effector_yaw_offset_degrees":-0.037321614133084324}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001247131055786714,0.0007923334568516911],"position_m":[0.3396471310557867,0.08609233345685169,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021610494745927045,0.003189079454842995],"position_m":[0.2151389505254073,-0.084010920545157,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034512254999024576,-0.00460392436068516],"position_m":[0.35114877450009757,0.23099607563931485,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00032059364083737545,-0.0033369003912041076],"position_m":[0.24672059364083737,-0.3390369003912041,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"376b7581e9438b0ac2813dcc2048abaa39907f266153caf8ac91ff72faede938","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_519/tex_ceiling_textures_1331/tex_floor_textures_2310/tex_table_textures_264/tex_wall_textures_6984","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":292744530632037840,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":292744530632037840,"visual_seed":292744530632037840,"scene_id":"lab_003","finished_at":"2026-09-03T11:09:14"} +{"episode_id":"ep_000050","started_at":"2026-09-03T11:10:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.6457515175973632,-0.9315114334346228,0.71338606911949],"aabb_xy":[[0.5957685674098837,-0.981511433077183],[0.6957344677848424,-0.8815114337920622]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.5357346603687376,1.1213788460026297,0.71338606911949],"aabb_xy":[[0.5132346603585892,1.1072826263630264],[0.5582346603788858,1.135475065642233]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.40690317170842916,1.005070040080823,0.71338606911949],"aabb_xy":[[-0.42940317222046964,0.9825781817154244],[-0.38440317119638845,1.0275618984462211]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.3931526076218588,0.5607932894839682,0.71338606911949],"aabb_xy":[[0.34317954208934326,0.5107932896714354],[0.44312567315437423,0.6107932892965012]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.5595086216102034,-1.331696318109489,0.71338606911949],"aabb_xy":[[0.5493556060560539,-1.367765859682229],[0.5696616371643527,-1.2956267765367484]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.31999991895703084,-1.3650641265582453,0.71338606911949],"aabb_xy":[[0.2895156688300006,-1.4150641263397412],[0.35048416908406094,-1.3150641267767493]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.07785956296971741,1.7945118341571304,0.71338606911949],"aabb_xy":[[-0.08727703753958015,1.7850956570194114],[-0.06844208839985465,1.8039280112948495]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.15895614843702754,-1.4865163766826697,0.71338606911949],"aabb_xy":[[0.15092987780640155,-1.4952678716600223],[0.16698241906765354,-1.477764881705317]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.2950503707616957,-0.17542891765390634,0.71338606911949],"aabb_xy":[[-0.3117275067547912,-0.19212884162783658],[-0.2783732347686002,-0.15872899367997603]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.3524630668317914,-0.11360512795733646,0.71338606911949],"aabb_xy":[[-0.37496306664569384,-0.11807974432781716],[-0.3299630670178891,-0.10913051158685579]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.2687857243638704,1.1500830574852112,0.71338606911949],"aabb_xy":[[0.2188069158535545,1.1000830574794924],[0.31876453287418627,1.20008305749093]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.4171293867403094,-1.6495276998223583,0.71338606911949],"aabb_xy":[[0.4134261254111705,-1.653229718131076],[0.4208326480694483,-1.6458256815136405]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.0674080795505928,1.6639089949925556,0.71338606911949],"aabb_xy":[[-0.10490807984276762,1.6598675195919523],[-0.029908079258417986,1.6679504703931594]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.4004915897763925,-1.4023115847851735,0.71338606911949],"aabb_xy":[[-0.4068036893127309,-1.4080785240383924],[-0.39417949024005405,-1.3965446455319546]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.4839667382382118,1.5291888537559681,0.71338606911949],"aabb_xy":[[0.45874590137837196,1.503965102903081],[0.5091875750980512,1.5544126046088544]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[0.7082492919709609,-2.166094033768561,0.71338606911949],"aabb_xy":[[0.7022122789702961,-2.172120734837509],[0.7142863049716256,-2.160067332699613]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.6040116512612376,0.9689809823973223,0.71338606911949],"aabb_xy":[[-0.653989068126491,0.9189809809080738],[-0.5540342343959839,1.0189809838865709]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.48619118594338095,-0.4682298957017501,0.71338606911949],"aabb_xy":[[0.43619118499284815,-0.49977904270527146],[0.5361911868939138,-0.43668074869822865]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[0.0891120448260384,-0.694346545663165,0.71338606911949],"aabb_xy":[[0.029112043965225595,-0.7457729756696513],[0.14911204568685119,-0.6429201156566785]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.03964644945899942,-1.8284168616678769,0.71338606911949],"aabb_xy":[[0.028805971232484517,-1.8456031429585256],[0.05048692768551433,-1.8112305803772282]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697656352920905,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/224.png","name":"224"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6562.png","name":"6562"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7747.png","name":"7747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/476.png","name":"476"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":721.1321197400626,"rotation_z_degrees":182.00151098884288,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019812611397153807,0.01850783894010383,-0.001266174835774802]},{"name":"camera_2","offset_m":[-0.0032440985966106332,-0.017165042913824695,-0.002679594147404221]},{"name":"camera_3","offset_m":[-0.015713018964540488,-0.018136773524259308,-2.3547588573195888e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00042039063370628545,-0.0015587519955136725,-0.0016383627170243353],"end_effector_yaw_offset_degrees":0.3716665871407112},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011445169011920632,0.0003826212594042148,-0.0001747271250164197],"end_effector_yaw_offset_degrees":-0.5079333017106946},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006244818103308134,-0.0009085860517402905,0.000715451760847583],"end_effector_yaw_offset_degrees":-0.7028457955461476}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[7.6178497234289e-05,-0.0009871373360109646],"position_m":[0.33847617849723427,0.08431286266398903,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002822683192141513,0.0033114832045666688],"position_m":[0.21447731680785848,-0.08388851679543333,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013956366408929598,0.002550069687941788],"position_m":[0.355995636640893,0.23815006968794178,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013105111676900007,-0.003441447331390496],"position_m":[0.24508948883231002,-0.3391414473313905,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f1fb9b82ee74498f26d66beb47a338b259863b74a0c6e17d14bd3999b1362ae3","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3004/tex_ceiling_textures_476/tex_floor_textures_7747/tex_table_textures_224/tex_wall_textures_6562","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7324596740037483909,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7324596740037483909,"visual_seed":7324596740037483909,"scene_id":"lab_003","finished_at":"2026-09-03T11:13:06"} +{"episode_id":"ep_000051","started_at":"2026-09-03T11:13:10","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.6729517572761011,0.36311565215928443,0.71338606911949],"aabb_xy":[[-0.6904517575354377,0.3490241099705118],[-0.6554517570167645,0.3772071943480571]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[0.03075272092436665,-1.3495529486480429,0.71338606911949],"aabb_xy":[[-0.03924728067791283,-1.3629857418497004],[0.10075272252664613,-1.3361201554463853]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.21182894831959515,-2.2277527927624474,0.71338606911949],"aabb_xy":[[-0.21982293689729854,-2.2357528728575375],[-0.20383495974189175,-2.2197527126673564]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.11477843104747731,0.10318051863605726,0.71338606911949],"aabb_xy":[[-0.19477225462603553,0.02318051604321568],[-0.03478460746891911,0.18318052122889883]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.38678721494182533,1.5176905470088742,0.71338606911949],"aabb_xy":[[-0.40001816047650657,1.5044631279868748],[-0.373556269407144,1.5309179660308736]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.5324681821755886,-1.159739119682709,0.71338606911949],"aabb_xy":[[-0.5453400856765287,-1.239739120096545],[-0.5195962786746484,-1.0797391192688728]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[-0.15758001057872406,-0.08606554951273226,0.71338606911949],"aabb_xy":[[-0.17268231203974208,-0.10116707114379406],[-0.14247770911770588,-0.07096402788167042]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.0494810032708336,-1.7127651260537184,0.71338606911949],"aabb_xy":[[-0.0586408822147102,-1.7192963440972555],[-0.040321124326957,-1.7062339080101814]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.01380265999957897,-1.0835668333299533,0.71338606911949],"aabb_xy":[[-0.022017205115262943,-1.0922434236275942],[-0.0055881148838949875,-1.0748902430323115]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.7122279240990461,0.6971029648866165,0.71338606911949],"aabb_xy":[[0.7066462524649172,0.6846029650688409],[0.7178095957331748,0.7096029647043919]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.42802920862802873,0.33816146007906056,0.71338606911949],"aabb_xy":[[-0.46552920705142903,0.3249972461112299],[-0.39052921020462833,0.35132567404689113]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.6528730008071257,-1.7090213604470565,0.71338606911949],"aabb_xy":[[0.626584176486685,-1.7352927941017076],[0.6791618251275663,-1.682749926792405]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.598466189435299,-0.9651479313992215,0.71338606911949],"aabb_xy":[[0.543340983805708,-1.0251479328405084],[0.6535913950648896,-0.9051479299579342]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.3167484689204204,1.6249034225261068,0.71338606911949],"aabb_xy":[[-0.33230423833068573,1.6093529892817],[-0.3011926995101552,1.6404538557705144]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.22739723018283853,-2.5230441456272246,0.71338606911949],"aabb_xy":[[0.16339723307073284,-2.5720765154216356],[0.2913972272949442,-2.4740117758328144]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.5638570772109976,-2.445605999592702,0.71338606911949],"aabb_xy":[[0.5288570789003022,-2.4533210145162476],[0.5988570755216931,-2.4378909846691563]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[-0.29939436909970335,-0.3756385423061812,0.71338606911949],"aabb_xy":[[-0.3543866197352143,-0.43063854404949403],[-0.2444021184641924,-0.32063854056286845]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.5360203044534426,0.6857985698075901,0.71338606911949],"aabb_xy":[[0.5184736095373237,0.648298568243339],[0.5535669993695616,0.7232985713718415]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.12262389994579481,0.8793288236995402,0.71338606911949],"aabb_xy":[[-0.1306501705764208,0.8705773287221876],[-0.11459762931516883,0.8880803186768929]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.2993802508304868,-0.510068873550217,0.71338606911949],"aabb_xy":[[0.29448095852392325,-0.5377457928527858],[0.30427954313705025,-0.48239195424764825]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.28041264761826645,-2.3412714793858256,0.71338606911949],"aabb_xy":[[0.25791264737475106,-2.353476114045598],[0.30291264786178185,-2.329066844726054]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.3378006139042172,1.134400662102267,0.71338606911949],"aabb_xy":[[-0.392793825241354,1.0794006617634737],[-0.2828074025670804,1.189400662441061]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.2881252427332578,0.6262092565146711,0.71338606911949],"aabb_xy":[[-0.34214083901515774,0.5622092536224139],[-0.23410964645135773,0.6902092594069282]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.1414042119102885,1.5693576859099827,0.71338606911949],"aabb_xy":[[-0.14554006824298873,1.531857686465626],[-0.13726835557758835,1.60685768535434]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.5460987038613423,1.0917310887400085,0.71338606911949],"aabb_xy":[[-0.5533599514317498,1.078944078476499],[-0.5388374562909348,1.104518099003518]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[0.07300041940390833,-1.6190092017594853,0.71338606911949],"aabb_xy":[[0.013000418896055422,-1.6758559354454063],[0.13300041991176126,-1.5621624680735637]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.043456981606890155,-1.7759490447302868,0.71338606911949],"aabb_xy":[[0.02595698232880328,-1.7932871447966328],[0.06095698088497703,-1.7586109446639409]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.34148370899923375,-1.6436680486921378,0.71338606911949],"aabb_xy":[[0.3064837091032149,-1.652042284204078],[0.3764837088952526,-1.635293813180198]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_28","position":[-0.5036954397397746,-0.637211149436332,0.71338606911949],"aabb_xy":[[-0.5315404765203817,-0.6679956481746437],[-0.4758504029591675,-0.6064266506980204]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[-0.5079466936340868,-0.35946684213163493,0.71338606911949],"aabb_xy":[[-0.5383448047332302,-0.38987374413330445],[-0.4775485825349431,-0.3290599401299654]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[-0.40412546454587234,-2.1443081208452885,0.71338606911949],"aabb_xy":[[-0.48912546296329557,-2.2291824163075735],[-0.3191254661284491,-2.0594338253830036]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621147505570001,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4834.png","name":"4834"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4834.png","name":"4834"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/532.png","name":"532"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/107.png","name":"107"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7585.png","name":"7585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1939.png","name":"1939"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":509.4469781668138,"rotation_z_degrees":324.6956272725226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015037154489186213,-0.011383222159510877,-0.014970611269119267]},{"name":"camera_2","offset_m":[0.006273436379506777,0.0003592225581766327,0.005709143910901181]},{"name":"camera_3","offset_m":[0.01976709445194837,-0.01806273151199812,0.00024292422710655778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009324040401374942,0.0011466566992594006,0.0004137687021462553],"end_effector_yaw_offset_degrees":0.8650948253986013},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015996768620337326,0.00013100283915301256,0.001342721020542727],"end_effector_yaw_offset_degrees":-0.09047960841246283},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018719415170872192,-0.0017529635041280787,0.0012544041925542809],"end_effector_yaw_offset_degrees":0.3585731356937383}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004747340757046798,0.0016264567823068253],"position_m":[0.3336526592429532,0.08692645678230683,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012415522600911734,-0.002367402980282688],"position_m":[0.21854155226009117,-0.08956740298028269,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004679659132519933,-0.00435923595974944],"position_m":[0.3499203408674801,0.23124076404025057,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021382733930935312,0.0015428046619839278],"position_m":[0.24853827339309353,-0.3341571953380161,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4181b57368191b4b738038e79f71d7503337225c737a643d150ed4ba8bfe2e7d","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4834/tex_ceiling_textures_1939/tex_floor_textures_7585/tex_table_textures_532/tex_wall_textures_107","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":342123635533639233,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":342123635533639233,"visual_seed":342123635533639233,"scene_id":"lab_003","finished_at":"2026-09-03T11:15:54"} +{"episode_id":"ep_000052","started_at":"2026-09-03T11:18:57","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.59346080637554,-1.1676795170979788,0.71338606911949],"aabb_xy":[[-0.6362275132549602,-1.2316795205197812],[-0.5506940994961198,-1.1036795136761763]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.7004451051759557,-2.4778713964067975,0.71338606911949],"aabb_xy":[[0.6791670970324833,-2.54287139873287],[0.7217231133194278,-2.412871394080724]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.4802077320064848,-2.1623231699992718,0.71338606911949],"aabb_xy":[[-0.48416821577621916,-2.169991034584793],[-0.47624724823675046,-2.1546553054137516]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.6690501627785554,1.5674645274531707,0.71338606911949],"aabb_xy":[[-0.691550163022071,1.5552598927933985],[-0.6465501625350402,1.5796691621129424]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.46639271682020933,-1.1295483166407099,0.71338606911949],"aabb_xy":[[0.46093477118318926,-1.2095483199483688],[0.4718506624572294,-1.0495483133330505]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.16235345555306746,-1.7787927845602112,0.71338606911949],"aabb_xy":[[-0.2123534568369074,-1.8287716389508333],[-0.11235345426922748,-1.728813930169589]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.23389334273408113,1.466479491657846,0.71338606911949],"aabb_xy":[[0.16989334105608375,1.4179621001785319],[0.2978933444120785,1.5149968831371603]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.6222052367501469,0.732767959870086,0.71338606911949],"aabb_xy":[[0.5922135740162766,0.7027679605332855],[0.6521968994840173,0.7627679592068866]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.28263550193257947,-2.265281960082647,0.71338606911949],"aabb_xy":[[0.27206802227448046,-2.2758269901956556],[0.2932029815906785,-2.2547369299696385]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.1845017566119912,-0.24549296240527108,0.71338606911949],"aabb_xy":[[-0.24850175578176112,-0.29225964952423356],[-0.12050175744222123,-0.19872627528630865]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.13643085085313333,-1.8469945068587887,0.71338606911949],"aabb_xy":[[0.12054635758780818,-1.861347447157613],[0.15231534411845848,-1.832641566559965]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[-0.47959075755630853,-1.9928106250557656,0.71338606911949],"aabb_xy":[[-0.559590756143628,-2.0721262269939267],[-0.3995907589689891,-1.9134950231176047]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.047599286870727564,-1.4756137241878104,0.71338606911949],"aabb_xy":[[-0.042400712852446606,-1.49868707672299],[0.13759928659390172,-1.4525403716526304]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.6678028494848061,-1.5846252151009144,0.71338606911949],"aabb_xy":[[0.6428028499330676,-1.594767698966049],[0.6928028490365445,-1.5744827312357796]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[0.09003658611379417,1.5252201672590604,0.71338606911949],"aabb_xy":[[0.06752289429033696,1.4552201666580526],[0.11255027793725135,1.5952201678600677]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.3784420734988038,-0.3383485448508643,0.71338606911949],"aabb_xy":[[-0.4434420716547229,-0.3646447894007765],[-0.31344207534288476,-0.3120523003009521]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.6152058384755579,-0.7273880014209799,0.71338606911949],"aabb_xy":[[-0.6792058398835485,-0.7791769529449045],[-0.5512058370675672,-0.6755990498970551]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.034497302444955635,1.02847659828416,0.71338606911949],"aabb_xy":[[-0.08449041455414753,0.9784765976099645],[0.015495809664236252,1.0784765989583558]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[0.6358252466563845,0.48407742759272265,0.71338606911949],"aabb_xy":[[0.5857277826753109,0.42007742708291085],[0.6859227106374581,0.5480774281025345]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.48217560688029515,-0.9014931284616146,0.71338606911949],"aabb_xy":[[0.474551338790117,-0.9091263519981583],[0.4897998749704735,-0.8938599049250708]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[-0.3946243886498849,0.5023436574138596,0.71338606911949],"aabb_xy":[[-0.47462439081264735,0.42238847378771593],[-0.3146243864871224,0.5822988410400032]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[0.15355201734299884,-1.6296344402940397,0.71338606911949],"aabb_xy":[[0.1257069805623917,-1.6604189390323514],[0.18139705412360596,-1.598849941555728]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.061502875240391996,0.681971984998988,0.71338606911949],"aabb_xy":[[-0.11150287625952728,0.6455057692611602],[-0.01150287422125672,0.7184382007368161]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.6190091169673639,-1.778732443787693,0.71338606911949],"aabb_xy":[[0.5690091175271683,-1.8287003682720093],[0.6690091164075596,-1.7287645193033767]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[-0.005389293103339243,-1.181490950852498,0.71338606911949],"aabb_xy":[[-0.05538929267967396,-1.231471529804604],[0.044610706472995476,-1.131510371900392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639142841650636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1733.png","name":"1733"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1733.png","name":"1733"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4441.png","name":"4441"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7264.png","name":"7264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6703.png","name":"6703"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3445.png","name":"3445"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":600.0381542284717,"rotation_z_degrees":201.317970063665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01778976864376743,0.008228584434946066,-0.00471558036148617]},{"name":"camera_2","offset_m":[0.00936295611622719,0.004626282014799234,0.019804253244288448]},{"name":"camera_3","offset_m":[0.012509950737313622,0.01684214518730769,-0.015387456554266788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008053130269134519,-0.0011800201566767687,-0.0005320356945975261],"end_effector_yaw_offset_degrees":-0.09638134117667274},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018664686888719161,0.00135208843779684,-0.0013334940195121497],"end_effector_yaw_offset_degrees":0.3215617450062842},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006659427389489833,-2.8783517267275995e-05,0.0012954214888247972],"end_effector_yaw_offset_degrees":0.076881912599299}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002640666965871179,0.00205475867609686],"position_m":[0.34104066696587115,0.08735475867609686,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038463029716609533,-0.0029721230423970014],"position_m":[0.22114630297166094,-0.090172123042397,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0049652579482470675,0.0028008176683693552],"position_m":[0.34963474205175293,0.23840081766836935,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025552756116579843,0.004115344363383107],"position_m":[0.243844724388342,-0.3315846556366169,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"595f7e81acdad914adb53457152b716e31c951c3b7812b2281b9bce392b17421","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0083.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1733/tex_ceiling_textures_3445/tex_floor_textures_6703/tex_table_textures_4441/tex_wall_textures_7264","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":317099466068439135,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":317099466068439135,"visual_seed":317099466068439135,"scene_id":"lab_003","finished_at":"2026-09-03T11:21:36"} +{"episode_id":"ep_000053","started_at":"2026-09-03T11:23:02","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.13794764408654903,-2.275636088160819,0.71338606911949],"aabb_xy":[[-0.20194764613628102,-2.3157305712501266],[-0.07394764203681703,-2.2355416050715107]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[-0.5558807960594087,1.6385895316969559,0.71338606911949],"aabb_xy":[[-0.5672425307126947,1.6272210652906676],[-0.5445190614061224,1.6499579981032437]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.04417235689345811,1.7549343495010645,0.71338606911949],"aabb_xy":[[-0.04582763984215211,1.7017508861837694],[0.13417235362906832,1.8081178128183584]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.4251239941481284,1.1350960306010962,0.71338606911949],"aabb_xy":[[0.355123992339383,1.1137422618369088],[0.4951239959568739,1.1564497993652836]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.40862406765478854,0.7316119497971592,0.71338606911949],"aabb_xy":[[0.40471019445936596,0.7228629343906023],[0.412537940850211,0.740360965203716]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.21935850135764423,1.5586259999764978,0.71338606911949],"aabb_xy":[[-0.2833585030356416,1.5101086084971835],[-0.15535849967964685,1.607143391455812]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.4358398966234633,0.643394735714848,0.71338606911949],"aabb_xy":[[-0.456124199346862,0.6231121105721389],[-0.41555559390006447,0.6636773608575566]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.04667925271620832,1.016121520832105,0.71338606911949],"aabb_xy":[[-0.051635272901089525,0.9936215206299834],[-0.04172323253132712,1.0386215210342267]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.6142707874404134,-0.37826937745765266,0.71338606911949],"aabb_xy":[[0.5642707857789186,-0.4282678197133553],[0.6642707891019082,-0.3282709352019499]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.33591054893307476,0.9682883458550227,0.71338606911949],"aabb_xy":[[-0.3780949630939055,0.9042883455778113],[-0.293726134772244,1.0322883461322339]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.5223981562543027,1.6462335191787276,0.71338606911949],"aabb_xy":[[0.505388058964252,1.6300990306804535],[0.5394082535443533,1.6623680076770013]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.5136046966085415,-1.011871402286858,0.71338606911949],"aabb_xy":[[-0.517720646720614,-1.0159869573197033],[-0.5094887464964687,-1.0077558472540122]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.610204958953789,-2.1736546150745144,0.71338606911949],"aabb_xy":[[-0.6181984487490711,-2.1816527470149905],[-0.6022114691585071,-2.1656564831340392]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.2644430609928389,1.801889143119349,0.71338606911949],"aabb_xy":[[0.2306675018021459,1.7878506479061838],[0.29821862018353185,1.8159276383325136]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.06063061001560921,-2.1324750157932044,0.71338606911949],"aabb_xy":[[-0.0033693872700394298,-2.1739817347460484],[0.12463060730125786,-2.0909682968403605]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.33329453055362257,-0.8895828296185355,0.71338606911949],"aabb_xy":[[0.3201432845823332,-0.9145828293752223],[0.34644577652491193,-0.8645828298618492]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.5017626741008965,0.10397285905928877,0.71338606911949],"aabb_xy":[[0.4377626777053234,0.040009570640555214],[0.5657626704964696,0.16793614747802232]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[0.3279731095478968,-0.7529529769802343,0.71338606911949],"aabb_xy":[[0.29047310937602483,-0.7856537123631415],[0.3654731097197687,-0.7202522415973271]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[-0.01893750206655742,0.6337931907008154,0.71338606911949],"aabb_xy":[[-0.02978910831543302,0.6229338999731643],[-0.00808589581768182,0.6446524814284663]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.7097391714376127,-1.6205968302728957,0.71338606911949],"aabb_xy":[[0.7062984951975555,-1.6244582632472602],[0.7131798476776698,-1.6167353972985312]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.6476596752946482,-1.6730822836137105,0.71338606911949],"aabb_xy":[[-0.6651596745727351,-1.6904203836800566],[-0.6301596760165613,-1.6557441835473647]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.5146558291253136,-2.2852948622001286,0.71338606911949],"aabb_xy":[[0.5093233144707006,-2.2906191904453643],[0.5199883437799266,-2.279970533954893]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[0.04383098754589232,-1.2388187391263492,0.71338606911949],"aabb_xy":[[0.0064997110206497025,-1.2734717939212012],[0.08116226407113494,-1.2041656843314967]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.14748368390998945,0.7926910825931639,0.71338606911949],"aabb_xy":[[0.09248368570824463,0.7521691159667263],[0.2024836821117343,0.8332130492196015]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[0.6145801312529682,1.1035840234735041,0.71338606911949],"aabb_xy":[[0.5845884685190978,1.0735840241367034],[0.6445717939868385,1.1335840228103045]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[0.15531413167854924,1.3485906995842236,0.71338606911949],"aabb_xy":[[0.13620182432057037,1.3294559207069814],[0.1744264390365281,1.3677254784614654]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[-0.25114593882899644,1.2310902888345208,0.71338606911949],"aabb_xy":[[-0.26877877442252396,1.2134673428188976],[-0.23351310323546884,1.2487132348501435]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[0.6110413179654195,-0.7522747075645475,0.71338606911949],"aabb_xy":[[0.5260413192733449,-0.7842605709594264],[0.6960413166574941,-0.7202888441696687]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[-0.18859043201786407,-2.1226615274160525,0.71338606911949],"aabb_xy":[[-0.27859043143623496,-2.1560370242602422],[-0.09859043259949316,-2.089286030571863]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_29","position":[-0.3756822441488353,-0.629857216140332,0.71338606911949],"aabb_xy":[[-0.44068224270590817,-0.6596097495542146],[-0.3106822455917625,-0.6001046827264493]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668569119285069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4308.png","name":"4308"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4308.png","name":"4308"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/932.png","name":"932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4314.png","name":"4314"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4116.png","name":"4116"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.6406596214467,"rotation_z_degrees":22.0790107309608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018842654544403807,0.011783030735673643,-0.019353434481254678]},{"name":"camera_2","offset_m":[-0.013608206901595738,0.004845646619445757,-0.010796827200673596]},{"name":"camera_3","offset_m":[-0.0030870887972939305,-0.0039055042113849657,-0.00864448219542875]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001602254137839142,-0.000637036718003726,0.0005495182547321825],"end_effector_yaw_offset_degrees":0.21384994578242433},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010039994671555159,-4.530010813651175e-05,0.0009290661669058326],"end_effector_yaw_offset_degrees":-0.3075427161450308},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00040293736744659954,0.0019813699142839734,0.0006642058751520409],"end_effector_yaw_offset_degrees":-0.15168043645468665}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00291497627415542,-0.0037318833989504908],"position_m":[0.33548502372584454,0.08156811660104951,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015997966139960087,0.0008958453002961284],"position_m":[0.21570020338600399,-0.08630415469970387,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002623629478964361,0.0049068027190470225],"position_m":[0.35197637052103564,0.24050680271904704,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012084547915688216,-0.003772369904820925],"position_m":[0.2451915452084312,-0.33947236990482094,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8142a6457216b82ff6e1da84ce64d2a492d4b1da8120af8b1000197ef0451970","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4308/tex_ceiling_textures_607/tex_floor_textures_4116/tex_table_textures_932/tex_wall_textures_4314","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3918080336336126505,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3918080336336126505,"visual_seed":3918080336336126505,"scene_id":"lab_003","finished_at":"2026-09-03T11:25:32"} +{"episode_id":"ep_000054","started_at":"2026-09-03T11:25:34","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.45106080600433907,0.9151527505860462,0.71338606911949],"aabb_xy":[[0.3870608095770172,0.8679831267639498],[0.515060802431661,0.9623223744081427]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.2814910186875991,0.5802806044293733,0.71338606911949],"aabb_xy":[[-0.29472196422228036,0.5670531854073738],[-0.2682600731529178,0.5935080234513727]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.2702103318439732,-2.512736641955495,0.71338606911949],"aabb_xy":[[-0.3013572506875563,-2.582736640642302],[-0.23906341300039008,-2.4427366432686877]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.19778810721054296,-1.1844197594479833,0.71338606911949],"aabb_xy":[[-0.2777881086406701,-1.2639369144605928],[-0.11778810578041571,-1.1049026044353738]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.14319622206936777,1.5819284846745005,0.71338606911949],"aabb_xy":[[-0.1736804721963979,1.5319284848930044],[-0.11271197194233759,1.6319284844559963]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[0.6740522523184853,0.12535081725441444,0.71338606911949],"aabb_xy":[[0.6240748354532317,0.07535081576516588],[0.7240296691837389,0.17535081874366296]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[-0.6053858376580167,1.4600028732048052,0.71338606911949],"aabb_xy":[[-0.6133793274532988,1.4520047412643295],[-0.5973923478627348,1.4680010051452808]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.6438937655987966,-0.7003858824783165,0.71338606911949],"aabb_xy":[[0.6312910664617203,-0.7129812787031821],[0.6564964647358732,-0.6877904862534511]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.5631594527973476,-2.417333486959248,0.71338606911949],"aabb_xy":[[0.5031594511544258,-2.4693336362511924],[0.6231594544402695,-2.365333337667304]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.30765882857731547,-1.601440401572555,0.71338606911949],"aabb_xy":[[-0.31208945793215565,-1.6068887733072377],[-0.3032281992224753,-1.5959920298378727]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.19538987735027935,1.333602136805657,0.71338606911949],"aabb_xy":[[0.16754484056967225,1.3028176380673455],[0.2232349141308865,1.3643866355439689]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.2549391885863129,-2.427647482254426,0.71338606911949],"aabb_xy":[[0.1749391853222998,-2.4412075145633394],[0.33493919185032606,-2.4140874499455127]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.5987905830422713,0.7757918089161517,0.71338606911949],"aabb_xy":[[0.5910873923681943,0.7680824382174136],[0.6064937737163483,0.7835011796148896]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.06202462783321394,-0.23475499036190328,0.71338606911949],"aabb_xy":[[-0.10479133471263413,-0.29875499378370574],[-0.019257920953793757,-0.1707549869401008]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.6645452011026962,-0.3460818425882666,0.71338606911949],"aabb_xy":[[0.6195451996364675,-0.3910816994497473],[0.7095452025689252,-0.3010819857267859]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.12795242091840642,-0.6251409658143545,0.71338606911949],"aabb_xy":[[-0.1448631533547482,-0.638613171406969],[-0.11104168848206465,-0.61166876022174]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.44656136711752153,1.3505734541500365,0.71338606911949],"aabb_xy":[[-0.516561369248951,1.3278114885243408],[-0.37656136498609194,1.3733354197757321]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.47929155488563735,-0.899238249453931,0.71338606911949],"aabb_xy":[[0.42947477542080253,-0.9492382479382345],[0.5291083343504721,-0.8492382509696278]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.659256569030658,-1.6024546244969406,0.71338606911949],"aabb_xy":[[0.6140852511824891,-1.6664546216414793],[0.7044278868788271,-1.5384546273524025]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.08391488887740828,-1.4471287531509325,0.71338606911949],"aabb_xy":[[0.03393065316923104,-1.497128751964428],[0.1338991245855855,-1.3971287543374369]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.028566708317534384,0.08560968071546249,0.71338606911949],"aabb_xy":[[-0.04636021525245082,0.06780993511966482],[-0.010773201382617947,0.10340942631126016]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[0.4261766697243574,-1.391160311760734,0.71338606911949],"aabb_xy":[[0.4037118997529523,-1.4136603126395946],[0.44864143969576253,-1.3686603108818736]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.36403461389845204,1.5715782741230462,0.71338606911949],"aabb_xy":[[0.30904236326294104,1.5165782723797336],[0.419026864533963,1.6265782758663592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6698913140199377,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7442.png","name":"7442"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":691.5458654906054,"rotation_z_degrees":140.56054237899139,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012898851189180365,0.012852205778940615,0.019940453742336998]},{"name":"camera_2","offset_m":[0.006034490949301006,0.017259605722063014,-0.0014326723958706516]},{"name":"camera_3","offset_m":[-0.011758577261790694,0.018990915312504218,0.006244720510141067]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009344128119493319,0.001220840803884327,-0.001654744070891799],"end_effector_yaw_offset_degrees":0.7936944640716106},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012350769862576163,0.0013652101372828868,-0.0017024210364302707],"end_effector_yaw_offset_degrees":-0.12242410973079543},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004789331675687969,0.00017955085839358245,-0.0010232062778918185],"end_effector_yaw_offset_degrees":0.6622109150424575}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003108595155394362,0.004826504053548629],"position_m":[0.34150859515539433,0.09012650405354863,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002192868163693626,-0.0035246982107711164],"position_m":[0.21949286816369362,-0.09072469821077112,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016410537608158408,0.0022581546767452554],"position_m":[0.3562410537608159,0.23785815467674526,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023444212759782734,0.002848127089192568],"position_m":[0.2487444212759783,-0.3328518729108074,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ba53df7661d417daa8d13a084935e31bbd7acf5d8a3c831799f43953dc19c4c","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9281/tex_ceiling_textures_7919/tex_floor_textures_7442/tex_table_textures_547/tex_wall_textures_2700","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8461810229619460367,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8461810229619460367,"visual_seed":8461810229619460367,"scene_id":"lab_003","finished_at":"2026-09-03T11:28:00"} +{"episode_id":"ep_000055","started_at":"2026-09-03T11:28:03","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.06450827211172039,0.9196849970871406,0.71338606911949],"aabb_xy":[[0.0475975396753786,0.906212791494526],[0.08141900454806215,0.9331572026797551]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.20630685116811376,-0.9616891444061264,0.71338606911949],"aabb_xy":[[-0.26630685176412994,-1.0165016169513499],[-0.14630685057209758,-0.906876671860903]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.5938941910074602,-1.0181232508797229,0.71338606911949],"aabb_xy":[[-0.6776164165075426,-1.1081232544144188],[-0.5101719655073776,-0.9281232473450269]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.6294871757046356,-2.149459592350326,0.71338606911949],"aabb_xy":[[0.5944871773939402,-2.1571746072738716],[0.6644871740153311,-2.1417445774267803]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.07297866865212221,1.2008219210889126,0.71338606911949],"aabb_xy":[[0.06884281231942202,1.1633219216445558],[0.07711452498482241,1.2383219205332698]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[0.4093523842753455,1.5540023804932166,0.71338606911949],"aabb_xy":[[0.4014291040365971,1.5315023802552135],[0.41727566451409376,1.5765023807312202]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.14391604255370294,0.7579958043147794,0.71338606911949],"aabb_xy":[[0.13068509701902162,0.7447683852927799],[0.1571469880883842,0.7712232233367787]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.13440092928474912,0.2642764149524113,0.71338606911949],"aabb_xy":[[-0.13883155863958932,0.2588280432177287],[-0.12997029992990897,0.2697247866870939]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.31766147354652596,0.845992218689581,0.71338606911949],"aabb_xy":[[0.2276614712125069,0.7685098641044684],[0.407661475880545,0.9234745732746937]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.31416127715847875,1.187630063843323,0.71338606911949],"aabb_xy":[[0.29166127734457636,1.1831554474728423],[0.33666127697238113,1.1921046802138038]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.5523750061782069,1.7668557844791848,0.71338606911949],"aabb_xy":[[0.542619016669033,1.7570932504199501],[0.5621309956873808,1.776618318538419]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.030333842366418784,1.1989213631591769,0.71338606911949],"aabb_xy":[[-0.08796431125368963,1.138921364232466],[0.02729662652085207,1.2589213620858872]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.2318424482751188,-0.6891460795969531,0.71338606911949],"aabb_xy":[[0.17684697045445938,-0.7441460810308599],[0.2868379260957782,-0.634146078163046]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.5928483792541965,-2.5506599226191637,0.71338606911949],"aabb_xy":[[0.5028483798358255,-2.584035419463353],[0.6828483786725673,-2.5172844257749736]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.05971722189672013,1.3648574827335906,0.71338606911949],"aabb_xy":[[-0.12371722380906247,1.3089463334755802],[0.004282780015622205,1.420768631991601]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.5525594405659464,-0.203440232465816,0.71338606911949],"aabb_xy":[[-0.6165594369615196,-0.26740352088454955],[-0.48855944417037345,-0.13947694404708244]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.33919418327913103,0.555873857749607,0.71338606911949],"aabb_xy":[[-0.34645543084953845,0.5430868474860975],[-0.3319329357087236,0.5686608680131164]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.12854710605138042,-0.7970733658034947,0.71338606911949],"aabb_xy":[[-0.14169835202266978,-0.8220733655601815],[-0.11539586008009106,-0.7720733660468084]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.36813518461315864,-0.9617388981980901,0.71338606911949],"aabb_xy":[[0.35884156637600806,-0.9992388966862238],[0.3774288028503092,-0.924238899709956]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.19516358336392847,-1.804624914380657,0.71338606911949],"aabb_xy":[[0.12516358155518303,-1.825978683144844],[0.2651635851726739,-1.7832711456164692]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.6317160831506312,-0.012195415620734895,0.71338606911949],"aabb_xy":[[0.6198440001391301,-0.09719541531438525],[0.6435881661621323,0.07280458407291546]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[0.1976156373712037,1.312521396083207,0.71338606911949],"aabb_xy":[[0.1336156356932063,1.2640040046038925],[0.26161563904920104,1.361038787562521]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.6191966085399333,0.9684424571903989,0.71338606911949],"aabb_xy":[[-0.6311293429017614,0.9560603043825394],[-0.6072638741781052,0.9808246099982582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6703011556258743,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3942.png","name":"3942"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3942.png","name":"3942"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8981.png","name":"8981"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4190.png","name":"4190"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1915.png","name":"1915"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":625.0015078000008,"rotation_z_degrees":325.43670342514713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014037585236227782,0.0032437663823690517,0.003258191338981687]},{"name":"camera_2","offset_m":[-0.015844545642031114,-0.014735755134920411,0.010242104354415176]},{"name":"camera_3","offset_m":[0.002255625300229113,-0.014739639765154817,0.01565568104151178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019352780612912923,0.0008678580066386775,-0.0010713470057755257],"end_effector_yaw_offset_degrees":0.5071657940873113},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013540605561797162,0.0012135179018748937,0.001679510420349889],"end_effector_yaw_offset_degrees":-0.7730992963487882},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014214636842910851,0.00162107866171392,-0.0012651753042525926],"end_effector_yaw_offset_degrees":0.457304329922535}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029864660934773033,0.0012286635162475877],"position_m":[0.3413864660934773,0.08652866351624759,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005715499281777701,0.0033256574909867687],"position_m":[0.21672845007182223,-0.08387434250901322,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004403510288693082,-0.003957582077605265],"position_m":[0.3590035102886931,0.23164241792239473,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012040783494807017,5.8212553431464045e-05],"position_m":[0.24519592165051932,-0.33564178744656853,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e7b912c09e0059af6ec9f6410b730830514cdd1ae4311b6343c483144336f239","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3942/tex_ceiling_textures_8761/tex_floor_textures_1915/tex_table_textures_8981/tex_wall_textures_4190","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8306181457747725721,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8306181457747725721,"visual_seed":8306181457747725721,"scene_id":"lab_003","finished_at":"2026-09-03T11:30:28"} +{"episode_id":"ep_000056","started_at":"2026-09-03T11:34:35","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.09099630969013839,-2.1194861976594233,0.71338606911949],"aabb_xy":[[0.0542016765652321,-2.1563920727560055],[0.12779094281504466,-2.082580322562841]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.6117076644179471,0.7485505929135372,0.71338606911949],"aabb_xy":[[0.5267076657258724,0.7165647295186583],[0.6967076631100216,0.7805364563084161]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.4733092576743665,0.5457502106505756,0.71338606911949],"aabb_xy":[[0.46867414252213313,0.5418828755734268],[0.47794437282659985,0.5496175457277241]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.12148854909967166,0.2850170682807116,0.71338606911949],"aabb_xy":[[-0.14398854961171226,0.26252520991531325],[-0.09898854858763105,0.30750892664610996]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.6366902077408043,-1.7154253139218834,0.71338606911949],"aabb_xy":[[0.576690207489403,-1.769706638958348],[0.6966902079922054,-1.6611439888854187]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.36494041731452764,-2.472531255299505,0.71338606911949],"aabb_xy":[[0.35552294274466484,-2.481947432437224],[0.37435789188439034,-2.463115078161786]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.3959013567757219,-0.9896365119902761,0.71338606911949],"aabb_xy":[[0.3655032456765783,-1.0200434139919454],[0.4262994678748655,-0.9592296099886065]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.3385976454692017,-0.5365479085773028,0.71338606911949],"aabb_xy":[[0.2585976433064392,-0.6165030922034463],[0.41859764763196416,-0.4565927249511591]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.5370390237871463,-1.9266985290067498,0.71338606911949],"aabb_xy":[[0.4820653017508134,-1.981698528570983],[0.5920127458234792,-1.8716985294425166]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.6627062256588507,1.4827478222936432,0.71338606911949],"aabb_xy":[[0.6450305950702523,1.4650676060142402],[0.680381856247449,1.5004280385730457]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.5932423587101641,1.648016055964621,0.71338606911949],"aabb_xy":[[0.5292423583326304,1.5982707891138088],[0.6572423590876977,1.6977613228154333]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.3483155916228684,-2.537468037177331,0.71338606911949],"aabb_xy":[[-0.3858155901984892,-2.5502043328408885],[-0.3108155930472476,-2.5247317415137727]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.2128704940413546,-0.8261872566129773,0.71338606911949],"aabb_xy":[[0.14787049140356115,-0.8776668553124242],[0.2778704966791481,-0.7747076579135302]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.6212589819995223,0.31586816292204123,0.71338606911949],"aabb_xy":[[-0.6462589811651555,0.30891591721668465],[-0.5962589828338892,0.3228204086273978]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.5731936657418215,-1.026658655375661,0.71338606911949],"aabb_xy":[[-0.6142116091281925,-1.0766586560066183],[-0.5321757223554507,-0.9766586547447036]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.5033513648715253,0.19709535918259746,0.71338606911949],"aabb_xy":[[-0.5125112438154019,0.19056414113906045],[-0.4941914859276487,0.20362657722613448]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.18362999310261363,-2.400600624779158,0.71338606911949],"aabb_xy":[[-0.18847358786384363,-2.405452277258142],[-0.17878639834138368,-2.395748972300174]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.24211649252872952,0.2387861872573609,0.71338606911949],"aabb_xy":[[-0.26663011662573544,0.21452159395532447],[-0.2176028684317237,0.26305078055939735]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.15079901875047141,-1.9078149886977347,0.71338606911949],"aabb_xy":[[-0.20079385167841302,-1.9578149875929785],[-0.10080418582252981,-1.8578149898024914]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.07399579064263762,1.7666304839740117,0.71338606911949],"aabb_xy":[[-0.08198928043791966,1.7586323520335363],[-0.0660023008473556,1.7746286159144875]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.5155318458838682,0.39722284029670174,0.71338606911949],"aabb_xy":[[-0.5344162296523786,0.37833691551634896],[-0.49664746211535815,0.4161087650770545]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.042003654998692186,-2.358400993846991,0.71338606911949],"aabb_xy":[[-0.10700365610463547,-2.3833663669151197],[0.02299634610725109,-2.333435620778863]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.43723562756612755,0.6593199925869406,0.71338606911949],"aabb_xy":[[0.4284544004188914,0.6505402452984106],[0.44601685471336383,0.6680997398754709]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[0.6363301551424727,-1.0993814832042825,0.71338606911949],"aabb_xy":[[0.6124939375018678,-1.1893814840127692],[0.6601663727830779,-1.0093814823957963]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.07764126129039484,-2.527607271209089,0.71338606911949],"aabb_xy":[[-0.1426412594463139,-2.5539035157590018],[-0.012641263134475778,-2.5013110266591774]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.6866923081648157,1.352045532379707,0.71338606911949],"aabb_xy":[[0.6641923079213004,1.339840897719935],[0.7091923084083311,1.3642501670394789]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.35653354949804206,-0.3216676366657869,0.71338606911949],"aabb_xy":[[-0.4265335513067875,-0.3430214054299743],[-0.2865335476892966,-0.30031386790159953]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.1136217601472127,-0.43168969315860917,0.71338606911949],"aabb_xy":[[-0.12132495082128973,-0.4393990638573471],[-0.10591856947313565,-0.4239803224598711]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_28","position":[0.21914886261930766,1.2176756540637306,0.71338606911949],"aabb_xy":[[0.12914885894238948,1.1562432474866258],[0.30914886629622584,1.2791080606408345]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[0.4749740296949754,0.22059952673920513,0.71338606911949],"aabb_xy":[[0.4567682060337277,0.20957412615721355],[0.49317985335622305,0.23162492732119683]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_30","position":[0.6114953226663513,-0.3923254243770766,0.71338606911949],"aabb_xy":[[0.5214953203323321,-0.46980777896218934],[0.7014953250003703,-0.314843069791964]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_31","position":[-0.02046549153180721,1.3078218431734285,0.71338606911949],"aabb_xy":[[-0.026047163165935968,1.295321843355653],[-0.01488381989767845,1.320321842991204]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_32","position":[-0.28965623609334445,-1.615940749318836,0.71338606911949],"aabb_xy":[[-0.3146562353653067,-1.6322861129149981],[-0.2646562368213821,-1.5995953857226735]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_33","position":[0.48281655115189515,1.3745462324693167,0.71338606911949],"aabb_xy":[[0.45233230102486494,1.3245462326878206],[0.5133008012789253,1.4245462322508124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637850721712596,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9058.png","name":"9058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9058.png","name":"9058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7499.png","name":"7499"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6097.png","name":"6097"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8002.png","name":"8002"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4901.png","name":"4901"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":509.15982405429116,"rotation_z_degrees":140.25528982775114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0049732500149371715,-0.001896219768430095,-0.004014371031221632]},{"name":"camera_2","offset_m":[-0.013612273360194785,-0.0035435352831039817,0.003504694386312762]},{"name":"camera_3","offset_m":[0.018099683217847436,-0.012346860836451402,-0.018982579753165713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005254402814881991,0.0013468409450736046,-0.0007467895900323187],"end_effector_yaw_offset_degrees":0.30388670172846344},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013669588565908592,0.000896605846998768,0.0017851440308857464],"end_effector_yaw_offset_degrees":-0.5349176044524337},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008540743615877858,0.0010262949480264062,0.0005459333661202298],"end_effector_yaw_offset_degrees":-0.8213548123340824}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029586210467859786,0.0034385009847463484],"position_m":[0.335441378953214,0.08873850098474635,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003932482823943058,-0.004410443707956156],"position_m":[0.22123248282394306,-0.09161044370795615,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004846262423257295,0.002130758419245193],"position_m":[0.3497537375767427,0.2377307584192452,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00044202663856192197,-0.00012785923681896214],"position_m":[0.2459579733614381,-0.33582785923681896,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"46977bc9e4eed1e245933d238e2e6f4d9836c22c576f53e7d8cad12e249db83d","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9058/tex_ceiling_textures_4901/tex_floor_textures_8002/tex_table_textures_7499/tex_wall_textures_6097","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1392523413499607583,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1392523413499607583,"visual_seed":1392523413499607583,"scene_id":"lab_003","finished_at":"2026-09-03T11:37:00"} +{"episode_id":"ep_000057","started_at":"2026-09-03T11:37:03","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.3425172268543333,-1.7474657728856298,0.71338606911949],"aabb_xy":[[0.3175172273025948,-1.7576082567507643],[0.36751722640607176,-1.7373232890204948]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.33185936523490067,-2.1809547471456137,0.71338606911949],"aabb_xy":[[0.267859367949252,-2.222461466098457],[0.3958593625205493,-2.1394480281927692]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.20837383178091445,0.3206242953665681,0.71338606911949],"aabb_xy":[[-0.21708780083084894,0.2981242947073798],[-0.19965986273097996,0.3431242960257562]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.13135667589991185,-1.4093772037103747,0.71338606911949],"aabb_xy":[[0.0957275199999521,-1.4450098704672276],[0.1669858317998716,-1.3737445369535217]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.028813014538098702,-2.207770983865336,0.71338606911949],"aabb_xy":[[-0.10881301150113787,-2.2848466255091093],[0.051186982424940464,-2.1306953422215624]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.5089241928046091,-0.4020028485741518,0.71338606911949],"aabb_xy":[[0.42520196730452653,-0.4920028521088478],[0.5926464183046914,-0.3120028450394559]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.6179013509795451,-2.1839456370063552,0.71338606911949],"aabb_xy":[[-0.6513805182405861,-2.2174247503774627],[-0.5844221837185042,-2.1504665236352487]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.0930645626829778,0.3583700442686131,0.71338606911949],"aabb_xy":[[-0.10105805247825986,0.35037191232813747],[-0.08507107288769579,0.3663681762090888]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.43368659770904455,0.5393467665982374,0.71338606911949],"aabb_xy":[[-0.4376004709044671,0.5305977511916806],[-0.42977272451362203,0.5480957820047943]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.59247849482664,-0.9428554934769644,0.71338606911949],"aabb_xy":[[-0.6564784962346306,-0.994644445000889],[-0.5284784934186493,-0.8910665419530396]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.38896358309364987,-1.8879181809052505,0.71338606911949],"aabb_xy":[[-0.44408878872324065,-1.9479181823465375],[-0.3338383774640591,-1.8279181794639632]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.0528227371192066,0.9300866954433338,0.71338606911949],"aabb_xy":[[0.006737645864475123,0.8660866981907787],[0.09890782837393808,0.9940866926958889]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.3267664397955632,-0.34933177269352145,0.71338606911949],"aabb_xy":[[-0.3738958187973988,-0.4133317737379233],[-0.27963706079372747,-0.2853317716491194]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.04875322499161494,-1.8211879187561049,0.71338606911949],"aabb_xy":[[-0.07375322415724805,-1.8281401644614617],[-0.023753225825981827,-1.8142356730507485]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[0.20799610663556944,-0.6077274311623395,0.71338606911949],"aabb_xy":[[0.18810506675522926,-0.6203832424470365],[0.22788714651590974,-0.5950716198776428]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.5651038518892253,-0.03733790049375729,0.71338606911949],"aabb_xy":[[-0.6351038536979706,-0.05869166925794467],[-0.49510385008047975,-0.015984131729569917]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.588832191336711,-0.28947575423085725,0.71338606911949],"aabb_xy":[[-0.6528321935571181,-0.3338488383561455],[-0.524832189116304,-0.2451026701055689]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.6312739585368807,0.9487089601291427,0.71338606911949],"aabb_xy":[[0.5812739575177455,0.912242744391315],[0.681273959556016,0.9851751758669709]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[-0.5159080921720501,-2.029366270434192,0.71338606911949],"aabb_xy":[[-0.5534080905954505,-2.0425304844020222],[-0.4784080937486498,-2.0162020564663607]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.3901264678046758,0.9543813338581315,0.71338606911949],"aabb_xy":[[-0.4541264669744458,0.907614646739169],[-0.3261264686349059,1.001148020977094]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.5365036889982124,1.735686698459474,0.71338606911949],"aabb_xy":[[-0.6005036861103181,1.6866543286650635],[-0.47250369188610675,1.7847190682538847]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.1719944507327006,-2.048570957896489,0.71338606911949],"aabb_xy":[[-0.1825619303907996,-2.0591159880094976],[-0.16142697107460158,-2.0380259277834805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627214510612824,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6234.png","name":"6234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6234.png","name":"6234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1738.png","name":"1738"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4672.png","name":"4672"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1934.png","name":"1934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8414.png","name":"8414"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":817.6644268341357,"rotation_z_degrees":357.41480810510205,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012630926047426008,-0.00614324559297276,0.014314134481444998]},{"name":"camera_2","offset_m":[-0.007006728968154002,-0.017800001174182237,-0.002217757104566509]},{"name":"camera_3","offset_m":[-0.01578705661000105,0.0106331092043092,-0.00812262801770792]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015939064926473335,0.0017221991220200562,-0.001470679446337503],"end_effector_yaw_offset_degrees":0.3606337067717109},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00119006037589767,0.001509915353686757,0.0006912477321779796],"end_effector_yaw_offset_degrees":-0.9939808824200507},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0013686140156623089,-0.00030867283223202967,0.00025311623413059887],"end_effector_yaw_offset_degrees":0.30419767887586446}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004047429298690666,-0.00454875948470812],"position_m":[0.3343525707013093,0.08075124051529188,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0025052232951722976,-0.0019317835317962185],"position_m":[0.2147947767048277,-0.08913178353179622,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004233786140289777,-0.002478853197473325],"position_m":[0.35036621385971023,0.23312114680252669,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002448150358206905,-0.003037957074288892],"position_m":[0.2439518496417931,-0.3387379570742889,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2acba45a05f3f173e350e8fbd6cf24118c17e7b6832376ded0f2af1b329201cf","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6234/tex_ceiling_textures_8414/tex_floor_textures_1934/tex_table_textures_1738/tex_wall_textures_4672","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5575874832829561436,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5575874832829561436,"visual_seed":5575874832829561436,"scene_id":"lab_003","finished_at":"2026-09-03T11:39:30"} +{"episode_id":"ep_000058","started_at":"2026-09-03T11:39:32","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.4176139078190155,0.6977254466602445,0.71338606911949],"aabb_xy":[[-0.4726093856396748,0.6427254452263375],[-0.36261842999835603,0.7527254480941513]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.09480481036527166,0.728330046312383,0.71338606911949],"aabb_xy":[[-0.11730481060878704,0.716125411652611],[-0.07230481012175625,0.7405346809721549]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.03942659759156952,-1.318753322187765,0.71338606911949],"aabb_xy":[[-0.05831098136007972,-1.3376392469681175],[-0.020542213823059312,-1.299867397407412]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.5284255481683191,-1.1984429890001027,0.71338606911949],"aabb_xy":[[-0.5924255502180511,-1.2385374720894107],[-0.4644255461185871,-1.1583485059107947]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.5843413320883634,0.509799220959509,0.71338606911949],"aabb_xy":[[-0.619341331218319,0.5040539998838449],[-0.5493413329584077,0.5155444420351731]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.08510905395337476,1.129745095493425,0.71338606911949],"aabb_xy":[[-0.12214316338143445,1.0953678881597155],[-0.04807494452531503,1.1641223028271344]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.5049545899553546,-1.8100503201223923,0.71338606911949],"aabb_xy":[[-0.5949545866909648,-1.8632337834396868],[-0.41495459321974437,-1.7568668568050978]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[0.12363128326019679,-0.6370594547170443,0.71338606911949],"aabb_xy":[[0.07582511564642813,-0.7020594574241031],[0.17143745087396545,-0.5720594520099852]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.42054903312066727,-1.536269780541366,0.71338606911949],"aabb_xy":[[-0.4331517322577438,-1.5488651767662318],[-0.40794633398359087,-1.5236743843165008]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.5393694963163722,0.6826637604099761,0.71338606911949],"aabb_xy":[[0.5292164807622226,0.6465942188372357],[0.5495225118705214,0.7187333019827163]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.5489425218838722,1.603377916497156,0.71338606911949],"aabb_xy":[[0.47894251849231023,1.5680621427937251],[0.6189425252754341,1.6386936902005869]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.036942226092673947,-1.9303511035143552,0.71338606911949],"aabb_xy":[[-0.04335603973585889,-1.9367609237620234],[-0.03052841244948901,-1.9239412832666867]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.08890936954082207,-0.8861955188178845,0.71338606911949],"aabb_xy":[[0.008909372381246783,-0.8977431197757014],[0.16890936670039736,-0.8746479178600673]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.17669258429408796,-1.536662970564303,0.71338606911949],"aabb_xy":[[0.1654475287234701,-1.5479047682883982],[0.18793763986470577,-1.5254211728402076]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.034906515455950804,1.7427028855055764,0.71338606911949],"aabb_xy":[[-0.050008816916968894,1.727601363874514],[-0.019804213994932703,1.7578044071366379]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.10266592388277107,-0.571074056685287,0.71338606911949],"aabb_xy":[[-0.10680178021547126,-0.6085740561296441],[-0.09853006755007088,-0.5335740572409301]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.36911347282757845,-1.087210415437185,0.71338606911949],"aabb_xy":[[0.2791134734092075,-1.1205859122813746],[0.4591134722459493,-1.0538349185929952]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.6453294659115567,-1.290111850295976,0.71338606911949],"aabb_xy":[[0.6379170103701681,-1.2959630607176043],[0.6527419214529451,-1.2842606398743484]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.07346964758843677,-1.6037156979397258,0.71338606911949],"aabb_xy":[[0.023496582055921304,-1.6537156977522591],[0.12344271312095224,-1.5537156981271933]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.3583518305769389,-0.40496483465570243,0.71338606911949],"aabb_xy":[[-0.3632511228835024,-0.4326417539582711],[-0.3534525382703754,-0.37728791535313355]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.2558738726763325,-1.224700907044622,0.71338606911949],"aabb_xy":[[-0.2791557148744638,-1.3097009083418498],[-0.23259203047820112,-1.1397009057473937]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.051789284511369216,-1.0016604947275733,0.71338606911949],"aabb_xy":[[-0.07396181148802006,-1.0238361618836962],[-0.029616757534718374,-0.97948482757145]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.42302904397112334,1.0146029002495696,0.71338606911949],"aabb_xy":[[-0.48702904588346574,0.9586917509915591],[-0.35902904205878106,1.07051404950758]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[0.37029514897952476,-2.401901114779746,0.71338606911949],"aabb_xy":[[0.2902951519652768,-2.4220356664531577],[0.45029514599377274,-2.3817665631063347]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[0.5064742325207212,1.2145950632231917,0.71338606911949],"aabb_xy":[[0.49843789781943637,1.2065569439187749],[0.514510567222006,1.2226331825276084]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.21289040354184519,-0.9453705174804619,0.71338606911949],"aabb_xy":[[0.19039040372794278,-0.9498451338509425],[0.23539040335574754,-0.940895901109981]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.15123882232314234,1.591753430614848,0.71338606911949],"aabb_xy":[[-0.21523882466594388,1.5468125793707155],[-0.08723881998034076,1.6366942818589805]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[-0.24303824988401695,1.3175956999339076,0.71338606911949],"aabb_xy":[[-0.2773545270586349,1.2675956999607298],[-0.20872197270939902,1.3675956999070853]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[0.29988558075429816,-2.0898060018274336,0.71338606911949],"aabb_xy":[[0.2847134114726648,-2.1049748587556367],[0.3150577500359315,-2.0746371448992305]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_29","position":[-0.12078359790124882,-0.25457958239258005,0.71338606911949],"aabb_xy":[[-0.18578359578289663,-0.305703246099121],[-0.055783600019601046,-0.20345591868603924]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[-0.324871031164172,-1.8656991892509334,0.71338606911949],"aabb_xy":[[-0.3701496460453212,-1.9296991885991168],[-0.27959241628302267,-1.8016991899027495]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[-0.4186238111425155,1.6508244685517908,0.71338606911949],"aabb_xy":[[-0.4362566467360431,1.6332015225361676],[-0.40099097554898794,1.6684474145674135]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_32","position":[-0.5689506185011093,0.3461734204491682,0.71338606911949],"aabb_xy":[[-0.5914643103245664,0.2761734198481607],[-0.546436926677652,0.41617342105017574]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_33","position":[0.34793945610057886,1.7847355242320027,0.71338606911949],"aabb_xy":[[0.31449928090455914,1.7512918984010721],[0.38137963129659835,1.8181791500629323]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645127739959977,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/433.png","name":"433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/433.png","name":"433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4468.png","name":"4468"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4030.png","name":"4030"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7569.png","name":"7569"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":580.7574797728489,"rotation_z_degrees":299.61594985112174,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014940537046478405,0.01608480916729482,0.005687415875988474]},{"name":"camera_2","offset_m":[-0.002035175540323727,-0.019563955539598218,0.014031075133746535]},{"name":"camera_3","offset_m":[0.012527878181113995,-0.01817159321772144,-0.0008504616665206376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018862166414392583,0.0010996684868157022,0.0008230663565467712],"end_effector_yaw_offset_degrees":0.5804668527144055},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005462114387136206,0.0008034095181851763,-0.0015913187820536265],"end_effector_yaw_offset_degrees":0.5170067546654247},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[4.0633475411684834e-06,9.011435423866539e-05,-0.0006524222961409589],"end_effector_yaw_offset_degrees":0.9680484968367453}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014354143007610054,0.0011385276771298317],"position_m":[0.336964585699239,0.08643852767712984,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015084246095983843,-0.0030748730178492513],"position_m":[0.2157915753904016,-0.09027487301784926,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014022671568373604,-0.004944847855884112],"position_m":[0.3531977328431627,0.2306551521441159,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028779829625449373,0.002334754355560179],"position_m":[0.24352201703745507,-0.3333652456444398,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7cbe76e720dd11636d683e8a8748ab63674cc602a036d319b5056410f71d4935","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_433/tex_ceiling_textures_7569/tex_floor_textures_4030/tex_table_textures_8164/tex_wall_textures_4468","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2367644693967026905,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2367644693967026905,"visual_seed":2367644693967026905,"scene_id":"lab_003","finished_at":"2026-09-03T11:42:12"} +{"episode_id":"ep_000059","started_at":"2026-09-03T11:42:21","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.35962858215301535,-0.21644454585465533,0.71338606911949],"aabb_xy":[[-0.396959858678258,-0.25109760064950765],[-0.3222973056277727,-0.18179149105980302]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.22591589113813093,-1.1114740453437746,0.71338606911949],"aabb_xy":[[0.15591588774656895,-1.1467898190472054],[0.2959158945296929,-1.0761582716403437]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.26266366896158866,-1.6317317215967244,0.71338606911949],"aabb_xy":[[0.19866367256601553,-1.6956950100154577],[0.3266636653571617,-1.5677684331779906]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.06462636497943464,-1.0501678756536936,0.71338606911949],"aabb_xy":[[-0.1346263613893964,-1.070605811305375],[0.0053736314305271584,-1.0297299400020115]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.3303668881382653,-2.1778746733929224,0.71338606911949],"aabb_xy":[[0.2803676129698292,-2.2278746746688696],[0.38036616330670153,-2.1278746721169752]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.1832820022462216,-0.3500648545712992,0.71338606911949],"aabb_xy":[[-0.20148782590746928,-0.36109025515329085],[-0.16507617858497392,-0.33903945398930757]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.533981689022407,1.780030056523024,0.71338606911949],"aabb_xy":[[0.5251796337134341,1.772218730368095],[0.5427837443313795,1.7878413826779531]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.48619890172600644,1.185959350730275,0.71338606911949],"aabb_xy":[[0.46840539479109006,1.1681596051344771],[0.5039924086609229,1.2037590963260725]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.24799970358931867,-2.4936779884209876,0.71338606911949],"aabb_xy":[[-0.25621424870500265,-2.5023545787186285],[-0.23978515847363469,-2.485001398123346]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.5309810944061002,-0.8771915643856041,0.71338606911949],"aabb_xy":[[0.480981093045213,-0.9271694689610196],[0.5809810957669874,-0.8272136598101884]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.2277183614717203,1.705840313818181,0.71338606911949],"aabb_xy":[[0.1727228836510609,1.6508403123842739],[0.2827138392923797,1.7608403152520877]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.5176572715461567,-1.669383706860354,0.71338606911949],"aabb_xy":[[-0.5256936062474415,-1.6774218261647706],[-0.5096209368448719,-1.661345587555937]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.06399929315673036,1.7816752594762186,0.71338606911949],"aabb_xy":[[0.04966486803056691,1.7696150439216798],[0.07833371828289382,1.7937354750307575]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.17837314115886882,0.19493673894518748,0.71338606911949],"aabb_xy":[[-0.22835194966918468,0.14493673893946868],[-0.1283943326485529,0.24493673895090629]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.3634308117737812,0.36539520462499864,0.71338606911949],"aabb_xy":[[-0.39382892287292476,0.334988302623329],[-0.3330327006746376,0.39580210662666804]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.6187811631108875,-1.4532168667909255,0.71338606911949],"aabb_xy":[[-0.6267044433496358,-1.475716867028929],[-0.6108578828721392,-1.4307168665529222]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.09118362488973264,-2.3569623005024463,0.71338606911949],"aabb_xy":[[-0.17118362815374577,-2.3705223328113596],[-0.011183621625719509,-2.343402268193533]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.3440602044593777,-0.9435616580170765,0.71338606911949],"aabb_xy":[[0.310620029263358,-0.9770052838480066],[0.37750037965539723,-0.9101180321861464]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.5771337174663695,0.5863638131032909,0.71338606911949],"aabb_xy":[[0.5071337148297832,0.5662589481074253],[0.6471337201029559,0.6064686780991563]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[-0.052963866620100886,1.0140267847305537,0.71338606911949],"aabb_xy":[[-0.10294128348535447,0.9640267832413051],[-0.0029864497548473044,1.064026786219802]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[0.15358600239567688,-0.9621712121447079,0.71338606911949],"aabb_xy":[[0.1035860007341821,-1.0121696544004104],[0.20358600405717162,-0.9121727698890052]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[-0.38788184638297735,-1.2811236854046126,0.71338606911949],"aabb_xy":[[-0.39592520630893246,-1.366123686499979],[-0.3798384864570221,-1.1961236843092462]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711181647259936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1992.png","name":"1992"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1565.png","name":"1565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8987.png","name":"8987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5673.png","name":"5673"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":747.7392351004422,"rotation_z_degrees":120.4124813689724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024192450215403116,0.005528955852266398,0.004858792397507226]},{"name":"camera_2","offset_m":[-0.014145191937900146,0.0113682997209003,0.018136401027464884]},{"name":"camera_3","offset_m":[-0.013178475556760865,0.0030971089691572,-0.013966410511764766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016030020493640568,-0.0013584194707084315,-0.0011305675171710892],"end_effector_yaw_offset_degrees":0.34046781763435763},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001111778798782701,0.0002836526738534059,3.302997913285895e-05],"end_effector_yaw_offset_degrees":-0.45545937186071295},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009294936425454799,2.1016203339243884e-05,0.0005148485551835142],"end_effector_yaw_offset_degrees":-0.5380321025627917}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002336373563131967,-0.0034229867281025494],"position_m":[0.336063626436868,0.08187701327189745,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007140286617260813,-0.0023185731848504422],"position_m":[0.21801402866172606,-0.08951857318485044,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020382498217875822,0.004658363931986101],"position_m":[0.3566382498217876,0.2402583639319861,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012899174604657873,-0.0037650615715170187],"position_m":[0.24511008253953423,-0.339465061571517,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f7b621c26e3404637be1bd76329bb7632f15dd4c569e65467abacd60e6d1ebf5","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4863/tex_ceiling_textures_5673/tex_floor_textures_8987/tex_table_textures_1992/tex_wall_textures_1565","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4162821204512374610,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4162821204512374610,"visual_seed":4162821204512374610,"scene_id":"lab_003","finished_at":"2026-09-03T11:44:53"} +{"episode_id":"ep_000060","started_at":"2026-09-03T11:48:00","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[0.06158874661057612,-2.4788138591247857,0.71338606911949],"aabb_xy":[[0.011588747964654915,-2.528733402784248],[0.11158874525649731,-2.4288943154653233]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.3987886901301363,-1.1740322807323333,0.71338606911949],"aabb_xy":[[0.3812886898707998,-1.188123822921106],[0.416288690389473,-1.1599407385435607]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.28305381589525347,-1.0992974564584954,0.71338606911949],"aabb_xy":[[-0.3055538154189608,-1.1217934039091162],[-0.260553816371546,-1.0768015090078746]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.4387301510357129,-1.8537706302040768,0.71338606911949],"aabb_xy":[[0.3747301546401398,-1.9177339186228104],[0.502730147431286,-1.7898073417853433]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.21941325506213627,-2.5195222118958127,0.71338606911949],"aabb_xy":[[-0.2894132576987226,-2.539627076891678],[-0.1494132524255499,-2.499417346899947]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.6609502915907335,-0.338833933244592,0.71338606911949],"aabb_xy":[[-0.6834639834141907,-0.40883393384559946],[-0.6384365997672763,-0.2688339326435844]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[0.6146993045958558,1.6892596817648724,0.71338606911949],"aabb_xy":[[0.5822376037139281,1.6591268496499696],[0.647161005477783,1.7193925138797748]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.5058808520757219,0.4759303540890696,0.71338606911949],"aabb_xy":[[0.4607095342275529,0.4119303569445313],[0.5510521699238908,0.5399303512336081]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.6189196758690061,-0.7229197493232755,0.71338606911949],"aabb_xy":[[0.5691028964041713,-0.772919747807579],[0.6687364553338409,-0.6729197508389723]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.5033698294818643,-1.6121725880845381,0.71338606911949],"aabb_xy":[[0.49705772994552583,-1.6179395273377573],[0.5096819290182026,-1.6064056488313194]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.180724128325488,1.086404184192892,0.71338606911949],"aabb_xy":[[0.16809734103829166,1.076858110491319],[0.19335091561268436,1.0959502578944649]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.2851639326797304,-0.14070205101109723,0.71338606911949],"aabb_xy":[[-0.34916393596943845,-0.18403697001501484],[-0.22116392939002225,-0.09736713200717963]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.4464667592426306,-2.064160554942574,0.71338606911949],"aabb_xy":[[0.4371197516603353,-2.078464177160218],[0.45581376682492575,-2.04985693272493]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.10600220569095997,-0.17603749212413922,0.71338606911949],"aabb_xy":[[-0.11095822587584118,-0.1985374923262609],[-0.10104618550607879,-0.15353749192201763]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.4909247269409023,-0.2733509458008547,0.71338606911949],"aabb_xy":[[-0.4989680868668574,-0.3583509468962211],[-0.48288136701494705,-0.18835094470548824]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.06986793381768663,1.7159978241939666,0.71338606911949],"aabb_xy":[[-0.08654506981078214,1.6992979002200361],[-0.05319079782459113,1.7326977481678967]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.0007773789666896125,1.293644509805838,0.71338606911949],"aabb_xy":[[-0.03672261960893119,1.28090821414228],[0.03827737754231041,1.306380805469396]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[0.6038999924498829,-0.46939490237718706,0.71338606911949],"aabb_xy":[[0.54892627041355,-0.5243949019414202],[0.6588737144862158,-0.4143949028129539]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.423298706027017,-0.8044047637222602,0.71338606911949],"aabb_xy":[[-0.4782909566625281,-0.8594047654655731],[-0.36830645539150614,-0.7494047619789475]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.6038630973943955,1.2531636619612079,0.71338606911949],"aabb_xy":[[0.5238630941303822,1.2396036296522943],[0.6838631006584085,1.266723694270121]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679216630914939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2330.png","name":"2330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/971.png","name":"971"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1935.png","name":"1935"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7968.png","name":"7968"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":556.0724021589269,"rotation_z_degrees":193.18063785309775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007005070437265951,-0.003511213914295687,0.005275516388173789]},{"name":"camera_2","offset_m":[-0.0072839450751702554,-0.009293077044154755,0.019410021252130778]},{"name":"camera_3","offset_m":[0.011134714369148278,0.007610241281311745,0.019072993382652375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016802111462944965,-0.0005396355656471328,-0.001088339392586098],"end_effector_yaw_offset_degrees":0.09328981057518848},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010462700665407128,-0.0006315808499244833,-0.0019824535346190768],"end_effector_yaw_offset_degrees":-0.8525256702817834},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009614967509090145,5.7862242264835034e-05,-0.0009372268611368697],"end_effector_yaw_offset_degrees":0.3666970689454683}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012874621468941562,0.004866297823151231],"position_m":[0.3371125378531058,0.09016629782315123,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032528069763718337,-0.0005917278962014293],"position_m":[0.22055280697637183,-0.08779172789620143,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018538546215199556,-0.003921553409676734],"position_m":[0.35645385462151996,0.23167844659032327,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002837013033628109,0.0008723584053588144],"position_m":[0.2492370130336281,-0.3348276415946412,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d268b6977ca699de8af3b42fbb1c10ff4944f9b823ed1cda5c0629d542c30732","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3034/tex_ceiling_textures_7968/tex_floor_textures_1935/tex_table_textures_2330/tex_wall_textures_971","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5950836450128397097,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5950836450128397097,"visual_seed":5950836450128397097,"scene_id":"lab_003","finished_at":"2026-09-03T11:50:23"} +{"episode_id":"ep_000061","started_at":"2026-09-03T11:58:51","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.6162076860777368,0.4434065771568032,0.71338606911949],"aabb_xy":[[0.5787076859721437,0.436584415303822],[0.6537076861833296,0.4502287390097843]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.5170402292582357,-1.3701359459397877,0.71338606911949],"aabb_xy":[[-0.5620328159766861,-1.4151359452142365],[-0.47204764253978526,-1.325135946665339]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.3083494655501611,1.6774430250837429,0.71338606911949],"aabb_xy":[[-0.3184311726287345,1.5974430271916278],[-0.29826775847158754,1.757443022975857]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.35466849696685687,-0.10105584657663913,0.71338606911949],"aabb_xy":[[-0.36336645925757216,-0.11318082088411387],[-0.3459705346761416,-0.08893087226916441]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.6051967120945478,-0.6034645445839584,0.71338606911949],"aabb_xy":[[0.5919657665598663,-0.6166919636059577],[0.6184276576292289,-0.5902371255619588]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.18110174833044868,-1.5024978196081042,0.71338606911949],"aabb_xy":[[0.16676732320428522,-1.5145580351626433],[0.19543617345661213,-1.4904376040535656]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.18476909814913556,1.066654592369849,0.71338606911949],"aabb_xy":[[0.16226909833523315,1.0621799759993682],[0.2072690979630379,1.0711292087403297]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.4106931297507287,-0.979979377683776,0.71338606911949],"aabb_xy":[[-0.49441535525081115,-1.069979381218472],[-0.32697090425064623,-0.8899793741490799]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.6089561739645661,1.7924499189871512,0.71338606911949],"aabb_xy":[[-0.6139121941494474,1.76994991878503],[-0.6040001537796851,1.8149499191892733]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.27995880781250154,0.3468624732960266,0.71338606911949],"aabb_xy":[[-0.31745880623590184,0.33369825932819586],[-0.24245880938910114,0.3600266872638571]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.4293119751476806,0.5055610966361495,0.71338606911949],"aabb_xy":[[0.37168150626040963,0.44556109770943875],[0.4869424440349513,0.5655610955628599]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.5882840636306255,-0.09891131190670732,0.71338606911949],"aabb_xy":[[0.5704149558761701,-0.11274421988391825],[0.6061531713850811,-0.0850784039294964]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[0.46921947894954386,-2.1032198381315204,0.71338606911949],"aabb_xy":[[0.43675777806761634,-2.1333526702464223],[0.5016811798314712,-2.0730870060166167]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.6258983131175455,0.7700981947285195,0.71338606911949],"aabb_xy":[[0.5908983117660637,0.7497384587716986],[0.6608983144690271,0.7904579306853403]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.5143694158261327,-1.429207899922357,0.71338606911949],"aabb_xy":[[0.45036941253642454,-1.4725428189262746],[0.5783694191158407,-1.3858729809184394]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.3085829886038575,-1.9091322192080922,0.71338606911949],"aabb_xy":[[-0.38858299076661995,-1.9890874028342354],[-0.22858298644109498,-1.829177035581948]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.3662572742027827,-2.1909940324951074,0.71338606911949],"aabb_xy":[[-0.38446309786403043,-2.2020194330770995],[-0.3480514505415351,-2.179968631913116]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.37678879299376244,-0.2896863093625104,0.71338606911949],"aabb_xy":[[-0.39867854058270324,-0.3796863066517595],[-0.35489904540482164,-0.1996863120732613]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.6056430807996476,-0.7838552554024629,0.71338606911949],"aabb_xy":[[0.555648247871706,-0.8338552542977063],[0.6556379137275892,-0.7338552565072193]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.21423928722275637,0.8890349850836818,0.71338606911949],"aabb_xy":[[-0.3039263635308718,0.7990349848292314],[-0.12455221091464092,0.9790349853381325]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.29825089689057027,1.2069724467570873,0.71338606911949],"aabb_xy":[[-0.32325089644230875,1.1968299628919525],[-0.2732508973388318,1.217114930622222]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.2790167925032925,-0.4535345379805542,0.71338606911949],"aabb_xy":[[0.27343512086916366,-0.46603453779832965],[0.2845984641374212,-0.44103453816277866]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[0.015869063671820838,-2.10061277475632,0.71338606911949],"aabb_xy":[[-0.04813093562234738,-2.164598915125174],[0.07986906296598906,-2.0366266343874657]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.14723774098882725,-2.323521669721853,0.71338606911949],"aabb_xy":[[-0.1735265653092679,-2.3497931033765043],[-0.1209489166683866,-2.297250236067202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6693747304445532,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2482.png","name":"2482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2482.png","name":"2482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4067.png","name":"4067"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5877.png","name":"5877"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9480.png","name":"9480"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5060.png","name":"5060"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":542.2827665922593,"rotation_z_degrees":75.52659652962065,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008176851153516447,-0.014178937130290593,0.016414843257926203]},{"name":"camera_2","offset_m":[-0.009422835238203536,0.016433717697345886,0.005555619920871044]},{"name":"camera_3","offset_m":[-0.015008230161384355,0.01391924894872101,0.00016068887056373132]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00039999686674147775,0.0009075139872881557,0.0018509996494374546],"end_effector_yaw_offset_degrees":0.27940304692652695},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005298423920184177,-0.00033836958547002775,-0.0014822699121498535],"end_effector_yaw_offset_degrees":-0.41830042567419823},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0013767886587698125,-0.0005317085565249543,-0.0005142164413852051],"end_effector_yaw_offset_degrees":-0.1304326319898359}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001873959932713564,0.004895595335699447],"position_m":[0.34027395993271353,0.09019559533569944,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025161302758272552,-0.002679673182049875],"position_m":[0.21981613027582725,-0.08987967318204987,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002136106323776525,-0.00051625037120916],"position_m":[0.35673610632377656,0.23508374962879083,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034905204231858193,0.0009273992403615698],"position_m":[0.24989052042318582,-0.33477260075963844,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d05b7fa81e5c47b93aa6a58ec20c1f5d5bd98abd2328904aec9a509a56f96dfe","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2482/tex_ceiling_textures_5060/tex_floor_textures_9480/tex_table_textures_4067/tex_wall_textures_5877","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1135771175455457281,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1135771175455457281,"visual_seed":1135771175455457281,"scene_id":"lab_003","finished_at":"2026-09-03T12:01:21"} +{"episode_id":"ep_000062","started_at":"2026-09-03T12:01:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.6336339120762869,-0.3878193058308095,0.71338606911949],"aabb_xy":[[-0.6789125269574362,-0.4518193051789932],[-0.5883552971951377,-0.32381930648262586]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.5313384474341498,-2.088750974983814,0.71338606911949],"aabb_xy":[[0.4673384455218075,-2.1446621242418247],[0.5953384493464922,-2.032839825725804]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.6392954371386665,0.12828662734370955,0.71338606911949],"aabb_xy":[[0.5592954357085392,0.04876947233110007],[0.7192954385687936,0.20780378235631902]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[0.04926244635540744,-1.1176284149766542,0.71338606911949],"aabb_xy":[[0.016800745473479973,-1.1477612470915566],[0.08172414723733487,-1.0874955828617514]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.16540553684781012,-1.8454280974806374,0.71338606911949],"aabb_xy":[[0.15277874956061377,-1.8549741711822103],[0.17803232413500647,-1.8358820237790645]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.364439300601459,-0.37249943845875944,0.71338606911949],"aabb_xy":[[-0.44443929800505244,-0.4524920096569422],[-0.2844393031978656,-0.29250686726057656]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.44073130412843664,1.287171058416464,0.71338606911949],"aabb_xy":[[0.3570090786283541,1.197171054881768],[0.5244535296285191,1.37717106195116]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.3817340507434345,-2.3917475263471495,0.71338606911949],"aabb_xy":[[-0.44573405112096814,-2.4414927931979618],[-0.3177340503659009,-2.3420022594963372]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.6065276380209959,-2.4949628790851595,0.71338606911949],"aabb_xy":[[0.5890276377616592,-2.5090544212739325],[0.6240276382803325,-2.4808713368963873]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.3935870227882423,-2.2696055790054994,0.71338606911949],"aabb_xy":[[0.38171493977674115,-2.3546055786991498],[0.40545910579974337,-2.184605579311849]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.11211622540886323,1.600185715175154,0.71338606911949],"aabb_xy":[[0.08961980397499913,1.5776857153684063],[0.13461264684272733,1.6226857149819012]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.5067523008676105,-0.4815263306976725,0.71338606911949],"aabb_xy":[[0.4997119909340736,-0.5615263300973439],[0.5137926108011476,-0.40152633129800114]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.5999885303434043,-0.8339646871065349,0.71338606911949],"aabb_xy":[[0.5500055801559248,-0.8839646867490952],[0.6499714805308835,-0.7839646874639744]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.40204187703954125,-1.9666822100445995,0.71338606911949],"aabb_xy":[[-0.4620418786824631,-2.0186823593365437],[-0.3420418753966194,-1.9146820607526556]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.4908257183430136,0.7260983400764931,0.71338606911949],"aabb_xy":[[-0.5403061395569724,0.6620983421636414],[-0.4413452971290548,0.790098337989345]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[-0.04988806745225971,-1.7334751049437087,0.71338606911949],"aabb_xy":[[-0.12988807071627284,-1.7470351372526218],[0.03011193581175342,-1.7199150726347952]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.14081542917135959,-1.9166622061138945,0.71338606911949],"aabb_xy":[[-0.20081542967921254,-1.9735089397998156],[-0.0808154286635067,-1.859815472427973]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.4032093748753955,1.2711909607989442,0.71338606911949],"aabb_xy":[[-0.4932093772094146,1.1937086062138316],[-0.3132093725413765,1.3486733153840569]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.3522592005761065,0.8456023180430128,0.71338606911949],"aabb_xy":[[-0.3897592010734647,0.8416336344948944],[-0.3147592000787482,0.8495710015911312]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[-0.0819938537680881,-0.3709856704179857,0.71338606911949],"aabb_xy":[[-0.09486575726902824,-0.45098567083182184],[-0.06912195026714796,-0.29098567000414954]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697117194067905,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4641.png","name":"4641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7736.png","name":"7736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2119.png","name":"2119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2868.png","name":"2868"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":826.1464558862633,"rotation_z_degrees":353.21203793912383,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002961599351293063,0.016324338016690764,0.006225247778271128]},{"name":"camera_2","offset_m":[0.011537020162391807,-0.01430828886010234,-0.016007499947000646]},{"name":"camera_3","offset_m":[0.017755254526390426,0.004034432821085336,-0.012774109132454116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005532554392996571,-0.00012676058288639503,0.0005354817182900385],"end_effector_yaw_offset_degrees":0.7113492345780092},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015392963550373215,0.0015221870990641526,0.0014311664429739156],"end_effector_yaw_offset_degrees":-0.28573958692537893},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004754999724607548,0.001163011730782999,-0.001977381971982366],"end_effector_yaw_offset_degrees":-0.8594141692076744}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004515903504895256,0.0022002199339886987],"position_m":[0.3338840964951047,0.0875002199339887,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002882071609724213,0.002841243312354095],"position_m":[0.2144179283902758,-0.0843587566876459,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004084267077026604,-0.004797344143268979],"position_m":[0.3586842670770266,0.23080265585673101,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001995512936802667,-0.0035105368094974568],"position_m":[0.24440448706319734,-0.3392105368094975,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30b2f9297e3675cd08f4fe6ed0c2cedd6157b821d706bf379a8fd698a7346391","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2213/tex_ceiling_textures_2868/tex_floor_textures_2119/tex_table_textures_4641/tex_wall_textures_7736","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8238210208384705759,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8238210208384705759,"visual_seed":8238210208384705759,"scene_id":"lab_003","finished_at":"2026-09-03T12:03:50"} +{"episode_id":"ep_000063","started_at":"2026-09-03T12:03:54","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[0.37541810590139457,1.576002520263501,0.71338606911949],"aabb_xy":[[0.3344001625150237,1.5260025196325435],[0.41643604928776545,1.6260025208944582]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.5638176995511457,-2.162526902769038,0.71338606911949],"aabb_xy":[[-0.5988177009026272,-2.1828866387258588],[-0.5288176981996637,-2.142167166812217]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.25944552655205466,0.22179568902229896,0.71338606911949],"aabb_xy":[[-0.2944455248221745,0.21472156132731077],[-0.2244455282819347,0.2288698167172871]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.15250854111566536,0.8719863708096103,0.71338606911949],"aabb_xy":[[-0.1642767279103229,0.7869863709043889],[-0.14074035432100787,0.9569863707148321]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.5821566477038222,-0.8126779533688198,0.71338606911949],"aabb_xy":[[0.5748954001334147,-0.8254649636323291],[0.5894178952742296,-0.7998909431053102]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.3295059534571676,-0.7950924458136619,0.71338606911949],"aabb_xy":[[0.29910784235802396,-0.8254993478153313],[0.35990406455631113,-0.7646855438119923]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.4015402814922149,-1.9003267006183462,0.71338606911949],"aabb_xy":[[0.39029522592159704,-1.9115684983424415],[0.4127853370628327,-1.889084902894251]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.2334322319558581,-2.208644090875512,0.71338606911949],"aabb_xy":[[-0.3134322305431775,-2.2879596928136725],[-0.15343223336853865,-2.1293284889373507]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.30644847396688,-2.4993196055786657,0.71338606911949],"aabb_xy":[[-0.3172214478882478,-2.5343196037977047],[-0.29567550004551224,-2.4643196073596267]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.06488579593292398,-1.31085145504794,0.71338606911949],"aabb_xy":[[-0.11488062886086559,-1.3608514539431837],[-0.014890963004982383,-1.2608514561526967]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.47722439780882553,1.3491184590431562,0.71338606911949],"aabb_xy":[[0.468510428758891,1.3266184583839675],[0.48593836685875996,1.371618459702344]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.2436512737145053,0.6293818088784735,0.71338606911949],"aabb_xy":[[-0.2570978003485487,0.6159119572253823],[-0.23020474708046199,0.6428516605315647]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.5859128286910631,0.77772015653867,0.71338606911949],"aabb_xy":[[0.5059128300341771,0.7632152976144072],[0.6659128273479491,0.7922250154629328]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[0.5465659732143104,0.05741150282559904,0.71338606911949],"aabb_xy":[[0.5289331376207828,0.039788556809976054],[0.5641988088078379,0.075034448841222]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.20078907597910123,-1.8051904894131727,0.71338606911949],"aabb_xy":[[0.18411193998600572,-1.8218904133871032],[0.21746621197219673,-1.7884905654392427]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.5086949429555108,0.9884058537938225,0.71338606911949],"aabb_xy":[[-0.5424705021462037,0.9743673585806575],[-0.4749193837648178,1.0024443490069874]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.01633101501556533,-1.0251073216627746,0.71338606911949],"aabb_xy":[[0.008337525220283302,-1.0331054536032502],[0.024324504810847362,-1.017109189722299]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.4237260803680245,0.36103304955667115,0.71338606911949],"aabb_xy":[[-0.47372109132747664,0.3110330505210795],[-0.37373106940857254,0.411033048592263]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.6271041009845395,0.2668475369884935,0.71338606911949],"aabb_xy":[[0.6217665253185349,0.24184753605935372],[0.6324416766505441,0.2918475379176333]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.432863673453846,-2.080212276283305,0.71338606911949],"aabb_xy":[[-0.48284248196416185,-2.1302122762890234],[-0.3828848649435301,-2.030212276277586]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.11256110797671848,0.6374829067486085,0.71338606911949],"aabb_xy":[[0.08471607119611135,0.606698408010297],[0.1404061447573256,0.6682674054869203]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.20314187589490623,-1.7932570396433327,0.71338606911949],"aabb_xy":[[-0.2671418723222282,-1.8404266634654294],[-0.13914187946758436,-1.7460874158212365]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.17502115191043455,-1.7205998451600992,0.71338606911949],"aabb_xy":[[0.11002115375451549,-1.7468960897100112],[0.2400211500663536,-1.6943036006101868]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.47752088233995793,-1.6322367281575083,0.71338606911949],"aabb_xy":[[0.45965177458550244,-1.6460696361347193],[0.4953899900944134,-1.6184038201802973]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[0.40446548249203995,-2.4532002296658835,0.71338606911949],"aabb_xy":[[0.3918627833549635,-2.4657956258907494],[0.4170681816291164,-2.4406048334410184]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.15671868874183703,1.4563726481158379,0.71338606911949],"aabb_xy":[[-0.1664746782510109,1.4466101140566032],[-0.1469626992326631,1.466135182175072]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[-0.29595896679734657,1.521236011239075,0.71338606911949],"aabb_xy":[[-0.3334589679821393,1.5168177885430143],[-0.2584589656125537,1.5256542339351353]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.024110707293668376,-0.8795701464050927,0.71338606911949],"aabb_xy":[[0.01999475718159571,-0.883685701437938],[0.028226657405741037,-0.8754545913722469]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[0.519535114369041,0.9088232523417479,0.71338606911949],"aabb_xy":[[0.4595351138611881,0.8519765186558266],[0.5795351148768939,0.9656699860276692]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_29","position":[0.28053056392715103,-1.9639612050911874,0.71338606911949],"aabb_xy":[[0.2355305624609222,-2.008961061952668],[0.3255305653933799,-1.918961348229707]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_30","position":[-0.655187687093068,-0.13579856729146123,0.71338606911949],"aabb_xy":[[-0.6632310470190231,-0.22079856838682765],[-0.6471443271671128,-0.050798566196094797]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_31","position":[0.5679404999626381,-2.297923885876472,0.71338606911949],"aabb_xy":[[0.5454405001487357,-2.302398502246952],[0.5904404997765405,-2.293449269505991]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_32","position":[-0.13736096309960233,0.6185827270849322,0.71338606911949],"aabb_xy":[[-0.14440241405034993,0.6115559753471376],[-0.13031951214885473,0.6256094788227267]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_33","position":[0.48330687850334964,-0.9476529326549112,0.71338606911949],"aabb_xy":[[0.47315386294920014,-0.9837224742276514],[0.4934598940574989,-0.9115833910821707]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_34","position":[0.34745628482090374,-1.6058164724379418,0.71338606911949],"aabb_xy":[[0.34017396844424,-1.6958164760474503],[0.35473860119756734,-1.5158164688284324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686614040096123,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3739.png","name":"3739"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3739.png","name":"3739"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5715.png","name":"5715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7446.png","name":"7446"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":746.1952236468455,"rotation_z_degrees":225.97269792677827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019608358346766292,0.014715134404879971,-0.0033880246716625276]},{"name":"camera_2","offset_m":[-0.009252488092745743,0.0038520016525707967,0.018013104800233982]},{"name":"camera_3","offset_m":[0.014767576512819385,0.016702892144119467,0.018203303881147787]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007580791742263985,-0.0019008495166645933,0.0004934849749206925],"end_effector_yaw_offset_degrees":0.6552461860588787},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008532423973845681,0.0015613474469888208,-0.0006275299607045191],"end_effector_yaw_offset_degrees":-0.06782625184626023},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006170385664474426,0.0014934049967842557,-0.001631966266283654],"end_effector_yaw_offset_degrees":-0.7292410745801816}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015616997970389788,-0.004527854063327657],"position_m":[0.33996169979703894,0.08077214593667234,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0028872512308821562,0.002600357582985543],"position_m":[0.21441274876911784,-0.08459964241701445,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021561303273226673,-0.002608985451158531],"position_m":[0.3567561303273227,0.23299101454884147,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002976199824029726,0.0015509293852266938],"position_m":[0.24937619982402973,-0.3341490706147733,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"946021753650a40bf1340f7cc208a7e2d36b732975e0c10dc259c1e629564c26","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0103.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3739/tex_ceiling_textures_1296/tex_floor_textures_6580/tex_table_textures_5715/tex_wall_textures_7446","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3294374983719938999,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3294374983719938999,"visual_seed":3294374983719938999,"scene_id":"lab_003","finished_at":"2026-09-03T12:06:16"} +{"episode_id":"ep_000064","started_at":"2026-09-03T12:06:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.1591892978747459,0.2605448505421326,0.71338606911949],"aabb_xy":[[-0.20699546548851452,0.1955448478350736],[-0.11138313026097724,0.3255448532491915]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.10475352380838077,-0.6293450741888498,0.71338606911949],"aabb_xy":[[-0.11450951331755463,-0.6391076082480841],[-0.09499753429920685,-0.6195825401296152]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.10652426768018108,-1.314403880208148,0.71338606911949],"aabb_xy":[[-0.11451775747546314,-1.3224020121486237],[-0.09853077788489908,-1.3064057482676725]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.31385522830393753,0.8213489211492546,0.71338606911949],"aabb_xy":[[0.3077606004158192,0.812779526597586],[0.31994985619205585,0.8299183157009234]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.36307816486615896,0.7889722616621655,0.71338606911949],"aabb_xy":[[-0.3701196158169065,0.7819455099243711],[-0.3560367139154113,0.7959990133999602]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.06799597639245347,0.8095683646327907,0.71338606911949],"aabb_xy":[[0.018113279514757264,0.7595683653865162],[0.11787867327014968,0.8595683638790657]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.35481431774000666,-0.4717983521314406,0.71338606911949],"aabb_xy":[[-0.4048143181005727,-0.5217783393410435],[-0.3048143173794406,-0.4218183649218376]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.3389913835470051,1.2368966322906592,0.71338606911949],"aabb_xy":[[0.32188930558863693,1.2197898267593894],[0.35609346150537324,1.254003437821929]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.06031234202199154,-2.118525375684986,0.71338606911949],"aabb_xy":[[0.04895060736870537,-2.129893842091274],[0.0716740766752777,-2.1071569092786975]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.28301077560966215,-2.4700068095611303,0.71338606911949],"aabb_xy":[[0.27887491927696195,-2.5075068090054877],[0.28714663194236234,-2.4325068101167737]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.4637979383416171,-1.1812392711598694,0.71338606911949],"aabb_xy":[[0.37379794184074533,-1.2271509135783274],[0.5537979348424888,-1.135327628741411]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[-0.28272662834925455,1.1515632753957306,0.71338606911949],"aabb_xy":[[-0.3170235393669951,1.117266389185789],[-0.24842971733151387,1.1858601616056716]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.36036136134412566,0.3055526121336771,0.71338606911949],"aabb_xy":[[-0.37546366280514365,0.29045109050261525],[-0.34525905988310746,0.3206541337647389]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.4131389036162545,-1.6202280547404855,0.71338606911949],"aabb_xy":[[0.3781389037202356,-1.6286022902524253],[0.44813890351227337,-1.6118538192285452]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.2483229249099591,-1.6224365381878934,0.71338606911949],"aabb_xy":[[0.2433669047250779,-1.6449365383900152],[0.2532789450948403,-1.599936537985772]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.22757372354228284,-1.0147260665847937,0.71338606911949],"aabb_xy":[[-0.24785802626568157,-1.0350086917275023],[-0.20728942081888405,-0.9944434414420847]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.41218762246144275,-2.2768989551970846,0.71338606911949],"aabb_xy":[[-0.44718762159139835,-2.2826441762727487],[-0.37718762333148703,-2.2711537341214205]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.6034102566097339,0.971557136564253,0.71338606911949],"aabb_xy":[[0.5788640409869832,0.9413082400152158],[0.6279564722324846,1.0018060331132899]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.5713368355040109,-1.2960914821806506,0.71338606911949],"aabb_xy":[[0.5534677277495554,-1.3099243901578617],[0.5892059432584664,-1.2822585742034396]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.5903033748862202,-2.050663973811335,0.71338606911949],"aabb_xy":[[-0.6543033752637537,-2.100409240662147],[-0.5263033745086865,-2.0009187069605225]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.5705404166875345,-1.264739766701187,0.71338606911949],"aabb_xy":[[-0.5941255401514295,-1.3297397689466186],[-0.5469552932236398,-1.199739764455755]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.6849518920864806,-1.054287450465279,0.71338606911949],"aabb_xy":[[0.6674519586524971,-1.0717874503855134],[0.7024518255204638,-1.0367874505450443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716302280414602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5065.png","name":"5065"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5065.png","name":"5065"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7968.png","name":"7968"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2620.png","name":"2620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6888.png","name":"6888"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":568.1285606645647,"rotation_z_degrees":121.4533237856615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005164511648560209,0.009282546962310127,0.015377164223349605]},{"name":"camera_2","offset_m":[0.014071987991264707,-0.0031383089891180924,0.010228943033716562]},{"name":"camera_3","offset_m":[0.014231274846789977,0.004472272473476559,-0.017187541623468555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002632347521650544,0.0018822960978958385,0.0019986398606032865],"end_effector_yaw_offset_degrees":0.5098743748760044},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001352358209602095,-0.0009405014556836972,-3.9529747670618946e-05],"end_effector_yaw_offset_degrees":-0.10009190258619571},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005759351365170226,0.00010253028020619243,-0.0003524131186609684],"end_effector_yaw_offset_degrees":0.4180285503359309}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004075088354412738,-0.0038294555518224903],"position_m":[0.33432491164558725,0.08147054444817751,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010682871477638734,0.0016335551249058236],"position_m":[0.2162317128522361,-0.08556644487509418,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004012354424267241,0.0009029758705913268],"position_m":[0.35861235442426725,0.23650297587059133,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018118738121820355,-0.003613091697515315],"position_m":[0.24821187381218204,-0.33931309169751533,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"14c469b53e74984c210e6b2e2a181773603c06e24454db3feb257b222be21a9e","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5065/tex_ceiling_textures_6888/tex_floor_textures_2620/tex_table_textures_4788/tex_wall_textures_7968","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2089003634833445890,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2089003634833445890,"visual_seed":2089003634833445890,"scene_id":"lab_003","finished_at":"2026-09-03T12:08:52"} +{"episode_id":"ep_000065","started_at":"2026-09-03T12:08:54","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.06288733230518684,1.3188018323843722,0.71338606911949],"aabb_xy":[[-0.0716013013551213,1.2963018317251835],[-0.05417336325525233,1.34130183304356]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.5665078672542986,-2.386352608671472,0.71338606911949],"aabb_xy":[[-0.6164908174417778,-2.436352608314032],[-0.5165249170668191,-2.336352609028911]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.6711251511788443,1.1874406233905654,0.71338606911949],"aabb_xy":[[-0.6787494192690225,1.1798073998540217],[-0.6635008830886661,1.1950738469271092]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.07663236816693586,1.528318927309321,0.71338606911949],"aabb_xy":[[0.07013073165893124,1.5185511052830114],[0.08313400467494048,1.538086749335631]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.3098799014163245,1.315634929133961,0.71338606911949],"aabb_xy":[[-0.3223472595260602,1.3031696045006376],[-0.2974125433065889,1.3281002537672846]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[0.5533014484453438,1.2702453412484176,0.71338606911949],"aabb_xy":[[0.5484578536841138,1.2653936887694335],[0.5581450432065738,1.2750969937274017]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.2448681752656519,-0.5601352975488876,0.71338606911949],"aabb_xy":[[-0.2580194212369413,-0.5851352973055742],[-0.23171692929436258,-0.5351352977922011]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.5924248781087338,-1.0581156112160994,0.71338606911949],"aabb_xy":[[-0.600418866686437,-1.0661156913111898],[-0.5844308895310302,-1.050115531121009]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.43696609341048387,1.099553241815788,0.71338606911949],"aabb_xy":[[-0.47798403679685475,1.0495532411848307],[-0.395948150024113,1.1495532424467454]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.19911984842812203,-1.0538301349471904,0.71338606911949],"aabb_xy":[[0.18210975113807135,-1.069964623445464],[0.21612994571817265,-1.0376956464489162]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.12347790031502581,-0.9816684753600591,0.71338606911949],"aabb_xy":[[-0.21316497662314127,-1.0716684756145096],[-0.033790824006910344,-0.8916684751056085]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.5780300034898477,0.28021308872223116,0.71338606911949],"aabb_xy":[[-0.6280300048507348,0.2302351841468155],[-0.5280300021289603,0.33019099329764673]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[0.6872668219275198,-2.157799033670922,0.71338606911949],"aabb_xy":[[0.6819343072729067,-2.1631233619161576],[0.6925993365821328,-2.152474705425686]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.008602969386625525,-2.371196417653795,0.71338606911949],"aabb_xy":[[-0.03218809285052038,-2.4361964198992268],[0.014982154077269327,-2.306196415408363]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.32503871570292986,-2.2357683793054974,0.71338606911949],"aabb_xy":[[-0.415038715426104,-2.258841731840677],[-0.23503871597975565,-2.212695026770317]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.0763192321955638,-1.646408572780323,0.71338606911949],"aabb_xy":[[-0.10015544983616889,-1.7364085735888095],[-0.052483014554958754,-1.5564085719718366]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.5512470000789897,0.1515117928394938,0.71338606911949],"aabb_xy":[[0.5162470001024939,0.1420471767918772],[0.5862470000554856,0.16097640888711043]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.3390502478745441,-2.0517847195466015,0.71338606911949],"aabb_xy":[[0.2790502470137312,-2.1032111495530876],[0.3990502487353568,-2.0003582895401144]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[0.27474226175825855,1.3836995917279156,0.71338606911949],"aabb_xy":[[0.2572422626238913,1.3738199646903277],[0.29224226089262567,1.3935792187655034]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[-0.6498460414001938,1.7439645338757015,0.71338606911949],"aabb_xy":[[-0.6723424628340579,1.721464534068954],[-0.6273496199663297,1.766464533682449]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686309265785955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3370.png","name":"3370"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3370.png","name":"3370"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5003.png","name":"5003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8185.png","name":"8185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3381.png","name":"3381"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1517.png","name":"1517"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":701.1656522831629,"rotation_z_degrees":240.83619415365618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002866661975258023,-0.009155091903398565,0.0011982934907917818]},{"name":"camera_2","offset_m":[0.012443595849044812,-0.013470040806978285,-0.01973980798271776]},{"name":"camera_3","offset_m":[-0.019899620765023624,-0.017543862256946256,0.015683433388877396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009549679541191861,-1.921625925117767e-05,-0.0018901593836264934],"end_effector_yaw_offset_degrees":0.695493305458762},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008901581035059198,-0.0014901029880555084,-0.0005517902735518128],"end_effector_yaw_offset_degrees":0.24965238958945024},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00036574288795301673,0.0009300821733828307,0.0008934716632879474],"end_effector_yaw_offset_degrees":-0.11126144223296364}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004417612496697962,-0.00234865266715371],"position_m":[0.333982387503302,0.08295134733284629,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016673143618423161,0.0019932523953331057],"position_m":[0.2189673143618423,-0.0852067476046669,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002468488941804123,-0.00353877381569426],"position_m":[0.35706848894180415,0.23206122618430575,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003828074735068219,-0.004979128423192642],"position_m":[0.2425719252649318,-0.34067912842319265,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50751a9e9a31bdcf440e9c9424b2d0a7c37eacec1017b67c62cd7da7695f6501","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0105.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3370/tex_ceiling_textures_1517/tex_floor_textures_3381/tex_table_textures_5003/tex_wall_textures_8185","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":849367887916367324,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":849367887916367324,"visual_seed":849367887916367324,"scene_id":"lab_003","finished_at":"2026-09-03T12:11:23"} +{"episode_id":"ep_000066","started_at":"2026-09-03T12:11:25","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.5752463539302474,-1.541568051546978,0.71338606911949],"aabb_xy":[[-0.6230525215440159,-1.6065680542540368],[-0.5274401863164786,-1.476568048839919]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.442203805191168,-0.2262864657521968,0.71338606911949],"aabb_xy":[[-0.4772038043839862,-0.23725351174985937],[-0.40720380599834965,-0.2153194197545341]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.09776601068160429,-0.7881209173166879,0.71338606911949],"aabb_xy":[[-0.139014821711519,-0.8431209168289052],[-0.05651719965168955,-0.7331209178044703]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.6216701389594175,-0.8698624495725904,0.71338606911949],"aabb_xy":[[0.575585047704686,-0.9338624468251456],[0.667755230214149,-0.8058624523200354]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[0.012083047985583462,-0.9904226145642965,0.71338606911949],"aabb_xy":[[-0.051916954234823565,-1.0347956986895848],[0.07608305020599049,-0.9460495304390081]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.1409187186338262,-1.008234919207543,0.71338606911949],"aabb_xy":[[-0.1533860767435619,-1.0207002438408666],[-0.1284513605240906,-0.9957695945742195]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.6605367970695757,-1.842254062629133,0.71338606911949],"aabb_xy":[[-0.683036796593283,-1.8647500100797534],[-0.6380367975458682,-1.8197581151785118]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[0.6082442331391227,1.7177476415244093,0.71338606911949],"aabb_xy":[[0.5799145231905826,1.7132868993306924],[0.636573943087663,1.7222083837181266]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.5431799228570084,1.236618711833569,0.71338606911949],"aabb_xy":[[0.5212901752680676,1.1466187145443199],[0.5650696704459492,1.326618709122818]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.5288535690393408,1.0278367549465193,0.71338606911949],"aabb_xy":[[-0.5988535716759271,1.0077318899506535],[-0.45885356640275443,1.0479416199423846]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[-0.30780251452543705,0.9575425473869528,0.71338606911949],"aabb_xy":[[-0.3978025168594561,0.88006019280184],[-0.217802512191418,1.0350249019720654]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[0.5726559158038533,-1.4646201371325807,0.71338606911949],"aabb_xy":[[0.5076559131660598,-1.5160997358320278],[0.6376559184416468,-1.413140538433134]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.3644844022128876,1.428160267176898,0.71338606911949],"aabb_xy":[[-0.4144844017892223,1.3781796882247923],[-0.31448440263655286,1.4781408461290042]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.2447184917991153,-1.4866737415542888,0.71338606911949],"aabb_xy":[[0.22221849198521296,-1.4911483579247695],[0.2672184916130177,-1.482199125183808]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.14944373356948737,-2.494838251629303,0.71338606911949],"aabb_xy":[[-0.21103449279348022,-2.5588382497383497],[-0.08785297434549458,-2.430838253520256]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.05905500223306659,-2.0072719289089775,0.71338606911949],"aabb_xy":[[-0.06633731860973023,-2.0972719325184856],[-0.05177268585640293,-1.9172719252994679]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.3250380168633018,-2.1034549692007225,0.71338606911949],"aabb_xy":[[0.2600380168289991,-2.15015564588105],[0.39003801689760453,-2.056754292520395]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[0.5324424173240234,-0.9919900689861041,0.71338606911949],"aabb_xy":[[0.5198397181869471,-1.0045854652109698],[0.5450451164611,-0.9793946727612387]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.15955680064430755,1.506991873051049,0.71338606911949],"aabb_xy":[[0.1519325325541293,1.4993586495145055],[0.1671810687344858,1.5146250965875931]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.49059212603197766,0.19437347671600724,0.71338606911949],"aabb_xy":[[0.47968634994441495,0.11437348031717806],[0.5014979021195404,0.2743734731148364]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[0.15407323810153806,1.7624881487371389,0.71338606911949],"aabb_xy":[[0.08907323710103754,1.7117017835824642],[0.21907323910203857,1.813274513891814]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.2827370534137094,-1.341109367460416,0.71338606911949],"aabb_xy":[[-0.33261975029140567,-1.391109366706691],[-0.23285435653601327,-1.2911093682141415]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.47109436126347637,1.6430333119508735,0.71338606911949],"aabb_xy":[[-0.5350943615239471,1.5980245125979455],[-0.4070943610030055,1.6880421113038016]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.11898508850550815,0.9119472970686364,0.71338606911949],"aabb_xy":[[-0.16897820061470004,0.8619472963944409],[-0.06899197639631627,0.9619472977428322]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.5456263181875343,-2.481493788963287,0.71338606911949],"aabb_xy":[[0.5081263178953593,-2.4855352643638913],[0.583126318479709,-2.477452313562684]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.392820056686203,0.9957967491016926,0.71338606911949],"aabb_xy":[[0.3888595729164687,0.9881288845161719],[0.3967805404559374,1.0034646136872132]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_26","position":[0.280612129846077,-0.46844449354171314,0.71338606911949],"aabb_xy":[[0.2435780204180172,-0.5028217008754226],[0.31764623927413665,-0.4340672862080036]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648167497325301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1374.png","name":"1374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1374.png","name":"1374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1964.png","name":"1964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/187.png","name":"187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":527.7428738371727,"rotation_z_degrees":65.40642526155908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008515445898953979,-0.014453582453117515,-0.016681405916821355]},{"name":"camera_2","offset_m":[-0.010631903498908786,-0.006087720385199042,-0.005649230112492005]},{"name":"camera_3","offset_m":[-0.012454838718007007,-0.0018714234323023993,-0.012285734013467785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008849871961575943,-0.001739784044682551,0.0012933299873265909],"end_effector_yaw_offset_degrees":-0.22147612142796191},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018164636463585578,-0.0014187956092592954,-0.0017445206772289472],"end_effector_yaw_offset_degrees":-0.48858981372899746},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000596681230255784,-0.0003070517948416734,0.0013283796941152542],"end_effector_yaw_offset_degrees":0.7425584076517691}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0041907234474611215,0.00034315426004944295],"position_m":[0.33420927655253885,0.08564315426004944,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004994419189737386,0.0023153603656444754],"position_m":[0.22229441918973739,-0.08488463963435552,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003393953344180871,0.001221335596136991],"position_m":[0.35120604665581917,0.236821335596137,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002517425050369594,-0.004212860190992763],"position_m":[0.24614825749496305,-0.33991286019099276,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"add9a27626017bf52c160c46d84cebd9926f23e8fbf5a31e61c4d335bb616b45","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1374/tex_ceiling_textures_1035/tex_floor_textures_187/tex_table_textures_5591/tex_wall_textures_1964","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3891192698174585733,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3891192698174585733,"visual_seed":3891192698174585733,"scene_id":"lab_003","finished_at":"2026-09-03T12:13:51"} +{"episode_id":"ep_000067","started_at":"2026-09-03T12:13:54","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.21933233606966906,1.654428961548049,0.71338606911949],"aabb_xy":[[0.20917932051551963,1.6183594199753084],[0.2294853516238184,1.690498503120789]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.45009659057474405,-2.0859587738932244,0.71338606911949],"aabb_xy":[[0.42881858243127174,-2.150958776219297],[0.47137459871821624,-2.020958771567151]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.23035938474142725,-1.2056700835218366,0.71338606911949],"aabb_xy":[[0.22157815759419106,-1.2144498308103673],[0.2391406118886635,-1.1968903362333068]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.6674108119943252,1.2366267490208487,0.71338606911949],"aabb_xy":[[0.661316184106207,1.2280573544691802],[0.6735054398824436,1.2451961435725176]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.26648061146067836,-1.467354571792061,0.71338606911949],"aabb_xy":[[0.2493785335023102,-1.484461377323331],[0.2835826894190465,-1.4502477662607915]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.31344206955652626,0.3468483944775729,0.71338606911949],"aabb_xy":[[-0.3674576658384262,0.2828483915853157],[-0.2594264732746262,0.41084839736983003]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.10593329321230771,1.1759273175754927,0.71338606911949],"aabb_xy":[[-0.128433293222456,1.1618310979358895],[-0.08343329320215942,1.190023537215096]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.06747806724474081,-1.4614269815071292,0.71338606911949],"aabb_xy":[[-0.012521934918021671,-1.5413821651332729],[0.1474780694075033,-1.3814717978809856]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[-0.4337901334318735,-2.457113060989845,0.71338606911949],"aabb_xy":[[-0.46941928933183324,-2.492745727746698],[-0.39816097753191376,-2.421480394232992]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[-0.38506876611150964,-0.03241514259352085,0.71338606911949],"aabb_xy":[[-0.4345491873254685,-0.09641514050637268],[-0.3355883448975509,0.03158485531933097]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.4563881195268791,-2.5038879394874267,0.71338606911949],"aabb_xy":[[0.42773878716646285,-2.532533498764502],[0.4850374518872953,-2.4752423802103505]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.4596215477897662,0.8820580258852146,0.71338606911949],"aabb_xy":[[-0.48213523961322335,0.8120580252842071],[-0.43710785596630897,0.9520580264862222]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.4497972783196895,-2.12590064391423,0.71338606911949],"aabb_xy":[[-0.5347972767371127,-2.210774939376515],[-0.36479727990226635,-2.041026348451945]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.6121024686478833,-2.2001523279047874,0.71338606911949],"aabb_xy":[[-0.6399475054284904,-2.230936826643099],[-0.5842574318672762,-2.1693678291664757]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.6021181259491599,1.66428332860619,0.71338606911949],"aabb_xy":[[0.5381181226594518,1.6209484096022722],[0.666118129238868,1.7076182476101074]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.5084880386371289,1.6689538397750598,0.71338606911949],"aabb_xy":[[-0.5724880359394753,1.6245874128072029],[-0.4444880413347825,1.7133202667429164]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.6311021750736712,-0.193466312757701,0.71338606911949],"aabb_xy":[[0.6255205034395424,-0.20596631257547648],[0.6366838467078,-0.1809663129399255]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.6438764608320098,0.5348129869101248,0.71338606911949],"aabb_xy":[[0.5888764616554203,0.47982331213516705],[0.6988764600085993,0.5898026616850823]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.03217348873283821,-1.1627908309041302,0.71338606911949],"aabb_xy":[[-0.0375060033874512,-1.1681151591493657],[-0.02684097407822523,-1.1574665026588946]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.18090380742528744,-1.3966002653736898,0.71338606911949],"aabb_xy":[[-0.2609038076988944,-1.4695498131994063],[-0.10090380715168044,-1.3236507175479728]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.5357094461202985,1.135972106768432,0.71338606911949],"aabb_xy":[[0.4657094439888688,1.1132101411427362],[0.6057094482517279,1.1587340723941275]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.15813075184251402,-1.7854494718521376,0.71338606911949],"aabb_xy":[[0.10815333497726042,-1.835449473341386],[0.20810816870776758,-1.7354494703628889]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[-0.24764675908041361,0.15946804221936883,0.71338606911949],"aabb_xy":[[-0.2584197330017814,0.12446804400032985],[-0.23687378515904584,0.19446804043840782]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[0.0553880098246885,-2.0611832723162946,0.71338606911949],"aabb_xy":[[-0.0146119865852733,-2.0816212079679755],[0.12538800623465027,-2.040745336664612]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.6771680516433733,-2.522713409297076,0.71338606911949],"aabb_xy":[[-0.6946680518884226,-2.540213197136643],[-0.6596680513983239,-2.5052136214575094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696691046362636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3827.png","name":"3827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7708.png","name":"7708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9080.png","name":"9080"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8919.png","name":"8919"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":650.1182805390638,"rotation_z_degrees":309.2462455969256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019054675313458332,-0.0028128267790401285,0.014474078425680225]},{"name":"camera_2","offset_m":[-0.011041917263087902,0.000999058047335643,0.010317752017578435]},{"name":"camera_3","offset_m":[-0.0106763651978451,0.00429412189525245,-0.0015900241098934405]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015897944384476582,-0.00020498576716401198,-0.001722579265421102],"end_effector_yaw_offset_degrees":0.23292509327545896},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001747280179210951,0.0013013386315357234,0.0010386704339094203],"end_effector_yaw_offset_degrees":-0.9056958883713215},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00023835888462362667,-0.0012353766696814592,-0.0012065637785176615],"end_effector_yaw_offset_degrees":0.8960228375878561}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001862950481417683,0.00017949668574996844],"position_m":[0.34026295048141764,0.08547949668574997,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036911498381621997,0.0018725902169146767],"position_m":[0.2209911498381622,-0.08532740978308533,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029670523059436476,-0.0018987139568209799],"position_m":[0.35756705230594366,0.23370128604317902,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00296737707424633,0.0013408052316941218],"position_m":[0.24343262292575368,-0.3343591947683059,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bf0b51e2aff7c13f2ae0e4fee70e30db8bc27ec55e6b9b50b014827f6b8d7633","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0107.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_687/tex_ceiling_textures_8919/tex_floor_textures_9080/tex_table_textures_3827/tex_wall_textures_7708","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6346030159807860357,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6346030159807860357,"visual_seed":6346030159807860357,"scene_id":"lab_003","finished_at":"2026-09-03T12:16:26"} +{"episode_id":"ep_000068","started_at":"2026-09-03T12:16:30","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.1474291524424879,-1.9953964899771846,0.71338606911949],"aabb_xy":[[-0.18492915293984613,-1.999365173525303],[-0.10992915194512964,-1.991427806429066]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.4100542262899036,-2.5089186946801383,0.71338606911949],"aabb_xy":[[-0.45993692316759993,-2.558918693926413],[-0.3601715294122075,-2.4589186954338635]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.2612256754111409,-1.3255626426368143,0.71338606911949],"aabb_xy":[[-0.273097758422642,-1.4105626423304647],[-0.24935359239963978,-1.240562642943164]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.12329550324933936,-2.354079197113218,0.71338606911949],"aabb_xy":[[0.04329550181921213,-2.4335963521258273],[0.20329550467946653,-2.2745620421006083]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.00039183197440695317,-2.0545481897256677,0.71338606911949],"aabb_xy":[[-0.007020623566981521,-2.0603994001472956],[0.007804287515795427,-2.0486969793040397]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.40026122728955477,-0.26904325952377217,0.71338606911949],"aabb_xy":[[-0.42276036301578174,-0.29154326030203515],[-0.3777620915633278,-0.2465432587455092]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.3363607186030866,-1.3239728321925448,0.71338606911949],"aabb_xy":[[0.3290784022264228,-1.4139728358020534],[0.34364303497975013,-1.2339728285830354]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.6871623132452205,0.24735060368160644,0.71338606911949],"aabb_xy":[[0.6791259785439356,0.23931248437718966],[0.6951986479465053,0.2553887229860232]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.6693085917729154,0.045726076812332206,0.71338606911949],"aabb_xy":[[0.6567058926358389,0.03313068058746671],[0.6819112909099918,0.0583214730371977]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.6561895608386216,-0.8405494130764843,0.71338606911949],"aabb_xy":[[-0.6865876719377652,-0.8709563150781537],[-0.625791449739478,-0.8101425110748147]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.10491762985657105,-2.330230765618783,0.71338606911949],"aabb_xy":[[-0.1849114534351293,-2.4102307682116244],[-0.024923806278012856,-2.2502307630259413]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.37312527201608736,-2.2024795471054897,0.71338606911949],"aabb_xy":[[0.32313026105663534,-2.2524795461410814],[0.42312028297553944,-2.152479548069898]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.5261206765429995,-1.2879760124410031,0.71338606911949],"aabb_xy":[[0.45612067441157,-1.3107379780666986],[0.5961206786744291,-1.2652140468153072]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.5141032122847115,-2.2543238359057147,0.71338606911949],"aabb_xy":[[-0.5180636960544458,-2.2619917004912353],[-0.5101427285149771,-2.246655971320194]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[0.39344829640587076,0.6837842298605867,0.71338606911949],"aabb_xy":[[0.3846670692586346,0.6750044825720566],[0.40222952355310704,0.6925639771491169]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.32364897210280663,-0.9517345641235937,0.71338606911949],"aabb_xy":[[0.30614897184347006,-0.9658261063123665],[0.3411489723621433,-0.9376430219348213]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.6040035626977649,-1.4791406591033949,0.71338606911949],"aabb_xy":[[0.59316308447125,-1.4963269403940436],[0.6148440409242798,-1.4619543778127457]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.238303007983659,-2.502992083518427,0.71338606911949],"aabb_xy":[[0.22241851471833385,-2.5173450238172506],[0.25418750124898415,-2.488639143219603]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.4197303675036119,-1.719642602109496,0.71338606911949],"aabb_xy":[[0.3697461317954347,-1.7696426009229913],[0.46971460321178915,-1.6696426032960001]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.6292121483739825,1.2840697707083355,0.71338606911949],"aabb_xy":[[0.5652121479964488,1.234324503857523],[0.693212148751516,1.3338150375591475]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.454862088417197,-0.13047325985562885,0.71338606911949],"aabb_xy":[[0.4198620901065015,-0.1381882747791745],[0.4898620867278924,-0.1227582449320832]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.6013450121282203,-1.6702396215793045,0.71338606911949],"aabb_xy":[[-0.6119124917863193,-1.680784651692313],[-0.5907775324701213,-1.659694591466296]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[-0.42847433246395156,0.6663105756735601,0.71338606911949],"aabb_xy":[[-0.4503830146033025,0.6444099088534693],[-0.4065656503246004,0.6882112424936507]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.5434196732220321,-0.5653982903509904,0.71338606911949],"aabb_xy":[[-0.5784196714921519,-0.5724724180459785],[-0.5084196749519121,-0.5583241626560022]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.24506469866739344,-1.9369520685375639,0.71338606911949],"aabb_xy":[[0.20381588763747868,-1.9919520680497813],[0.2863135096973081,-1.8819520690253464]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.4856634889541649,-0.14651700019806935,0.71338606911949],"aabb_xy":[[-0.5199603999719054,-0.1808138864080107],[-0.4513665779364242,-0.11222011398812795]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[0.3620534790508134,-2.3543159028808325,0.71338606911949],"aabb_xy":[[0.3261399746258237,-2.390229411097587],[0.3979669834758031,-2.3184023946640773]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[-0.12184742359609435,0.3274593060285884,0.71338606911949],"aabb_xy":[[-0.1858474259388959,0.2825184547844559],[-0.05784742125329278,0.3724001572727209]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694906467699628,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3320.png","name":"3320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3320.png","name":"3320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8494.png","name":"8494"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2730.png","name":"2730"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4551.png","name":"4551"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":767.6700730621683,"rotation_z_degrees":243.09076602637685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0021048187656126267,0.009577701896882864,-0.010092801909342159]},{"name":"camera_2","offset_m":[0.015070711821372814,-0.01919187683927641,0.007503192104084674]},{"name":"camera_3","offset_m":[0.003740085301095316,-0.018713243009705734,-0.018963885853396534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000885406510364528,0.0001279572269360066,-0.0008086842807886181],"end_effector_yaw_offset_degrees":0.1596180428016718},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007578196760872052,-0.0003499647650277273,-0.0007959966102184946],"end_effector_yaw_offset_degrees":0.6622522851246686},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005543619590151986,-0.000648409407084619,0.0004792827466097568],"end_effector_yaw_offset_degrees":0.5182205831236895}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018603077669662616,0.003348008973382639],"position_m":[0.34026030776696625,0.08864800897338264,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010149727222123987,0.001699379797074749],"position_m":[0.2183149727222124,-0.08550062020292525,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001986370320986563,0.0002118597427822385],"position_m":[0.3565863703209866,0.23581185974278224,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049287361108613205,0.0023035816490848517],"position_m":[0.2414712638891387,-0.33339641835091516,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dff1c1f1ac0a2bdae7a1d8704d6f0a0e9594381bcb44078a81dda86aaa665f19","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3320/tex_ceiling_textures_4551/tex_floor_textures_2730/tex_table_textures_8494/tex_wall_textures_188","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3015033881294705171,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3015033881294705171,"visual_seed":3015033881294705171,"scene_id":"lab_003","finished_at":"2026-09-03T12:19:02"} +{"episode_id":"ep_000069","started_at":"2026-09-03T12:19:05","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.31583496657794197,-0.4879938183117667,0.71338606911949],"aabb_xy":[[-0.35262959970284824,-0.524899693408349],[-0.2790403334530357,-0.4510879432151845]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.40055867769565123,-1.0247150590967384,0.71338606911949],"aabb_xy":[[-0.450558678646184,-1.0562642061002596],[-0.35055867674511837,-0.9931659120932168]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.6818196397149756,-2.294392304888064,0.71338606911949],"aabb_xy":[[-0.6872775853519957,-2.374392308195723],[-0.6763616940779555,-2.214392301580405]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.5802479430834051,-1.0051497345476714,0.71338606911949],"aabb_xy":[[-0.5875302594600685,-1.09514973815718],[-0.5729656267067412,-0.9151497309381621]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.028900676940085912,-2.4033382775461614,0.71338606911949],"aabb_xy":[[-0.045910774230136564,-2.4194727660444353],[-0.011890579650035257,-2.3872037890478874]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[0.48270537508020706,-1.8547430889871799,0.71338606911949],"aabb_xy":[[0.4652054416462237,-1.8722430889074142],[0.5002053085141904,-1.8372430890669451]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.30000926649510085,-2.118112494508379,0.71338606911949],"aabb_xy":[[-0.36500926465101985,-2.1444087390582913],[-0.23500926833918173,-2.091816249958467]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.18957375174617075,0.1843350878239547,0.71338606911949],"aabb_xy":[[-0.26957375390893323,0.10437990419781101],[-0.10957374958340824,0.26429027145009826]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.026063951034582367,1.280332143034887,0.71338606911949],"aabb_xy":[[-0.0610639510110782,1.2708675269872705],[0.008936048941913466,1.2897967590825037]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.14318697949860648,1.6334849792720942,0.71338606911949],"aabb_xy":[[0.0931869782147665,1.583506124881472],[0.19318698078244642,1.6834638336627161]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.37317961697730206,1.156598109741659,0.71338606911949],"aabb_xy":[[0.3091796146345005,1.1116572584975266],[0.43717961932010363,1.2015389609857916]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[-0.11651212890351981,-1.6859861267468204,0.71338606911949],"aabb_xy":[[-0.15401212907539175,-1.7186868621297275],[-0.07901212873164787,-1.6532853913639132]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.42561966118411676,-0.6422902867815132,0.71338606911949],"aabb_xy":[[0.3616239637890201,-0.7062902850822219],[0.4896153585792133,-0.5782902884808045]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[0.261983294028316,-2.215202706808702,0.71338606911949],"aabb_xy":[[0.2069910433928051,-2.2702027085520147],[0.316975544663827,-2.160202705065389]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.5569281577435059,-2.0327371373551335,0.71338606911949],"aabb_xy":[[0.519428159167885,-2.045473433018691],[0.5944281563191266,-2.020000841691575]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.030545523220740778,0.9685261167387376,0.71338606911949],"aabb_xy":[[-0.08054053418019282,0.9185261177031459],[0.019449487738711253,1.0185261157743293]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.4761937319474012,0.18737181673650483,0.71338606911949],"aabb_xy":[[0.4262163150821476,0.13737181524725625],[0.5261711488126547,0.23737181822575334]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.16970093530847963,0.823647586525941,0.71338606911949],"aabb_xy":[[0.12361584405374813,0.7596475892733858],[0.21578602656321108,0.8876475837784961]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.14084482879000737,1.6607811617542008,0.71338606911949],"aabb_xy":[[-0.16442995225390222,1.595781159508769],[-0.11725970532611252,1.7257811639996326]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.47044766619564043,1.1230785795175375,0.71338606911949],"aabb_xy":[[-0.5354476640772884,1.0719549158109967],[-0.40544766831399276,1.1742022432240784]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.12996753983189258,-2.2591931478482272,0.71338606911949],"aabb_xy":[[-0.17215195399272332,-2.3231931481254384],[-0.08778312567106183,-2.195193147571016]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.14863331602922114,-0.8183814540923855,0.71338606911949],"aabb_xy":[[-0.15948492227809674,-0.8292407448200364],[-0.13778170978034554,-0.8075221633647344]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[0.1439770181062352,-2.4164939828600787,0.71338606911949],"aabb_xy":[[0.11897701855449672,-2.4266364667252134],[0.16897701765797368,-2.406351498994944]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[0.4145347029856603,0.7494534456043751,0.71338606911949],"aabb_xy":[[0.33453470582608497,0.7379058446465578],[0.49453470014523554,0.7610010465621919]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.6262396045907839,-0.790896128081038,0.71338606911949],"aabb_xy":[[0.6086929096746649,-0.8283961296452893],[0.6437862995069028,-0.7533961265167868]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.6892100093231728,1.2049413772354072,0.71338606911949],"aabb_xy":[[0.6666963174997156,1.1349413766343996],[0.71172370114663,1.2749413778364147]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.14553019203226025,1.294936871050247,0.71338606911949],"aabb_xy":[[0.11768515525165316,1.2641523723119352],[0.1733752288128674,1.3257213697885586]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.332518761821265,-0.2734335384339044,0.71338606911949],"aabb_xy":[[-0.3378512764758779,-0.27875786667914],[-0.32718624716665196,-0.2681092101886688]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_28","position":[0.41993791801648306,-1.4652984439388275,0.71338606911949],"aabb_xy":[[0.35593791884671305,-1.51206513105779],[0.48393791718625295,-1.418531756819865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667492075306237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/396.png","name":"396"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/396.png","name":"396"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6750.png","name":"6750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3144.png","name":"3144"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9622.png","name":"9622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8024.png","name":"8024"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":796.5004720823168,"rotation_z_degrees":148.56913676024297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017156267381503644,-0.00739207210291032,0.0023663836339927954]},{"name":"camera_2","offset_m":[0.00444557796759959,0.002870975730529274,-0.010425227180009973]},{"name":"camera_3","offset_m":[0.004204718275411211,0.008152145021276792,0.011128243840876625]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000918153242344082,-0.001668439189358305,0.0005508572857774439],"end_effector_yaw_offset_degrees":0.4964671486299257},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015631067382419934,-0.00032380390635418366,-0.0017476343760641929],"end_effector_yaw_offset_degrees":-0.7371922699126134},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001763462056392598,0.0009480317418266247,-0.000674467403726179],"end_effector_yaw_offset_degrees":-0.9730496160200119}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026574687050448876,-0.00324115288676069],"position_m":[0.3410574687050449,0.08205884711323931,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[3.7082121588422404e-05,0.0002957516830739901],"position_m":[0.21733708212158842,-0.086904248316926,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00197377889086782,0.0029185132646253826],"position_m":[0.3526262211091322,0.2385185132646254,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003521194636001721,-0.003025192708550779],"position_m":[0.24287880536399828,-0.3387251927085508,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0b85a5066ec7aa65f132f53ea86de48c996b4580c42c8de1b2195989d269e228","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0109.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_396/tex_ceiling_textures_8024/tex_floor_textures_9622/tex_table_textures_6750/tex_wall_textures_3144","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6406237718976067791,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6406237718976067791,"visual_seed":6406237718976067791,"scene_id":"lab_003","finished_at":"2026-09-03T12:21:36"} +{"episode_id":"ep_000070","started_at":"2026-09-03T12:21:40","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.1215481127336493,-0.988612176550294,0.71338606911949],"aabb_xy":[[-0.17654811093539413,-1.0291341431767314],[-0.06654811453190447,-0.9480902099238564]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.13810088456942415,-2.3152117161877004,0.71338606911949],"aabb_xy":[[-0.1881008862309189,-2.3652101584434027],[-0.08810088290792938,-2.2652132739319972]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.18266146285161522,-0.8335174455582581,0.71338606911949],"aabb_xy":[[0.1186614609392729,-0.8894285948162687],[0.2466614647639576,-0.7776062963002478]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.41946203679256855,-0.8790036475022769,0.71338606911949],"aabb_xy":[[-0.46945704775202074,-0.9290036465378687],[-0.36946702583311664,-0.8290036484666853]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.12606483993594775,0.20949835717093102,0.71338606911949],"aabb_xy":[[-0.19006484215635477,0.16512527304564273],[-0.06206483771554072,0.2538714412962193]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.4417184007962205,0.9499667438698212,0.71338606911949],"aabb_xy":[[0.3965470829480516,0.8859667467252829],[0.4868897186443895,1.0139667410143596]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.3553410598559992,1.4778663897013051,0.71338606911949],"aabb_xy":[[0.2903410617000801,1.4515701451513932],[0.42034105801191823,1.5041626342512175]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.06108438946725525,0.735045912834797,0.71338606911949],"aabb_xy":[[0.038584389457106946,0.7209496931951936],[0.08358438947740353,0.7491421324744002]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.16535135122895084,1.174141071388723,0.71338606911949],"aabb_xy":[[0.1303513529182554,1.1664260564651774],[0.20035134953964628,1.1818560863122687]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.4489489330326206,0.2076010153640402,0.71338606911949],"aabb_xy":[[-0.4741697698924603,0.1823772645111534],[-0.42372809617278095,0.2328247662169269]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.030939456210215877,-2.2012414510600258,0.71338606911949],"aabb_xy":[[-0.049060540804032104,-2.221376002733437],[0.11093945322446386,-2.1811068993866147]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[-0.5015407352760818,-0.21793316303246169,0.71338606911949],"aabb_xy":[[-0.5715407374075112,-0.24069512865815731],[-0.43154073314465213,-0.195171197406766]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.35692016590695197,-0.11714409215709054,0.71338606911949],"aabb_xy":[[-0.36187618609183314,-0.13964409235921216],[-0.3519641457220708,-0.09464409195496894]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.34313384748242093,1.1842928254093552,0.71338606911949],"aabb_xy":[[-0.35248085506471616,1.1699892031917112],[-0.3337868399001257,1.1985964476269992]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.029616791151061306,-0.8890611817564626,0.71338606911949],"aabb_xy":[[0.021573431225106132,-0.9740611828518291],[0.03766015107701648,-0.8040611806610962]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.5450952039415551,-1.770963973465878,0.71338606911949],"aabb_xy":[[0.5225960682153281,-1.7934639742441412],[0.567594339667782,-1.7484639726876152]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.19965343010214642,0.3175272591632732,0.71338606911949],"aabb_xy":[[-0.26965343191089186,0.29617349039908586],[-0.12965342829340099,0.3388810279274606]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.07583027248158658,1.0329090815559097,0.71338606911949],"aabb_xy":[[-0.0875984592762441,0.9479090816506883],[-0.06406208568692906,1.1179090814611314]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.6407036422788532,-2.231482772629032,0.71338606911949],"aabb_xy":[[-0.6645398599194583,-2.321482773437519],[-0.6168674246382482,-2.141482771820546]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.5288581876790881,-2.4587156064076354,0.71338606911949],"aabb_xy":[[0.478858187318522,-2.5086955936172384],[0.578858188039654,-2.4087356191980325]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.08079139190722817,-1.1411966753181497,0.71338606911949],"aabb_xy":[[-0.09967577567573839,-1.1600826000985025],[-0.06190700813871798,-1.122310750537797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714652654484526,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8451.png","name":"8451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8451.png","name":"8451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1595.png","name":"1595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":518.4276357250601,"rotation_z_degrees":273.00593127548126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004945614266043355,-0.009451550801448484,0.010334497359667204]},{"name":"camera_2","offset_m":[0.0026654373840181607,0.010521313729494254,0.012892852039637758]},{"name":"camera_3","offset_m":[0.01756736610229419,-0.0016143731094695017,7.312063482384917e-06]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00044809771722497467,0.0015849261440492469,0.0017035564239551103],"end_effector_yaw_offset_degrees":0.594254297091988},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004890310110122066,-0.0013857385291610083,0.0018017856096522074],"end_effector_yaw_offset_degrees":-0.8223919125333792},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011142457637287103,-0.0008951191003917197,0.0004083784871542983],"end_effector_yaw_offset_degrees":-0.14212808911749542}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00036055467714611947,-0.0014102011353445553],"position_m":[0.33803944532285385,0.08388979886465545,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002616247578710541,-0.003596324843315842],"position_m":[0.21991624757871053,-0.09079632484331585,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004636564795977121,-0.00123503946714431],"position_m":[0.35923656479597715,0.2343649605328557,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004832950056691266,-0.001344573264741218],"position_m":[0.2512329500566913,-0.33704457326474124,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"87c961dcc182cd5884f8fa55a7b1fa4278d74cfc9d730b2b283652c6625e3022","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0110.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8451/tex_ceiling_textures_2537/tex_floor_textures_2577/tex_table_textures_1595/tex_wall_textures_9139","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7546145945500965804,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7546145945500965804,"visual_seed":7546145945500965804,"scene_id":"lab_003","finished_at":"2026-09-03T12:24:11"} +{"episode_id":"ep_000071","started_at":"2026-09-03T12:24:13","dimensions":{"distractor":{"count":30,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.4853150697738531,-2.2011943332007835,0.71338606911949],"aabb_xy":[[0.44828096034579334,-2.235571540534493],[0.5223491792019128,-2.166817125867074]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.24903069941107808,0.8593968784052084,0.71338606911949],"aabb_xy":[[-0.3390306988294489,0.8260213815610187],[-0.15903069999270716,0.8927723752493981]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.31437742821422354,0.8330930098977336,0.71338606911949],"aabb_xy":[[0.26440436268170814,0.7830930100852009],[0.36435049374673906,0.8830930097102667]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.5144704549343162,-0.5612782070712199,0.71338606911949],"aabb_xy":[[0.5029014741873797,-0.5862782071881517],[0.5260394356812529,-0.5362782069542883]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.3371203709232491,0.995423253390531,0.71338606911949],"aabb_xy":[[-0.38712037220708895,0.9454443989999086],[-0.287120369639409,1.0454021077811526]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.6622222195092058,-0.2993285634574563,0.71338606911949],"aabb_xy":[[0.6504540327145483,-0.3843285633626779],[0.6739904063038633,-0.21432856355223473]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.1791667732010851,-0.699339716503711,0.71338606911949],"aabb_xy":[[-0.2166667717767059,-0.7120760121672689],[-0.1416667746254643,-0.686603420840153]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.3483162279961549,1.8090355866042844,0.71338606911949],"aabb_xy":[[0.3258170922699279,1.7865355858260212],[0.37081536372238183,1.8315355873825472]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.5698654724825171,-0.26453327760104983,0.71338606911949],"aabb_xy":[[-0.6248609503031763,-0.31953327903495676],[-0.5148699946618576,-0.2095332761671429]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[-0.283657780101081,1.5175118631433029,0.71338606911949],"aabb_xy":[[-0.3186577799970998,1.509137627631363],[-0.2486577802050621,1.5258860986552432]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.335213081434945,0.5983767064052197,0.71338606911949],"aabb_xy":[[0.3196573120246797,0.5828262731608126],[0.3507688508452102,0.613927139649627]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.5428489656803315,-1.4316075848674898,0.71338606911949],"aabb_xy":[[-0.588934056935063,-1.4956075821200447],[-0.49676387442560005,-1.3676075876149345]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[-0.5654180126568662,-1.8944214380549413,0.71338606911949],"aabb_xy":[[-0.5829180119349532,-1.911759538121287],[-0.5479180133787794,-1.8770833379885952]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.6773095181045656,-1.54844071700749,0.71338606911949],"aabb_xy":[[-0.6874625336587149,-1.58451025858023],[-0.6671565025504161,-1.5123711754347493]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.5339085301248462,0.28192686162406,0.71338606911949],"aabb_xy":[[-0.5676840893155392,0.267888366410895],[-0.5001329709341532,0.295965356837225]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.5229588336323168,-2.3858583428056552,0.71338606911949],"aabb_xy":[[0.49462912368377665,-2.3903190849993723],[0.5512885435808571,-2.381397600611938]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.13975848362815768,-2.104793499370236,0.71338606911949],"aabb_xy":[[-0.16164823121709848,-2.1947934966594853],[-0.1178687360392169,-2.014793502080987]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.6613747439588464,-1.8683438772284977,0.71338606911949],"aabb_xy":[[-0.6684150538923835,-1.9483438766281698],[-0.6543344340253096,-1.788343877828827]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.6155088651476324,0.49194444562579154,0.71338606911949],"aabb_xy":[[0.5605088655258866,0.43696075283831887],[0.6705088647693783,0.5469281384132643]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.41397143396215486,-0.03879748210182621,0.71338606911949],"aabb_xy":[[-0.4779714371807927,-0.08552059400083456],[-0.349971430743517,0.007925629797182136]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.4623265670812401,1.6864472618140236,0.71338606911949],"aabb_xy":[[-0.4696088834579037,1.5964472582045142],[-0.4550442507045764,1.7764472654235322]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[-0.06334372465380966,-0.7241143800369128,0.71338606911949],"aabb_xy":[[-0.10013835777871595,-0.761020255133495],[-0.026549091528903404,-0.6872085049403305]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[0.20530532661646783,1.7318923902669847,0.71338606911949],"aabb_xy":[[0.16780532582447238,1.7255245493087943],[0.24280532740846328,1.7382602312251747]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.3400372874912707,0.483890362093506,0.71338606911949],"aabb_xy":[[0.2760372872172925,0.433824261896218],[0.40403728776524894,0.533956462290794]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[-0.1471181515458846,0.043416756001888324,0.71338606911949],"aabb_xy":[[-0.18170923439992978,-0.02158324428314273],[-0.11252706869183936,0.10841675628691937]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.6063629686533578,-1.3505397939663366,0.71338606911949],"aabb_xy":[[0.582777845189463,-1.4155397962117684],[0.6299480921172527,-1.2855397917209048]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.6288906971691004,-0.6409072762944141,0.71338606911949],"aabb_xy":[[0.5789118886587844,-0.6909072763001329],[0.6788695056794162,-0.5909072762886953]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[0.34540630105430425,1.5464296215116273,0.71338606911949],"aabb_xy":[[0.2814063037519578,1.5020631945437706],[0.4094062983566506,1.590796048479484]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_28","position":[0.27881512575073986,-0.5154912062073924,0.71338606911949],"aabb_xy":[[0.21481512863863417,-0.564523576001803],[0.34281512286284554,-0.4664588364129818]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[-0.27712769291265643,0.2375792194051809,0.71338606911949],"aabb_xy":[[-0.29035863844733767,0.22435180038318145],[-0.2638967473779751,0.2508066384271803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665072026141815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4429.png","name":"4429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4429.png","name":"4429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6622.png","name":"6622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4298.png","name":"4298"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3548.png","name":"3548"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9914.png","name":"9914"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":739.6298477431919,"rotation_z_degrees":110.25892951209495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004833310788065509,-0.007721238249416937,0.01904531981458017]},{"name":"camera_2","offset_m":[-0.0019291308422094838,0.01289875510558407,-0.01878907832457261]},{"name":"camera_3","offset_m":[0.019590322785961286,0.017472508743254397,-0.019651023955637253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008482716977358509,0.001547922275862936,-0.0006721722702881321],"end_effector_yaw_offset_degrees":0.4079189430663086},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012560373069325542,0.0011460494198516956,-0.0006084101680432924],"end_effector_yaw_offset_degrees":-0.4534038596192822},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005636974765113149,0.0014242778700949105,-0.0016535299412899808],"end_effector_yaw_offset_degrees":0.6902388738172518}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016055433331156133,-0.004907134840535927],"position_m":[0.3400055433331156,0.08039286515946407,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001526411978022303,0.004818808073131022],"position_m":[0.2188264119780223,-0.08238119192686898,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017790088307371443,0.001730678023785773],"position_m":[0.3528209911692629,0.23733067802378577,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012684287648137625,-0.003799188085652998],"position_m":[0.24513157123518625,-0.339499188085653,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cfccde5add06b69c70cd3f4ef8a4cd78acf36f50186c81f4239ab3d1064d3289","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0111.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4429/tex_ceiling_textures_9914/tex_floor_textures_3548/tex_table_textures_6622/tex_wall_textures_4298","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1479842024691758966,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1479842024691758966,"visual_seed":1479842024691758966,"scene_id":"lab_003","finished_at":"2026-09-03T12:26:48"} +{"episode_id":"ep_000072","started_at":"2026-09-03T12:26:50","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.11734075737043226,0.9201011587299517,0.71338606911949],"aabb_xy":[[-0.15864530043416825,0.8561011591618345],[-0.07603621430669627,0.9841011582980687]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.5203592624019369,-1.1460310804492702,0.71338606911949],"aabb_xy":[[0.4828592619045786,-1.1499997639973887],[0.5578592628992951,-1.1420623969011516]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.40246614113163365,-1.1978024827214073,0.71338606911949],"aabb_xy":[[-0.419966141376683,-1.215302270560974],[-0.3849661408865842,-1.1803026948818403]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.13406728131197965,0.30214730359017894,0.71338606911949],"aabb_xy":[[-0.2040672777219414,0.2817093679384971],[-0.06406728490201781,0.32258523924186056]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.1579880612474338,-0.6927075366202291,0.71338606911949],"aabb_xy":[[-0.22198805853308246,-0.7342142555730731],[-0.09398806396178516,-0.6512008176673851]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.5785550189653126,0.1738754892157801,0.71338606911949],"aabb_xy":[[0.528560186037371,0.12387549032053657],[0.6285498518932542,0.22387548811102365]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.6645506716364371,0.3683171192430357,0.71338606911949],"aabb_xy":[[0.642054250202573,0.34581711943628823],[0.6870470930703012,0.3908171190497831]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.1006409374450129,-1.5437284707374643,0.71338606911949],"aabb_xy":[[0.06632466027039494,-1.593728470710642],[0.1349572146196308,-1.4937284707642866]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.30013856895005897,-0.9879683051824897,0.71338606911949],"aabb_xy":[[-0.36513856995055943,-1.0387546703371646],[-0.2351385679495584,-0.9371819400278147]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.0872842936878192,-1.6692315009925207,0.71338606911949],"aabb_xy":[[-0.13245561153598817,-1.7332314981370593],[-0.04211297583965023,-1.6052315038479825]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.3253029049981848,1.2137325271857695,0.71338606911949],"aabb_xy":[[-0.37518560187588107,1.1637325279394948],[-0.2754202081204886,1.2637325264320443]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.5927140459574397,-0.6379419629891272,0.71338606911949],"aabb_xy":[[-0.6179348828172793,-0.6631657138420138],[-0.5674932090975999,-0.6127182121362403]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.48533995729946233,0.5394630782044563,0.71338606911949],"aabb_xy":[[0.42133995507905536,0.49508999407916787],[0.5493399595198694,0.5838361623297444]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.22701612201974009,-1.2686276594796448,0.71338606911949],"aabb_xy":[[0.21686310646559068,-1.304697201052385],[0.23716913757388944,-1.2325581179069043]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.28500458194628586,-2.293285037592048,0.71338606911949],"aabb_xy":[[0.2515254146852449,-2.326764150963155],[0.3184837492073268,-2.259805924220941]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.5342389986471984,-0.44605414319004444,0.71338606911949],"aabb_xy":[[-0.5843364626282721,-0.5100541436998562],[-0.48414153466612486,-0.3820541426802327]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.5843459725877684,1.3814019179196428,0.71338606911949],"aabb_xy":[[0.577084725017361,1.3686149076561334],[0.5916072201581759,1.3941889281831523]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.7016715524303003,-2.039355397431725,0.71338606911949],"aabb_xy":[[0.686499383148667,-2.0545242543599285],[0.7168437217119337,-2.0241865405035213]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.6564669490751023,1.0871722434759028,0.71338606911949],"aabb_xy":[[0.6064719381156503,1.037172244440311],[0.7064619600345543,1.1371722425114945]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.3820280687864779,-1.5623092781628023,0.71338606911949],"aabb_xy":[[-0.46202806737379726,-1.641624880100963],[-0.3020280701991584,-1.4829936762246412]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.6024786654401977,1.6172060157954165,0.71338606911949],"aabb_xy":[[0.5649786653346047,1.6103838539424353],[0.6399786655457906,1.6240281776483976]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.04481360690492908,-1.1520983177425441,0.71338606911949],"aabb_xy":[[-0.08072711132991875,-1.1880118259592987],[-0.008900102479939394,-1.1161848095257896]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.44054998795241085,1.3203848960495788,0.71338606911949],"aabb_xy":[[0.3505499885340399,1.287009399205389],[0.5305499873707817,1.3537603928937685]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.5090449109125923,-0.9812566979393567,0.71338606911949],"aabb_xy":[[0.4811998741319852,-1.0120411966776683],[0.5368899476931994,-0.950472199201045]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.6434713989973682,-1.841857572863261,0.71338606911949],"aabb_xy":[[0.6395575258019456,-1.8506065882698177],[0.6473852721927905,-1.833108557456704]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.075789386884208,0.6205536108848979,0.71338606911949],"aabb_xy":[[-0.0982893871277234,0.608348976225126],[-0.053289386640692604,0.6327582455446699]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.602987656039674,0.07768409998120518,0.71338606911949],"aabb_xy":[[-0.6206632866282723,0.06000388370180242],[-0.5853120254510756,0.09536431626060791]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[0.5850014555638163,-0.4926596241432777,0.71338606911949],"aabb_xy":[[0.5772982648897393,-0.5003689948420156],[0.5927046462378933,-0.4849502534445396]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.41038524616615807,-0.19154943503627875,0.71338606911949],"aabb_xy":[[-0.48038524797490356,-0.21290320380046612],[-0.3403852443574127,-0.17019566627209137]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[-0.06864673942619204,-0.1889393727340427,0.71338606911949],"aabb_xy":[[-0.10719243225139308,-0.22748514379023138],[-0.030101046600991006,-0.15039360167785404]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_30","position":[-0.2711745077333585,0.5398821969400625,0.71338606911949],"aabb_xy":[[-0.2819474816547263,0.5048821987210234],[-0.2604015338119907,0.5748821951591013]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710772749058729,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/799.png","name":"799"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/799.png","name":"799"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/298.png","name":"298"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6370.png","name":"6370"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3305.png","name":"3305"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":804.4930978376046,"rotation_z_degrees":251.85849232045874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007549008563292809,-0.008646609016456294,0.008177980505542016]},{"name":"camera_2","offset_m":[-0.017835980351118424,-0.011792482467049404,0.01367226605337352]},{"name":"camera_3","offset_m":[0.010955500057219476,-0.01692586451207895,0.010045628563082984]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010765458831394647,0.00025857124399738217,0.0016118305126757875],"end_effector_yaw_offset_degrees":0.9920745417637937},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010448848256853504,0.0018390666254158418,0.0012574271107774907],"end_effector_yaw_offset_degrees":0.7906237968085077},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014241806766032207,0.000814903482869138,0.0004992532037941069],"end_effector_yaw_offset_degrees":-0.6456416242090348}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017732370848998471,0.00039560273114559643],"position_m":[0.3401732370848998,0.0856956027311456,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004934349270127551,-0.0017508015797875853],"position_m":[0.22223434927012756,-0.08895080157978759,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002974084482651732,0.0020877445611674327],"position_m":[0.35757408448265177,0.23768774456116742,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016080286095181053,0.0004777015197726022],"position_m":[0.24800802860951812,-0.3352222984802274,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51ff742272f6fb22127da6619528317993da2fbc7fad9015ea09b5f7254e5111","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0112.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_799/tex_ceiling_textures_3305/tex_floor_textures_9484/tex_table_textures_298/tex_wall_textures_6370","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2454938517474341164,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2454938517474341164,"visual_seed":2454938517474341164,"scene_id":"lab_003","finished_at":"2026-09-03T12:29:29"} +{"episode_id":"ep_000073","started_at":"2026-09-03T12:32:32","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.515646341603376,-2.467713213759425,0.71338606911949],"aabb_xy":[[-0.605646340197846,-2.4839638000728463],[-0.42564634300890614,-2.451462627446004]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.08844742454234145,-0.4203980332946471,0.71338606911949],"aabb_xy":[[-0.09649078446829663,-0.5053980343900135],[-0.08040406461638629,-0.3353980321992806]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.5895636922331451,1.7660661416894121,0.71338606911949],"aabb_xy":[[0.5395636926568105,1.7160855627373062],[0.6395636918094799,1.816046720641518]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.2952979385027004,-1.7064789892944685,0.71338606911949],"aabb_xy":[[-0.3327979388509282,-1.7182703848755518],[-0.25779793815447266,-1.6946875937133847]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.17645430357697756,1.66115399634081,0.71338606911949],"aabb_xy":[[0.09645430641740227,1.6496063953829925],[0.25645430073655284,1.6727015972986266]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[0.5909884672245111,-2.502771868076512,0.71338606911949],"aabb_xy":[[0.5785211091147755,-2.5152371927098356],[0.6034558253342468,-2.4903065434431886]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.6021483561798302,-0.8976623646504296,0.71338606911949],"aabb_xy":[[0.5917367974993464,-0.903008097986328],[0.6125599148603138,-0.892316631314531]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.5163983071886589,1.5958733556467934,0.71338606911949],"aabb_xy":[[0.43639830392464585,1.5823133233378799],[0.5963983104526721,1.6094333879557066]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.6892275440939306,-0.029909389718853596,0.71338606911949],"aabb_xy":[[0.6679495359504583,-0.09490939204492665],[0.7105055522374027,0.03509061260721946]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.5304400709389825,1.2823095856065563,0.71338606911949],"aabb_xy":[[0.5255964761777525,1.2774579331275722],[0.5352836657002125,1.2871612380855404]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.46572572932945,0.3968137482842895,0.71338606911949],"aabb_xy":[[-0.5257257298373028,0.33996701459836814],[-0.4057257288215971,0.45366048197021075]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.5924977031043421,0.3261901529660678,0.71338606911949],"aabb_xy":[[0.5883817529922694,0.32207459793322224],[0.5966136532164147,0.33030570799891323]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.2732965976686069,1.5346840203461736,0.71338606911949],"aabb_xy":[[0.23052989078918673,1.4706840169243711],[0.3160633045480271,1.598684023767976]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.06584350864527866,1.1705809793910693,0.71338606911949],"aabb_xy":[[0.028343510069657848,1.1578446837275111],[0.10334350722089945,1.183317275054627]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.03776168702064486,-1.0429111069447892,0.71338606911949],"aabb_xy":[[0.013215471397894139,-1.073160003493826],[0.06230790264339558,-1.0126622103957519]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.3488600191907587,0.7095211369185197,0.71338606911949],"aabb_xy":[[0.33877831211218523,0.6295211390264048],[0.3589417262693322,0.7895211348106341]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.3701959696978261,1.0817450414859442,0.71338606911949],"aabb_xy":[[0.331650276872625,1.0431992704297557],[0.40874166252302707,1.1202908125421331]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.04504022123643625,1.4732385453992118,0.71338606911949],"aabb_xy":[[-0.05145403487962119,1.4668287251515435],[-0.03862640759325131,1.4796483656468802]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.5273799056060184,-0.5467235591270212,0.71338606911949],"aabb_xy":[[0.46337990643624843,-0.5934902462459837],[0.5913799047757883,-0.4999568720080588]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.4759698734731468,0.5593536473773337,0.71338606911949],"aabb_xy":[[0.43069125859199753,0.49535364802914994],[0.521248488354296,0.6233536467255173]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.34157161455500235,-0.5483603712936369,0.71338606911949],"aabb_xy":[[-0.3913883940198371,-0.5983603697779403],[-0.2917548350901676,-0.49836037280933354]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.5844094115745926,1.0788874665548125,0.71338606911949],"aabb_xy":[[0.5204094113141218,1.0338786672018843],[0.6484094118350634,1.1238962659077403]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.10345847585677037,-2.0155908389950508,0.71338606911949],"aabb_xy":[[-0.12374277858016912,-2.0358734641377594],[-0.0831741731333716,-1.9953082138523417]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.0775135749618272,-0.7383812610442662,0.71338606911949],"aabb_xy":[[-0.1415135713891491,-0.7855508848663627],[-0.013513578534505313,-0.6912116372221698]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.01506636445631182,1.2679830007922828,0.71338606911949],"aabb_xy":[[-0.05256636597194353,1.2567562277761377],[0.02243363705931989,1.2792097738084278]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.5281216836078481,-1.334173447497922,0.71338606911949],"aabb_xy":[[-0.5382746991619972,-1.3702429890706624],[-0.5179686680536985,-1.2981039059251818]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_26","position":[0.31064781664454144,-1.2524967606735928,0.71338606911949],"aabb_xy":[[0.24064781504226196,-1.2659295538752504],[0.3806478182468209,-1.2390639674719353]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.1706459348419752,-1.850890440335326,0.71338606911949],"aabb_xy":[[0.1156536842064643,-1.905890442078639],[0.2256381854774862,-1.7958904385920134]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[0.4315808812128408,-1.1845531638212305,0.71338606911949],"aabb_xy":[[0.42279965406560466,-1.193332911109761],[0.4403621083600771,-1.1757734165327005]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[-0.2710971061595963,-2.1235980355977446,0.71338606911949],"aabb_xy":[[-0.3205775273735551,-2.187598033510597],[-0.22161668494563752,-2.0595980376848932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661251728256945,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2939.png","name":"2939"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2939.png","name":"2939"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4657.png","name":"4657"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4922.png","name":"4922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7687.png","name":"7687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2701.png","name":"2701"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":775.2880207655809,"rotation_z_degrees":33.132975980613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007886004431944503,-0.010012005554148566,0.008855929893485593]},{"name":"camera_2","offset_m":[-0.00024871782106954815,-0.005486929827468371,0.013591275237379939]},{"name":"camera_3","offset_m":[-0.007402164729608316,-0.003969397590841729,-0.004803906406428466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018709991538494379,-0.0009887317080083462,-0.001019769630213789],"end_effector_yaw_offset_degrees":8.267422188956708e-05},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014767823077639335,-0.0008307943621039394,-0.0007184460089712395],"end_effector_yaw_offset_degrees":0.5125219718372287},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012845757154530727,-0.001170238367026415,-0.0014586277735269188],"end_effector_yaw_offset_degrees":0.3600273408928423}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003532928511943597,-0.001839091788821343],"position_m":[0.34193292851194357,0.08346090821117866,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00452017662691131,0.0023344194682223644],"position_m":[0.21277982337308868,-0.08486558053177763,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00028101950069343157,-0.004848090080833485],"position_m":[0.35488101950069345,0.23075190991916653,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.00421602840471e-05,-0.0018146366364272227],"position_m":[0.24648004216028405,-0.3375146366364272,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e90f0431f500a40b046c114048befc63c9262179bee6597d81111f0f03d71788","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0114.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2939/tex_ceiling_textures_2701/tex_floor_textures_7687/tex_table_textures_4657/tex_wall_textures_4922","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5342754915117898856,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5342754915117898856,"visual_seed":5342754915117898856,"scene_id":"lab_003","finished_at":"2026-09-03T12:35:04"} +{"episode_id":"ep_000074","started_at":"2026-09-03T12:40:46","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.6530381488052457,-0.3487162369485084,0.71338606911949],"aabb_xy":[[-0.6705381490645824,-0.3628077791372811],[-0.6355381485459092,-0.33462469475973583]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.05759654784039214,1.1827923581113953,0.71338606911949],"aabb_xy":[[-0.006403449271713546,1.1337599883169847],[0.12159654495249783,1.2318247279058059]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.2743365978393245,-0.6260111247410916,0.71338606911949],"aabb_xy":[[0.2542781862260842,-0.646076211650249],[0.2943950094525648,-0.6059460378319339]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.1451061594278552,-2.5387079940504558,0.71338606911949],"aabb_xy":[[-0.1525186149692437,-2.5445592044720833],[-0.13769370388646676,-2.5328567836288274]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.075585723580048,-0.7057713896685933,0.71338606911949],"aabb_xy":[[0.058085724301961114,-0.7231094897349394],[0.09308572285813486,-0.6884332896022475]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.42687139382323835,1.788950984377022,0.71338606911949],"aabb_xy":[[-0.4450772174844861,1.7779255837950305],[-0.40866557016199073,1.7999763849590138]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.2937813893334578,0.3185545787073538,0.71338606911949],"aabb_xy":[[-0.37378139040657815,0.3087765323699694],[-0.2137813882603375,0.32833262504473826]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.05682554062609835,-2.016911234575579,0.71338606911949],"aabb_xy":[[0.05032390411809374,-2.026679056601889],[0.06332717713410296,-2.0071434125492695]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.6127455522610317,-2.0834437108986394,0.71338606911949],"aabb_xy":[[0.5908368701216805,-2.1053443777187297],[0.6346542344003826,-2.0615430440785483]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.5109682626555898,1.3573742480240671,0.71338606911949],"aabb_xy":[[0.46096826163645466,1.3209080322862392],[0.5609682636747252,1.393840463761895]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.4916062547150656,-0.4447104618770523,0.71338606911949],"aabb_xy":[[-0.5616062563173452,-0.45814325507870995],[-0.42160625311278616,-0.4312776686753948]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.2942828961654026,-1.7636350698128593,0.71338606911949],"aabb_xy":[[0.22928289516490202,-1.8144214349675343],[0.35928289716590306,-1.7128487046581844]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.4611992942799826,1.4688914952249532,0.71338606911949],"aabb_xy":[[-0.5261992953859258,1.4439261221568251],[-0.3961992931740393,1.4938568682930817]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.4865739059606021,-0.1260687210150575,0.71338606911949],"aabb_xy":[[-0.5365527144709179,-0.1760687210207763],[-0.4365950974502862,-0.0760687210093387]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.5074109624714827,-1.8435587034453818,0.71338606911949],"aabb_xy":[[0.5003706525379458,-1.9235587028450536],[0.5144512724050198,-1.7635587040457108]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[-0.040991849648082335,-0.8569382391594897,0.71338606911949],"aabb_xy":[[-0.12099184705167575,-0.9369308103576725],[0.039008147755511084,-0.7769456679613068]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.09545576993980953,-2.0835281193335478,0.71338606911949],"aabb_xy":[[-0.13278704646505216,-2.1181811741284],[-0.05812449341456691,-2.0488750645386955]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.633351049371754,-2.5240764032236616,0.71338606911949],"aabb_xy":[[0.6225105711452391,-2.54126268451431],[0.6441915275982689,-2.5068901219330124]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.4274990220755609,-1.7938441885293224,0.71338606911949],"aabb_xy":[[-0.49149902348355157,-1.8456331400532469],[-0.3634990206675702,-1.7420552370053974]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.5451809610389713,-1.513148901060907,0.71338606911949],"aabb_xy":[[0.5398484463843582,-1.5184732293061423],[0.5505134756935843,-1.5078245728156712]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.3461021417365844,-1.611949859293348,0.71338606911949],"aabb_xy":[[0.3290920444465337,-1.6280843477916223],[0.36311223902663503,-1.5958153707950744]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[0.19657645300268778,0.9415744161042778,0.71338606911949],"aabb_xy":[[0.10657645626707754,0.8883909527869832],[0.286576449738298,0.9947578794215722]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.4950798617630472,0.7520331991160019,0.71338606911949],"aabb_xy":[[0.4687910374426065,0.7257617654613506],[0.5213686860834877,0.7783046327706531]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[-0.505133744840556,0.7201108608080227,0.71338606911949],"aabb_xy":[[-0.5691337434271285,0.673103897408514],[-0.4411337462539836,0.7671178242075314]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.6705341861714942,0.03960585532937788,0.71338606911949],"aabb_xy":[[-0.6930333218977212,0.0171058545511149],[-0.6480350504452672,0.06210585610764085]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[-0.3356421986887702,-2.0358217881658183,0.71338606911949],"aabb_xy":[[-0.4156421966695553,-2.0434233291276698],[-0.2556422007079852,-2.028220247203966]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_26","position":[-0.26276557198322026,-2.149088672647751,0.71338606911949],"aabb_xy":[[-0.2932498221102504,-2.199088672429247],[-0.2322813218561901,-2.0990886728662552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667302709650904,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5189.png","name":"5189"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5189.png","name":"5189"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8086.png","name":"8086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/856.png","name":"856"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8633.png","name":"8633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":772.9217146501148,"rotation_z_degrees":119.0142621284662,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011371283303685597,0.002036752760595978,0.002187783305078402]},{"name":"camera_2","offset_m":[0.0187179829014229,0.0031504178429751575,0.008378449399801938]},{"name":"camera_3","offset_m":[0.014142627474049384,-0.00020195516745317305,-0.009792571949807885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009444818549720646,-0.0005401266262209101,0.0014489073014369801],"end_effector_yaw_offset_degrees":-0.12064227748785439},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010299826935395214,-0.0007299919972986308,-1.940059784058274e-05],"end_effector_yaw_offset_degrees":0.22669260130709734},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006138211635679227,-0.00023749885089782642,-0.0019084042276283331],"end_effector_yaw_offset_degrees":0.7865265599664066}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001694383009348762,-0.0025352454523461378],"position_m":[0.3367056169906512,0.08276475454765386,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001328323445502485,0.0009988459698227047],"position_m":[0.2159716765544975,-0.0862011540301773,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006197175919370693,-0.002376507131170049],"position_m":[0.3552197175919371,0.23322349286882996,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003993143922533238,0.0010302093119248304],"position_m":[0.24240685607746676,-0.3346697906880752,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9df7f0fb8007d8c4c7b078cb328baaea6e11a30a5795d5137c56b41520bf3006","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0118.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5189/tex_ceiling_textures_2095/tex_floor_textures_8633/tex_table_textures_8086/tex_wall_textures_856","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1811957719165713198,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1811957719165713198,"visual_seed":1811957719165713198,"scene_id":"lab_003","finished_at":"2026-09-03T12:43:23"} +{"episode_id":"ep_000075","started_at":"2026-09-03T12:48:50","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.17411298103260608,-2.0460579520745146,0.71338606911949],"aabb_xy":[[0.13911298113658718,-2.054432187586454],[0.20911298092862493,-2.037683716562574]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.05160730571766059,-2.2978924183712293,0.71338606911949],"aabb_xy":[[-0.10149000259535682,-2.347892417617504],[-0.0017246088399643926,-2.2478924191249545]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.5304956129345653,-1.3703039534974775,0.71338606911949],"aabb_xy":[[-0.5401272491549949,-1.3799412662771862],[-0.5208639767141356,-1.3606666407177683]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.5509716861248427,0.3928779280390824,0.71338606911949],"aabb_xy":[[-0.5603186937071379,0.3785743058214384],[-0.5416246785425475,0.4071815502567265]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.5960813891230374,0.07078178703601745,0.71338606911949],"aabb_xy":[[0.5610813877715556,0.05042205107919661],[0.631081390474519,0.09114152299283827]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.4872213088191184,-0.6975770199883122,0.71338606911949],"aabb_xy":[[0.4816396371849896,-0.7100770198060877],[0.4928029804532471,-0.6850770201705367]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.5337431483405106,-0.3320645555422046,0.71338606911949],"aabb_xy":[[0.44874314964843587,-0.36405041893708345],[0.6187431470325852,-0.30007869214732574]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.21970298704113855,-1.8707468272341083,0.71338606911949],"aabb_xy":[[0.15470298848406572,-1.900499360647991],[0.2847029855982114,-1.8409942938202257]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.0964365925798244,-1.266818243982737,0.71338606911949],"aabb_xy":[[-0.1464365912257456,-1.3167377876421993],[-0.0464365939339032,-1.2168987003232745]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.40381753012602206,0.797210454722777,0.71338606911949],"aabb_xy":[[-0.43811444114376263,0.7629135685128354],[-0.3695206191082814,0.831507340932718]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.41144355921366427,0.12044756523690969,0.71338606911949],"aabb_xy":[[-0.5014435628905823,0.05901515865980535],[-0.32144355553674603,0.18187997181401405]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.26445237397961896,0.8122714584208603,0.71338606911949],"aabb_xy":[[0.21447356546930307,0.7622714584151414],[0.31443118248993485,0.862271458426579]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.4654481179048269,1.542595266991246,0.71338606911949],"aabb_xy":[[0.4241993068749121,1.487595267479028],[0.5066969289347415,1.597595266503463]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.23017485607840704,-0.5387382925833277,0.71338606911949],"aabb_xy":[[-0.2801479216109225,-0.5887382923958607],[-0.18020179054589158,-0.48873829277079495]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.6368923436660299,1.0856344706524927,0.71338606911949],"aabb_xy":[[0.5869190496627694,1.0356344700979452],[0.6868656376692903,1.1356344712070399]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.11009374412539064,-0.8261128076867041,0.71338606911949],"aabb_xy":[[-0.13037804684878937,-0.8463954328294129],[-0.08980944140199186,-0.8058301825439952]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.49816964394290064,-1.4445300903551106,0.71338606911949],"aabb_xy":[[0.49185754440656226,-1.4502970296083295],[0.504481743479239,-1.4387631511018917]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.38856322441651175,1.6875597980727046,0.71338606911949],"aabb_xy":[[-0.40606315785049507,1.67005979815247],[-0.3710632909825283,1.7050597979929392]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.5778734897164192,-2.009728038578935,0.71338606911949],"aabb_xy":[[-0.6003726254426461,-2.0322280393571983],[-0.5553743539901922,-1.9872280378006721]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.14592563503717304,-1.7958462179279309,0.71338606911949],"aabb_xy":[[-0.15396899496312821,-1.880846219023297],[-0.13788227511121787,-1.7108462168325642]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.2811904279686557,-1.2923257821742025,0.71338606911949],"aabb_xy":[[0.21719043085655,-1.341358151968613],[0.34519042508076136,-1.2432934123797919]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.0549810018423601,-1.4770151645589404,0.71338606911949],"aabb_xy":[[-0.11898100254582947,-1.5230335470318617],[0.009018998861109248,-1.4309967820860194]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[0.5351333622175802,-1.0701692832491374,0.71338606911949],"aabb_xy":[[0.4551333619439733,-1.143118831074854],[0.6151333624911872,-0.9972197354234206]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.6134108149868074,-0.8672381481967033,0.71338606911949],"aabb_xy":[[0.5933524033735671,-0.8873032351058608],[0.6334692266000477,-0.8471730612875458]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.21523933281793317,-0.7350312023442793,0.71338606911949],"aabb_xy":[[-0.23882445628182802,-0.8000312045897111],[-0.19165420935403832,-0.6700312000988475]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.20877853622224563,-2.3247791111163614,0.71338606911949],"aabb_xy":[[0.1587955860347663,-2.374779110758921],[0.25876148640972496,-2.2747791114738]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.5148515136596502,-0.2324443546190471,0.71338606911949],"aabb_xy":[[-0.5601301285407995,-0.2964443539672308],[-0.46957289877850095,-0.16844435527086343]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.09698370117971722,-0.9654294737558713,0.71338606911949],"aabb_xy":[[0.07198370124719936,-0.9723121419767945],[0.12198370111223514,-0.9585468055349479]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663711699119365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7370.png","name":"7370"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7370.png","name":"7370"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3326.png","name":"3326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/749.png","name":"749"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4113.png","name":"4113"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6567.png","name":"6567"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":634.5504806296085,"rotation_z_degrees":67.48928291927118,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009304363406074781,0.012812683503997512,-0.002943154650598922]},{"name":"camera_2","offset_m":[0.01621308586498819,-0.004765350748726678,-0.006949795161936034]},{"name":"camera_3","offset_m":[-0.00093666453571414,-0.004360057042976914,-0.00101886409445252]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-4.962922991147726e-05,-0.0003170575265108236,-0.0004049794853861167],"end_effector_yaw_offset_degrees":-0.44066057625016364},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010155895608411397,-4.1872876894561394e-05,-0.0004830147400083811],"end_effector_yaw_offset_degrees":-0.16786403600714084},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015027621885266677,0.0001372368407877374,0.001723394404711565],"end_effector_yaw_offset_degrees":0.3065164485299816}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0041845445725230065,-0.001416846966222568],"position_m":[0.334215455427477,0.08388315303377743,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00317544524498085,0.00434907157860781],"position_m":[0.21412455475501915,-0.08285092842139219,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004521940906862,0.001077854633190216],"position_m":[0.35007805909313805,0.23667785463319022,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010982672956991327,0.0008388206264583935],"position_m":[0.24749826729569915,-0.3348611793735416,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a3e7f1686bd842ec39d4f9fb64428688d3db9b0f83830c51e3ed9c7cab83b95c","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0122.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7370/tex_ceiling_textures_6567/tex_floor_textures_4113/tex_table_textures_3326/tex_wall_textures_749","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3052219044622570918,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3052219044622570918,"visual_seed":3052219044622570918,"scene_id":"lab_003","finished_at":"2026-09-03T12:51:22"} +{"episode_id":"ep_000076","started_at":"2026-09-03T12:54:19","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.410846374021381,-2.161677575561534,0.71338606911949],"aabb_xy":[[-0.4908463711809563,-2.173225176519351],[-0.33084637686180574,-2.150129974603717]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.10813248453785695,0.8921388180839096,0.71338606911949],"aabb_xy":[[0.10203785664973863,0.8835694235322409],[0.11422711242597527,0.9007082126355783]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.42858548169973787,0.33264365980107113,0.71338606911949],"aabb_xy":[[0.41513895506569454,0.31917380814797996],[0.4420320083337812,0.3461135114541624]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.1531428625793141,-1.3870609593533916,0.71338606911949],"aabb_xy":[[-0.1750515447186651,-1.4089616261734823],[-0.13123418043996302,-1.3651602925333008]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.031555990504096076,1.0072034088819013,0.71338606911949],"aabb_xy":[[-0.053444008187978564,0.9752175454870222],[0.11655598919617072,1.03918927227678]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.623267165297547,-0.4373938059984752,0.71338606911949],"aabb_xy":[[0.5987209496747962,-0.4676427025475123],[0.6478133809202976,-0.40714490944943815]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.16770158928364565,-2.47646010090075,0.71338606911949],"aabb_xy":[[-0.21768453947112495,-2.52646010054331],[-0.1177186390961663,-2.426460101258189]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.5425729860531736,-2.28484328786101,0.71338606911949],"aabb_xy":[[-0.5875729875194026,-2.329843144722491],[-0.4975729845869449,-2.23984343099953]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.256669415496106,-2.2734174765025044,0.71338606911949],"aabb_xy":[[0.24788818834886983,-2.2821972237910346],[0.2654506426433423,-2.264637729213974]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.6432091688928008,-0.12274334730414083,0.71338606911949],"aabb_xy":[[0.6019046258290647,-0.1867433468722579],[0.6845137119565367,-0.05874334773602373]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.20796749737085374,-2.1559251177411474,0.71338606911949],"aabb_xy":[[0.15808480049315754,-2.205925116987422],[0.25785019424854994,-2.1059251184948726]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.45244662661162327,0.9943973383908045,0.71338606911949],"aabb_xy":[[-0.4650493257486998,0.981801942165939],[-0.43984392747454687,1.00699273461567]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.4736359695999748,1.299280228841981,0.71338606911949],"aabb_xy":[[0.4424890507563916,1.2292802301551737],[0.5047828884435579,1.369280227528788]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.31476859522765777,0.6629236056196879,0.71338606911949],"aabb_xy":[[0.2669624276138891,0.5979236029126288],[0.3625747628414264,0.7279236083267467]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[0.12213084782662509,1.665546469723846,0.71338606911949],"aabb_xy":[[0.07213084746605901,1.6155664825142426],[0.17213084818719113,1.7155264569334485]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.6724558994771758,-1.1413471066949596,0.71338606911949],"aabb_xy":[[-0.6784224384179116,-1.1473082513543238],[-0.6664893605364399,-1.1353859620355955]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.12101668811480126,-2.3091496269826646,0.71338606911949],"aabb_xy":[[-0.16378339499422145,-2.373149630404467],[-0.07824998123538107,-2.245149623560862]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.2575591174243505,1.558236135196124,0.71338606911949],"aabb_xy":[[-0.3125523287614873,1.5032361348573307],[-0.2025659060872138,1.6132361355349178]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[0.08265540982755526,-2.111101337992112,0.71338606911949],"aabb_xy":[[0.06015541001365289,-2.1155759543625927],[0.10515540964145766,-2.1066267216216317]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.5356181767762209,-0.859184839629175,0.71338606911949],"aabb_xy":[[-0.5855969852865368,-0.9091848396348938],[-0.48563936826590504,-0.8091848396234562]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.6931662710874014,1.5575346280974238,0.71338606911949],"aabb_xy":[[0.67993532555272,1.5443072090754244],[0.7063972166220825,1.5707620471194232]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.43282034732748836,0.8917871463166578,0.71338606911949],"aabb_xy":[[-0.4506138542624048,0.8739874007208601],[-0.4150268403925719,0.9095868919124555]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.570206949024503,-1.2429291922698054,0.71338606911949],"aabb_xy":[[0.5582742146626749,-1.2553113450776645],[0.582139683386331,-1.2305470394619458]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.13003343140686197,-1.9778567456143685,0.71338606911949],"aabb_xy":[[-0.2000334278168237,-1.99829468126605],[-0.060033434996900135,-1.9574188099626866]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[-0.16589664832607698,-0.10479582400761878,0.71338606911949],"aabb_xy":[[-0.22989664472165006,-0.16875911242635233],[-0.1018966519305039,-0.04083253558888521]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.26642336840688513,-0.8679566345004428,0.71338606911949],"aabb_xy":[[-0.33042336911035447,-0.9139750169733639],[-0.2024233677034158,-0.8219382520275219]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[-0.5185804977331618,-1.8763775282319592,0.71338606911949],"aabb_xy":[[-0.5835804956148096,-1.9275011919385006],[-0.45358049985151405,-1.8252538645254188]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.5420576297544968,-1.3514760006817401,0.71338606911949],"aabb_xy":[[-0.5521393368330701,-1.4314759985738543],[-0.5319759226759232,-1.271476002789625]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.4810591434280045,-0.3651216913118631,0.71338606911949],"aabb_xy":[[-0.5450591457708059,-0.4100625425559956],[-0.41705914108520287,-0.3201808400677306]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[-0.06546832612968434,-1.7237118759197094,0.71338606911949],"aabb_xy":[[-0.07522431563885823,-1.7334744099789436],[-0.05571233662051045,-1.7139493418604748]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[-0.06284177133869495,-1.1797848578913441,0.71338606911949],"aabb_xy":[[-0.0691538708750334,-1.185551797144563],[-0.05652967180235653,-1.1740179186381252]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_31","position":[0.5149645249673318,0.6802956039901167,0.71338606911949],"aabb_xy":[[0.5023377376801353,0.6707495302885438],[0.527591312254528,0.6898416776916896]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_32","position":[0.39547442301337465,-0.9208122383001112,0.71338606911949],"aabb_xy":[[0.38677646072265937,-0.932937212607586],[0.40417238530408994,-0.9086872639926366]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_33","position":[-0.4839958128585666,0.21112910959208486,0.71338606911949],"aabb_xy":[[-0.5479958150789737,0.16675602546679658],[-0.4199958106381595,0.25550219371737315]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_34","position":[-0.2692558665041637,-1.077573395522342,0.71338606911949],"aabb_xy":[[-0.3067558668523915,-1.0893647911034257],[-0.23175586615593596,-1.0657819999412586]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695658999560621,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3775.png","name":"3775"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3023.png","name":"3023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9475.png","name":"9475"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":637.150388395907,"rotation_z_degrees":326.82414751510544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0022487979784638484,0.007161705018122223,0.009657551715271759]},{"name":"camera_2","offset_m":[0.014308008873675549,0.008900224270824219,0.015839400778047064]},{"name":"camera_3","offset_m":[-0.011787898977894064,0.010385694195743662,-0.007796871984271304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000990238944226001,-0.0007496203128725162,0.0006757461620545552],"end_effector_yaw_offset_degrees":-0.16534438680495667},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001976192093677971,0.001535339193567934,0.0009366737116322482],"end_effector_yaw_offset_degrees":-0.603696257838396},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004342529642199517,0.0004985043791328144,0.0015026374387482806],"end_effector_yaw_offset_degrees":-0.6326482673157672}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004376476576559393,-0.001908631022030093],"position_m":[0.3340235234234406,0.0833913689779699,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003307127648270982,-0.0006800574939136187],"position_m":[0.213992872351729,-0.08788005749391362,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034152031913892286,-0.003403132086789408],"position_m":[0.35801520319138924,0.2321968679132106,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036508597686096657,-0.004917787516792122],"position_m":[0.24274914023139035,-0.3406177875167921,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4842b620bf9d90b6f58b68c6e5882252c98f0e96d8ae799a4aeb997e3918b5fb","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0124.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3046/tex_ceiling_textures_9475/tex_floor_textures_3023/tex_table_textures_3775/tex_wall_textures_7986","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2405523739377112752,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2405523739377112752,"visual_seed":2405523739377112752,"scene_id":"lab_003","finished_at":"2026-09-03T12:56:47"} +{"episode_id":"ep_000077","started_at":"2026-09-03T12:59:56","dimensions":{"distractor":{"count":25,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.1404705998356952,0.3384878253814403,0.71338606911949],"aabb_xy":[[-0.23047059633656694,0.292576182962982],[-0.05047060333482344,0.3843994677998985]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.3366586503257887,-1.5064948612518456,0.71338606911949],"aabb_xy":[[-0.3595743632108386,-1.5293991583882696],[-0.3137429374407388,-1.4835905641154223]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.46690798874236084,-1.777415174973223,0.71338606911949],"aabb_xy":[[0.44684957712912055,-1.7974802618823804],[0.4869664003556011,-1.7573500880640656]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.5273393305232199,-1.3562397673150703,0.71338606911949],"aabb_xy":[[-0.548617338666692,-1.4212397696411434],[-0.5060613223797475,-1.2912397649889973]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.46786232728061855,-1.027285029245121,0.71338606911949],"aabb_xy":[[-0.47749396350104817,-1.0369223420248297],[-0.45823069106018893,-1.0176477164654119]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.6184860274254498,-0.4009067552427892,0.71338606911949],"aabb_xy":[[0.563486027803704,-0.4558904480302619],[0.6734860270471957,-0.34592306245531645]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.22022799765199852,-2.0225272722000045,0.71338606911949],"aabb_xy":[[-0.29022800028858486,-2.0426321371958696],[-0.15022799501541215,-2.0024224072041386]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[0.6878371362308475,1.1218208029588577,0.71338606911949],"aabb_xy":[[0.6799138559920992,1.0993208027208543],[0.6957604164695959,1.144320803196861]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.01587184510562123,0.6807514587713652,0.71338606911949],"aabb_xy":[[-0.04833354598754868,0.6506186266564625],[0.016589855776306225,0.7108842908862677]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.14848060363111004,1.2792944922253588,0.71338606911949],"aabb_xy":[[-0.16598060387615943,1.2617947043857918],[-0.13098060338606066,1.2967942800649255]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.24907300662480214,-0.09669845126913668,0.71338606911949],"aabb_xy":[[-0.2665729400587855,-0.1141984511893712],[-0.2315730731908188,-0.07919845134890212]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.6045534555945178,-0.5065369924371974,0.71338606911949],"aabb_xy":[[-0.684553457024645,-0.5860541474498068],[-0.5245534541643906,-0.4270198374245878]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.12479349638780135,-2.1698947126736408,0.71338606911949],"aabb_xy":[[0.06079349601026775,-2.219639979524453],[0.18879349676533497,-2.1201494458228285]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[-0.4537533112529182,-2.17426378730071,0.71338606911949],"aabb_xy":[[-0.46552149804757575,-2.259263787205932],[-0.4419851244582607,-2.0892637873954887]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.04388330708928856,-1.9163231892263242,0.71338606911949],"aabb_xy":[[-0.07888330535940846,-1.923397316921312],[-0.008883308819168649,-1.9092490615313358]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.019634114136837022,-0.7101439696946246,0.71338606911949],"aabb_xy":[[-0.015365887214644708,-0.7305037056514454],[0.05463411548831876,-0.6897842337378037]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.35234594484231974,0.40834183329855067,0.71338606911949],"aabb_xy":[[-0.432339768420878,0.32834183070570905],[-0.27235212126376157,0.4883418358913922]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.39785160461750385,0.90507694231417,0.71338606911949],"aabb_xy":[[-0.41528231969651025,0.8878048276503192],[-0.38042088953849723,0.9223490569780208]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.6013490684373963,1.7668616057006132,0.71338606911949],"aabb_xy":[[0.5113490698429265,1.7506110193871922],[0.6913490670318664,1.7831121920140343]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.335042402991773,-0.9658556926414403,0.71338606911949],"aabb_xy":[[-0.3850424043526602,-1.0158335972168557],[-0.28504240163088573,-0.9158777880660247]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[0.3697818812715543,1.1980933028062144,0.71338606911949],"aabb_xy":[[0.3057818848759813,1.1341300143874808],[0.43378187766712745,1.262056591224948]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.5690294150791786,0.08632901774421509,0.71338606911949],"aabb_xy":[[-0.6063606916044212,0.05167596294936278],[-0.531698138553936,0.1209820725390674]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.2979708416155351,-1.9872046370857603,0.71338606911949],"aabb_xy":[[0.26047084126730735,-1.9989960326668437],[0.33547084196376287,-1.9754132415046766]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[0.5921530340083183,-1.891423562584086,0.71338606911949],"aabb_xy":[[0.528153032095976,-1.9473347118420967],[0.6561530359206607,-1.8355124133260758]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.2870079588325063,-2.292692172991707,0.71338606911949],"aabb_xy":[[-0.3255536516577073,-2.3312379440478956],[-0.2484622660073052,-2.254146401935518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686719474366736,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8962.png","name":"8962"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8962.png","name":"8962"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/678.png","name":"678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3246.png","name":"3246"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9411.png","name":"9411"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":739.1521525265429,"rotation_z_degrees":224.62946949859264,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01602325723880934,-0.016309951386862972,0.003814615580675418]},{"name":"camera_2","offset_m":[-0.013699697248447246,-0.015082473892610668,0.002248863980131549]},{"name":"camera_3","offset_m":[-0.001599090590093194,-0.015370547723796181,-0.006655939162636541]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011738737999857675,-5.702402251062913e-05,0.0010984739563647036],"end_effector_yaw_offset_degrees":-0.5762249843376985},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.19302368927708e-05,0.0009030559973573675,-3.459727483687324e-05],"end_effector_yaw_offset_degrees":0.8349702460135926},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001375849051445244,-0.0006133589845863342,0.0012834107066698767],"end_effector_yaw_offset_degrees":0.8832542611910197}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004862713234782586,-0.004940552421157741],"position_m":[0.3432627132347826,0.08035944757884227,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002162882811551926,-0.0021012932290407314],"position_m":[0.2194628828115519,-0.08930129322904073,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017060923555066694,-0.001371823795560041],"position_m":[0.3563060923555067,0.23422817620443998,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002272376671745847,0.002394015467258837],"position_m":[0.24867237667174585,-0.3333059845327412,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7046c9b3c68d46022bcdaf5ea26e25ac6170aadc25196ac16b11e03fbae92685","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0126.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8962/tex_ceiling_textures_9411/tex_floor_textures_1726/tex_table_textures_678/tex_wall_textures_3246","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7234154924116469093,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7234154924116469093,"visual_seed":7234154924116469093,"scene_id":"lab_003","finished_at":"2026-09-03T13:02:18"} +{"episode_id":"ep_000078","started_at":"2026-09-03T13:08:07","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.11500817668552632,0.46799419371084117,0.71338606911949],"aabb_xy":[[-0.13258647887447317,0.4504197041367362],[-0.09742987449657946,0.485568683284946]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.17008349536593037,0.875226713156473,0.71338606911949],"aabb_xy":[[0.15002508375269008,0.8551616262473155],[0.19014190697917066,0.8952918000656306]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.534777018719613,0.9115572315734242,0.71338606911949],"aabb_xy":[[0.526750748088987,0.9028057365960716],[0.542803289350239,0.9203087265507768]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.26344995935944837,1.3540099498754703,0.71338606911949],"aabb_xy":[[0.17344995568253016,1.2925775432983657],[0.3534499630363665,1.4154423564525744]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.38375894597185795,-0.7817307735330696,0.71338606911949],"aabb_xy":[[-0.42060949390884556,-0.8192307743561034],[-0.34690839803487034,-0.7442307727100359]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.4866313160019359,-2.067369798823084,0.71338606911949],"aabb_xy":[[-0.5241313166665145,-2.0830568568233057],[-0.4491313153373572,-2.0516827408228613]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.5524736043962046,-0.24503557506837925,0.71338606911949],"aabb_xy":[[0.48847360796888284,-0.2922051988904757],[0.6164736008235266,-0.1978659512462828]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.16734137300884178,0.6311370912631271,0.71338606911949],"aabb_xy":[[-0.2573413695097135,0.5852254488446688],[-0.07734137650797,0.6770487336815852]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.44231201489702726,-1.2508831981726711,0.71338606911949],"aabb_xy":[[-0.5223120159701475,-1.2606612445100556],[-0.36231201382390693,-1.2411051518352867]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.20667770544277553,1.7894864746966754,0.71338606911949],"aabb_xy":[[0.12667770828320024,1.7779388737388582],[0.2866777026023508,1.8010340756544923]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.27085343358279457,1.016335407881836,0.71338606911949],"aabb_xy":[[0.20685343629714592,0.9748286889289921],[0.3348534308684432,1.05784212683468]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.5937355490473177,0.07316165942981367,0.71338606911949],"aabb_xy":[[0.52973554582868,0.026438547530805323],[0.6577355522659557,0.11988477132882203]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.42447671372491924,1.7706400715681228,0.71338606911949],"aabb_xy":[[0.38947671382890037,1.7622658360561827],[0.4594767136209381,1.7790143070800628]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.6430182764951597,-2.1557564144914387,0.71338606911949],"aabb_xy":[[0.6324507968370607,-2.166301444604447],[0.6535857561532588,-2.1452113843784297]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.3262930490008513,-1.9544749214070525,0.71338606911949],"aabb_xy":[[0.27629377383241516,-2.0044749226829994],[0.3762923241692875,-1.9044749201311055]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.20171913895664506,1.6838223021621155,0.71338606911949],"aabb_xy":[[-0.2126249150442078,1.603822305763286],[-0.19081336286908238,1.7638222985609444]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.2727582939660673,-1.618187475478189,0.71338606911949],"aabb_xy":[[0.22275829532014613,-1.6681070191376517],[0.3227582926119885,-1.568267931818727]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.6810105110138065,-0.8725274406315244,0.71338606911949],"aabb_xy":[[0.6424648181886055,-0.9110732116877132],[0.7195562038390075,-0.8339816695753359]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.031690679045924264,0.10013417285942383,0.71338606911949],"aabb_xy":[[-0.0445625825468644,0.02013417244558768],[-0.01881877554498412,0.18013417327325995]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.08199532732052484,-1.7614724811347848,0.71338606911949],"aabb_xy":[[0.011995325189095282,-1.7842344467604803],[0.15199532945195438,-1.738710515509089]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.41262449499691245,1.0961863191148842,0.71338606911949],"aabb_xy":[[0.3751244964212916,1.083450023451326],[0.4501244935725332,1.108922614778442]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.5049106169635633,1.2076389738634417,0.71338606911949],"aabb_xy":[[-0.539373094976651,1.200975296680519],[-0.47044813895047544,1.2143026510463644]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.2480125873640429,-1.521178519952755,0.71338606911949],"aabb_xy":[[-0.3280125887941701,-1.6006956749653642],[-0.16801258593391571,-1.4416613649401453]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.5054170117087975,-1.6447499962060177,0.71338606911949],"aabb_xy":[[0.4808707960860467,-1.674998892755055],[0.5299632273315481,-1.6145010996569809]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.18985945228041912,-2.3763159635115683,0.71338606911949],"aabb_xy":[[0.1248594512799186,-2.427102328666243],[0.25485945328091963,-2.3255295983568933]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.5738338362852266,-0.9712723310079105,0.71338606911949],"aabb_xy":[[-0.6288293141058858,-1.0262723324418173],[-0.518838358464567,-0.9162723295740034]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.4998463301489817,-2.48605502491229,0.71338606911949],"aabb_xy":[[0.4753327060519758,-2.5103196182143264],[0.5243599542459876,-2.4617904316102535]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[-0.5986164400352725,-1.5927783012751702,0.71338606911949],"aabb_xy":[[-0.6396343834216434,-1.6427783019061273],[-0.5575984966489016,-1.5427783006442126]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[0.19221961828670975,-2.0766134206268525,0.71338606911949],"aabb_xy":[[0.15721961909389146,-2.0875804666245146],[0.22721961747952799,-2.0656463746291895]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_29","position":[0.11827464165903145,-0.8237883849787224,0.71338606911949],"aabb_xy":[[0.04827463826746948,-0.8591041586821531],[0.18827464505059344,-0.7884726112752913]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[-0.5559655606493135,-0.05959567319943382,0.71338606911949],"aabb_xy":[[-0.6159655622922353,-0.111595822491378],[-0.4959655590063916,-0.007595523907489639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697393130057426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6571.png","name":"6571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6201.png","name":"6201"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3335.png","name":"3335"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1153.png","name":"1153"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":520.4630298573998,"rotation_z_degrees":55.470545971920004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001959252871259972,-0.007216338798500343,0.006444263035980748]},{"name":"camera_2","offset_m":[0.004913563520790625,0.012401885127892861,-0.015172422794115766]},{"name":"camera_3","offset_m":[-0.007147871779270428,-0.004228088213681855,-0.014593458166332295]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005472708996010715,0.0002494487829937139,0.0007459275386783332],"end_effector_yaw_offset_degrees":0.28133005193659977},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003206581325024497,0.0018641988728533084,0.0005642090733780549],"end_effector_yaw_offset_degrees":0.8100706429902866},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005031079049003435,-0.0016200920567054778,-0.001972518165859739],"end_effector_yaw_offset_degrees":-0.21158935785680844}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001806707776665133,0.0015933490679356753],"position_m":[0.33659329222333484,0.08689334906793568,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004405693987181081,0.0025556224964101756],"position_m":[0.22170569398718107,-0.08464437750358983,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011071276040199819,0.0032332565299736755],"position_m":[0.35570712760402,0.23883325652997367,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004892945516778687,0.002981334083251584],"position_m":[0.24688929455167788,-0.3327186659167484,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f5562d5b599027e6e9505722164e8d7e386ce739b719a07d92b93242034fe326","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0130.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1456/tex_ceiling_textures_1153/tex_floor_textures_3335/tex_table_textures_6571/tex_wall_textures_6201","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2949712217976850955,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2949712217976850955,"visual_seed":2949712217976850955,"scene_id":"lab_003","finished_at":"2026-09-03T13:10:32"} +{"episode_id":"ep_000079","started_at":"2026-09-03T13:10:34","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.1866654924890182,-2.339440265640196,0.71338606911949],"aabb_xy":[[0.16308036902512332,-2.4044402678856276],[0.21025061595291303,-2.274440263394764]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.26016317410857953,-0.8456515542860537,0.71338606911949],"aabb_xy":[[-0.2906474242356097,-0.8956515540675496],[-0.22967892398154938,-0.7956515545045577]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.42571918470383113,-1.3279296043513245,0.71338606911949],"aabb_xy":[[-0.4833496535911019,-1.3879296032780348],[-0.3680887158165602,-1.2679296054246136]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.2642123644708081,-1.9459126251475203,0.71338606911949],"aabb_xy":[[0.24956895891677505,-1.9605713448043045],[0.278855770024841,-1.931253905490736]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.45792897432919943,-1.9537059206811915,0.71338606911949],"aabb_xy":[[0.4498012861358862,-1.962619529091899],[0.46605666252251265,-1.9447923122704835]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[-0.1796150724078952,-1.8262962051100906,0.71338606911949],"aabb_xy":[[-0.190860127978513,-1.837538002834186],[-0.16837001683727734,-1.8150544073859953]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.5186954802477522,0.1567987029471336,0.71338606911949],"aabb_xy":[[-0.522773638154802,0.1527177226988703],[-0.5146173223407025,0.16087968319539692]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.4676527397456305,0.3606029856695194,0.71338606911949],"aabb_xy":[[0.4596264691150045,0.3518514906921668],[0.4756790103762565,0.36935448064687204]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.5963415892808691,0.27159085121986015,0.71338606911949],"aabb_xy":[[-0.6028432257888737,0.26182302919355044],[-0.5898399527728645,0.28135867324617]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.3924602773831434,0.609561469461235,0.71338606911949],"aabb_xy":[[-0.4724602776567503,0.5366119216355183],[-0.31246027710953633,0.6825110172869517]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.17988337480480776,0.776104249515674,0.71338606911949],"aabb_xy":[[0.15738423907858076,0.753604248737411],[0.2023825105310347,0.798604250293937]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.05037408887877115,-0.7309926421024935,0.71338606911949],"aabb_xy":[[-0.03962591084440303,-0.7540659946376732],[0.1403740886019453,-0.7079192895673135]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.12134206688648774,1.3896909488471363,0.71338606911949],"aabb_xy":[[0.08401079036124512,1.355037894052284],[0.15867334341173037,1.4243440036419885]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.4260144270392496,0.8410593701927569,0.71338606911949],"aabb_xy":[[-0.4616435829392094,0.805426703435904],[-0.3903852711392899,0.8766920369496098]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[-0.5371543667770999,-1.762556436440495,0.71338606911949],"aabb_xy":[[-0.5921543649788448,-1.8030784030669325],[-0.48215436857535515,-1.7220344698140573]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.6098871668616972,-0.6280252557802926,0.71338606911949],"aabb_xy":[[0.5549134448253644,-0.6830252553445257],[0.6648608888980302,-0.5730252562160594]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.09726696287513603,-2.324960241443147,0.71338606911949],"aabb_xy":[[-0.13411751081212364,-2.362460242266181],[-0.06041641493814842,-2.2874602406201134]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.3924433201718841,0.7508413653155799,0.71338606911949],"aabb_xy":[[-0.39614658150102294,0.7471393470068619],[-0.38874005884274515,0.7545433836242976]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.23742105883699516,0.9246348191667608,0.71338606911949],"aabb_xy":[[0.2297178681629181,0.9169254484680228],[0.24512424951107217,0.9323441898654988]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.4472779811850629,-1.0948712633578639,0.71338606911949],"aabb_xy":[[-0.5088687404090558,-1.1588712614669108],[-0.3856872219610702,-1.030871265248817]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.628390695039998,-0.2478246817699894,0.71338606911949],"aabb_xy":[[0.5812613160381622,-0.3118246828143913],[0.6755200740418336,-0.18382468072558739]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.11999347447484754,0.5689749165080755,0.71338606911949],"aabb_xy":[[-0.13014649002899692,0.5329053749353351],[-0.10984045892069814,0.6050444580808158]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.3487795374895821,0.19479738694050575,0.71338606911949],"aabb_xy":[[-0.39154624436900226,0.1307973835187033],[-0.3060128306101619,0.2587973903623082]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[0.015064353290310306,1.1785937580139731,0.71338606911949],"aabb_xy":[[-0.017397347591617148,1.1484609258990701],[0.04752605417223776,1.2087265901288753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702103900653714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4916.png","name":"4916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4916.png","name":"4916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4844.png","name":"4844"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2082.png","name":"2082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7037.png","name":"7037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9364.png","name":"9364"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":500.7678684415513,"rotation_z_degrees":284.0053865311619,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005508421231541036,0.019276279655471202,0.0134233116424818]},{"name":"camera_2","offset_m":[0.00864259451800212,0.009830702002436093,0.013976164150289783]},{"name":"camera_3","offset_m":[-0.008038178613938515,-0.004016433434137032,-0.014691601153209529]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023835215043549116,0.0005529928752745668,-0.0008701876152094154],"end_effector_yaw_offset_degrees":0.08230384473269647},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013181958919643256,-9.08763993444292e-05,-0.000549048153252039],"end_effector_yaw_offset_degrees":-0.5884832186355058},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012990087844593694,-9.87091273474414e-05,-0.00044185323321157275],"end_effector_yaw_offset_degrees":0.047091047757585436}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00484946102415973,-0.00220638673527071],"position_m":[0.33355053897584025,0.08309361326472929,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013566614548145774,-0.0046178329975357525],"position_m":[0.2159433385451854,-0.09181783299753575,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004582348961503574,-0.004707113132358719],"position_m":[0.3591823489615036,0.23089288686764128,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003915963161832339,-0.0036895885906085947],"position_m":[0.24248403683816766,-0.3393895885906086,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e0f6694afe4debf2ec369c5b3a24a424405f98d8bd7b384c3ca271efa2a1cdd6","episode_index":131,"episode_name":"episode_0131"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0131.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4916/tex_ceiling_textures_9364/tex_floor_textures_7037/tex_table_textures_4844/tex_wall_textures_2082","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8896814342746618026,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8896814342746618026,"visual_seed":8896814342746618026,"scene_id":"lab_003","finished_at":"2026-09-03T13:12:34"} +{"episode_id":"ep_000080","started_at":"2026-09-03T13:12:37","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.6217257509305405,-1.3839035772238555,0.71338606911949],"aabb_xy":[[0.5517257491217951,-1.4052573459880429],[0.6917257527392859,-1.362549808459668]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.19309231257844472,-0.7598542157489117,0.71338606911949],"aabb_xy":[[0.16981047038031336,-0.8448542170461398],[0.21637415477657604,-0.6748542144516837]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.4115108814057147,-0.7383466788953139,0.71338606911949],"aabb_xy":[[-0.4915108818759307,-0.7466573865096623],[-0.3315108809354988,-0.7300359712809655]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.3982254206042823,-1.7467039471010324,0.71338606911949],"aabb_xy":[[-0.4404098347651131,-1.8107039473782436],[-0.3560410064434516,-1.6827039468238212]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.3635310585819967,0.7729646072308074,0.71338606911949],"aabb_xy":[[-0.372878066164292,0.7586609850131634],[-0.3541840509997015,0.7872682294484514]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.344434535292899,-0.994794124379496,0.71338606911949],"aabb_xy":[[-0.3478752115329562,-0.9986555573538607],[-0.34099385905284185,-0.9909326914051317]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.39855396335647497,1.5173666221711,0.71338606911949],"aabb_xy":[[0.34355396515473013,1.4768446555446624],[0.4535539615582198,1.5578885887975376]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.20271892269333797,1.7579682088814352,0.71338606911949],"aabb_xy":[[-0.2400501992185806,1.7233151540865828],[-0.16538764616809534,1.7926212636762873]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.26728299040418946,-1.980873450512408,0.71338606911949],"aabb_xy":[[0.2367987402771593,-2.030873450293904],[0.2977672405312196,-1.9308734507309118]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.19282088519526985,-0.14280776349511148,0.71338606911949],"aabb_xy":[[-0.20153485424520431,-0.16530776415429968],[-0.18410691614533534,-0.12030776283592325]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.39129756546200656,-1.150444386639976,0.71338606911949],"aabb_xy":[[-0.4552975676824136,-1.1948174707652643],[-0.32729756324159953,-1.1060713025146878]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[-0.007089247038374102,-1.452298892590195,0.71338606911949],"aabb_xy":[[-0.02419132499674226,-1.469405698121465],[0.010012830919994054,-1.4351920870589254]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.21195887862346363,0.4518624623531333,0.71338606911949],"aabb_xy":[[-0.2669588782452095,0.39687876956566065],[-0.1569588790017178,0.506846155140606]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.6514605853804083,-0.5295422697287293,0.71338606911949],"aabb_xy":[[0.6139605854366419,-0.5378353597635658],[0.6889605853241747,-0.5212491796938926]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.012289244428380863,-2.040862353901936,0.71338606911949],"aabb_xy":[[-0.07628924513185022,-2.0868807363748574],[0.05171075627508849,-1.9948439714290154]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.1185534443505688,-2.3860508164018803,0.71338606911949],"aabb_xy":[[0.06356023301343205,-2.441050816740674],[0.17354665568770555,-2.3310508160630867]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.013974673000087257,-0.48688199656390596,0.71338606911949],"aabb_xy":[[-0.019307187654700242,-0.49220632480914156],[-0.008642158345474273,-0.48155766831867036]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[-0.43960809756625835,1.2957244745605614,0.71338606911949],"aabb_xy":[[-0.5036081008559664,1.2523895555566438],[-0.3756080942765502,1.339059393564479]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.5826084832775565,0.8771243073905102,0.71338606911949],"aabb_xy":[[-0.6626084854403189,0.7971691237643664],[-0.502608481114794,0.9570794910166537]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.46660418602284115,0.4385307097637643,0.71338606911949],"aabb_xy":[[-0.521577908059174,0.3835307101995311],[-0.41163046398650827,0.4935307093279975]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.41418554265672886,0.2268303898655919,0.71338606911949],"aabb_xy":[[-0.4941793662352872,0.1468303872727503],[-0.33419171907817075,0.30683039245843347]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.6120464691765818,-1.276113838097299,0.71338606911949],"aabb_xy":[[-0.6495464695248095,-1.2879052336783825],[-0.574546468828354,-1.2643224425162154]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[-0.37822870790280605,1.0016740525305035,0.71338606911949],"aabb_xy":[[-0.43822870815420717,0.9473927274940386],[-0.3182287076514048,1.055955377566968]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.45884554515576204,-0.28632311085210516,0.71338606911949],"aabb_xy":[[0.3788455440826417,-0.2961011571894896],[0.5388455462288824,-0.2765450645147207]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.1964762242394661,-2.318547663752304,0.71338606911949],"aabb_xy":[[-0.2504918205213661,-2.382547666644561],[-0.1424606279575661,-2.2545476608600468]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.4118131381124639,0.979772998795188,0.71338606911949],"aabb_xy":[[0.3893131382985615,0.9752983824247072],[0.4343131379263663,0.9842476151656687]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.37052167186522245,0.6086130205299796,0.71338606911949],"aabb_xy":[[0.36310921632383397,0.6027618101083516],[0.3779341274066109,0.6144642309516075]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.37408623418704195,-1.3354087393312049,0.71338606911949],"aabb_xy":[[-0.424086234547608,-1.3853887265408078],[-0.3240862338264759,-1.285428752121602]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[0.6113325340520788,1.2898354813841095,0.71338606911949],"aabb_xy":[[0.5473325367497324,1.2454690544162526],[0.6753325313544252,1.334201908351966]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[0.24771310943904623,-1.5088141923933758,0.71338606911949],"aabb_xy":[[0.2102131092671743,-1.5415149277762827],[0.28521310961091817,-1.4761134570104684]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_30","position":[-0.6011691458182087,-0.26941730459115343,0.71338606911949],"aabb_xy":[[-0.638669146610204,-0.27578514554934347],[-0.5636691450262131,-0.2630494636329633]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[-0.5976188744603963,1.6243143780839993,0.71338606911949],"aabb_xy":[[-0.6386368178467672,1.574314377453042],[-0.5566009310740254,1.6743143787149566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643250845703812,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1898.png","name":"1898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3554.png","name":"3554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5220.png","name":"5220"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":700.4008845503267,"rotation_z_degrees":127.40689192779836,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007538784643385497,0.0031222937324176005,0.017137910628134672]},{"name":"camera_2","offset_m":[-0.003104077352931528,-0.0181771117146925,-0.014240441201596205]},{"name":"camera_3","offset_m":[0.01608215799531815,0.0008292400147108733,0.010961822332687454]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00199488416625805,0.0013195583632244416,-0.0013848325303720177],"end_effector_yaw_offset_degrees":0.24035328102630205},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002966120250577262,-0.0009584964879638456,-0.0017153948716309602],"end_effector_yaw_offset_degrees":-0.5489340289184972},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007853727543921209,-0.00189467229207047,-0.0007699993349032863],"end_effector_yaw_offset_degrees":-0.26606287507739035}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011054610780552453,-0.0013334894164027246],"position_m":[0.3372945389219447,0.08396651058359728,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020931024443048628,0.003525752692770016],"position_m":[0.21520689755569514,-0.08367424730722998,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002018769814016271,-0.0038233479178560225],"position_m":[0.35258123018598375,0.23177665208214399,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024116043411778467,-0.0005593327986828612],"position_m":[0.24398839565882216,-0.33625933279868286,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c09d77cea1d8c8293a39d7e7e5ba55cdd0c4f40626d3e77ad5c94d28f225d76","episode_index":132,"episode_name":"episode_0132"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0132.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8053/tex_ceiling_textures_5220/tex_floor_textures_3554/tex_table_textures_662/tex_wall_textures_1898","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6766972647469973216,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6766972647469973216,"visual_seed":6766972647469973216,"scene_id":"lab_003","finished_at":"2026-09-03T13:14:49"} +{"episode_id":"ep_000081","started_at":"2026-09-03T13:14:53","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.19629060902878276,-0.2798900627694376,0.71338606911949],"aabb_xy":[[-0.20020448222420525,-0.2886390781759944],[-0.1923767358333602,-0.27114104736288086]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.052839083734413594,-0.625405703603078,0.71338606911949],"aabb_xy":[[-0.07033908397946297,-0.6429054914426447],[-0.0353390834893642,-0.607905915763511]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.5983151246095352,1.472674900038077,0.71338606911949],"aabb_xy":[[-0.6233151245420532,1.465792231817154],[-0.5733151246770174,1.4795575682590005]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.39539722003000916,1.2473604052707246,0.71338606911949],"aabb_xy":[[-0.4328972198470427,1.2427221939595825],[-0.3578972202129756,1.2519986165818662]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.03833635651472023,0.2961561832544213,0.71338606911949],"aabb_xy":[[-0.04297147166695361,0.2922888481772726],[-0.03370124136248683,0.30002351833156987]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.5771933866547363,-2.2160120906220726,0.71338606911949],"aabb_xy":[[-0.585229721356021,-2.224050209926489],[-0.5691570519534513,-2.207973971317655]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.31381260612733836,1.3462081718865684,0.71338606911949],"aabb_xy":[[-0.348109517145079,1.311911285676627],[-0.27951569510959773,1.3805050580965097]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.3134773600525993,-2.0444383226392175,0.71338606911949],"aabb_xy":[[0.29130483307594845,-2.0666139897953406],[0.33564988702925014,-2.0222626554830945]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.44477415809079845,-1.9762214264571911,0.71338606911949],"aabb_xy":[[0.4103118106926566,-2.010715308855013],[0.4792365054889402,-1.941727544059368]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.35791256579726705,-0.857503378479495,0.71338606911949],"aabb_xy":[[-0.3730754387742042,-0.8726688357746138],[-0.34274969282033,-0.8423379211843763]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.0427088665185813,-1.0653346050456105,0.71338606911949],"aabb_xy":[[-0.08020886681075612,-1.069376080446214],[-0.005208866226406483,-1.061293129645007]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.4161349479401335,0.658953002942646,0.71338606911949],"aabb_xy":[[0.3661399369806815,0.6089530039070544],[0.4661299588995856,0.7089530019782379]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.650714970975899,-1.615449375628608,0.71338606911949],"aabb_xy":[[0.6007320207884196,-1.6654493752711679],[0.7006979211633783,-1.565449375986047]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[0.4696756872522274,-0.19014434322496143,0.71338606911949],"aabb_xy":[[0.4196808543242858,-0.24014434212020497],[0.519670520180169,-0.1401443443297179]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.22895773076397347,-0.7072297829993064,0.71338606911949],"aabb_xy":[[-0.3189577274995837,-0.7604132463166008],[-0.13895773402836326,-0.6540463196820118]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[-0.2417561826385447,0.9451124525316201,0.71338606911949],"aabb_xy":[[-0.30575618334201404,0.8990940700586992],[-0.17775618193507534,0.9911308350045412]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.5963759002088365,-0.08795406662193894,0.71338606911949],"aabb_xy":[[0.5588758997114782,-0.09192275017005734],[0.6338759007061947,-0.08398538307382052]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.32382127527427795,-1.7453475840051316,0.71338606911949],"aabb_xy":[[0.2686960696446871,-1.8053475854464185],[0.3789464809038687,-1.6853475825638442]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.5498700518696957,1.4499663125448081,0.71338606911949],"aabb_xy":[[0.5113243590444947,1.4114205414886194],[0.5884157446948968,1.4885120836009968]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.007360514671356566,1.2451445544069948,0.71338606911949],"aabb_xy":[[-0.05663518272374002,1.181144556106286],[0.07135621206645315,1.3091445527077035]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.6790506522945519,0.415548916806046,0.71338606911949],"aabb_xy":[[0.6665832941848162,0.40308359217272255],[0.6915180104042875,0.42801424143936956]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.09613090517031198,0.5428139794890954,0.71338606911949],"aabb_xy":[[-0.11863004089653895,0.5203139787108324],[-0.073631769444085,0.5653139802673584]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.5473612787203457,-1.2723183890312968,0.71338606911949],"aabb_xy":[[-0.5591294655150033,-1.3573183889365183],[-0.5355930919256883,-1.1873183891260752]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[-0.3342687561712668,-1.8273364534509609,0.71338606911949],"aabb_xy":[[-0.34390039239169634,-1.8369737662306695],[-0.3246371199508371,-1.8176991406712517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671769146483126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6592.png","name":"6592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6592.png","name":"6592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4660.png","name":"4660"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8645.png","name":"8645"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8036.png","name":"8036"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":610.4465416251653,"rotation_z_degrees":6.686861368635055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007623004272558749,-0.013805399460558903,0.005536446691927627]},{"name":"camera_2","offset_m":[0.011771293356126106,-0.010412568179695443,0.012943440436101936]},{"name":"camera_3","offset_m":[0.0007190673921681941,0.002639506776780324,0.0021402635025171007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014330948097287877,0.0018248210640814284,0.0004143934243236408],"end_effector_yaw_offset_degrees":0.27990366557609625},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015307943177409991,0.0014324596928739029,-0.0016703147007785422],"end_effector_yaw_offset_degrees":-0.7768967501332793},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-1.8594786378960462e-05,-0.0010058368728820852,-0.0007620959955658537],"end_effector_yaw_offset_degrees":0.5963090886898015}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00355577535322567,-0.0018177592888791918],"position_m":[0.3348442246467743,0.08348224071112081,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002265821373979667,-0.0013674330868737174],"position_m":[0.21956582137397965,-0.08856743308687372,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003048128625835942,0.00384017902450252],"position_m":[0.35764812862583595,0.23944017902450251,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004682855262617319,-0.003038009088205058],"position_m":[0.24171714473738268,-0.33873800908820506,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c4966227458633f652c5044202c6b55c0c4a62d48435191da5adfc7b65a6c772","episode_index":133,"episode_name":"episode_0133"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0133.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6592/tex_ceiling_textures_8036/tex_floor_textures_3864/tex_table_textures_4660/tex_wall_textures_8645","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7091219603417294564,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7091219603417294564,"visual_seed":7091219603417294564,"scene_id":"lab_003","finished_at":"2026-09-03T13:17:15"} +{"episode_id":"ep_000082","started_at":"2026-09-03T13:21:14","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.5174791395149467,0.017245032242754643,0.71338606911949],"aabb_xy":[[0.48751158260512106,-0.0127549680551311],[0.5474466964247724,0.047245032540640386]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.09353606225340716,1.5676784524549299,0.71338606911949],"aabb_xy":[[-0.11681790445153849,1.4826784511577016],[-0.0702542200552758,1.6526784537521577]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.5111270822377701,-1.243482245394347,0.71338606911949],"aabb_xy":[[-0.5486270830297655,-1.2498500863525372],[-0.4736270814457746,-1.2371144044361573]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.14837491887574306,1.3813023595361353,0.71338606911949],"aabb_xy":[[-0.1571561460229793,1.3725226122476053],[-0.13959369172850686,1.3900821068246658]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.2674971176878864,0.37011420851823207,0.71338606911949],"aabb_xy":[[-0.2734636566286222,0.3641530638588681],[-0.26153057874715063,0.37607535317759616]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.17237999820184635,-0.23123234137381754,0.71338606911949],"aabb_xy":[[-0.2073799964719662,-0.2383064690688057],[-0.1373799999317264,-0.22415821367882938]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.10110818146494416,1.171710447890498,0.71338606911949],"aabb_xy":[[-0.10835194751118948,1.0917104496868957],[-0.09386441541869883,1.2517104460941004]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[0.16866425959900444,0.7044871120094984,0.71338606911949],"aabb_xy":[[0.1330351036990447,0.6688544452526455],[0.20429341549896418,0.7401197787663514]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.5184381473221993,-2.3886501994833056,0.71338606911949],"aabb_xy":[[0.4849979721261796,-2.4220938253142354],[0.5518783225182188,-2.355206573652375]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.4594936065366242,-2.379187638351127,0.71338606911949],"aabb_xy":[[-0.47736271429107974,-2.393020546328338],[-0.44162449878216875,-2.365354730373916]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.11501223441273245,-0.5045562809992816,0.71338606911949],"aabb_xy":[[-0.12516524996688183,-0.5406258225720217],[-0.10485921885858306,-0.46848673942654107]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.586190408205667,-0.0340480432419481,0.71338606911949],"aabb_xy":[[-0.6236904097212986,-0.04527481625809315],[-0.5486904066900352,-0.022821270225803048]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.5632897694108192,-0.5022945799900187,0.71338606911949],"aabb_xy":[[-0.6007897693545856,-0.5105876700248553],[-0.5257897694670528,-0.4940014899551821]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.10199733326001437,0.46130483590484506,0.71338606911949],"aabb_xy":[[-0.12205574487325464,0.44123974899568746],[-0.08193892164677406,0.48136992281400254]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.6148496868225172,0.8472603353005153,0.71338606911949],"aabb_xy":[[-0.6257012930713928,0.8364010445728641],[-0.6039980805736416,0.8581196260281662]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.5373189960472315,-2.2864333444204656,0.71338606911949],"aabb_xy":[[-0.5443593059807686,-2.3664333438201375],[-0.5302786861136947,-2.2064333450207947]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[0.27222204641533554,-1.6408717361843288,0.71338606911949],"aabb_xy":[[0.2261369551606041,-1.7048717334368841],[0.318307137670067,-1.576871738931774]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.05137945334494676,0.28984292419038926,0.71338606911949],"aabb_xy":[[-0.06602285889897973,0.2751842045336049],[-0.03673604779091376,0.3045016438471735]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.30316390086044187,1.1233065727117015,0.71338606911949],"aabb_xy":[[-0.3531639003006375,1.073338648227385],[-0.25316390142024625,1.1732744971960176]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.4305741541820514,-1.7545580707611101,0.71338606911949],"aabb_xy":[[-0.4905741540286182,-1.8113766929541488],[-0.37057415433548463,-1.6977394485680715]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.2906709524385267,-2.291858764413889,0.71338606911949],"aabb_xy":[[0.2406976584352662,-2.341858764968436],[0.3406442464417871,-2.2418587638593412]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.02524322463012063,0.6872566895339753,0.71338606911949],"aabb_xy":[[-0.08683398385411345,0.6232566914249285],[0.03634753459387219,0.7512566876430222]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[0.6170762159892993,1.0342370176194513,0.71338606911949],"aabb_xy":[[0.5932399983486943,0.9442370168109648],[0.6409124336299045,1.1242370184279378]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[-0.06716236615775772,-1.6774482067255176,0.71338606911949],"aabb_xy":[[-0.11664278737171653,-1.7414482046383695],[-0.017681944943798947,-1.6134482088126658]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[0.525254107590402,0.4378681489992844,0.71338606911949],"aabb_xy":[[0.5075784770018037,0.42018793271988164],[0.5429297381790004,0.45554836527868714]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.4676530877924212,-1.3912436805078063,0.71338606911949],"aabb_xy":[[-0.5326530859483403,-1.4175399250577185],[-0.4026530896365022,-1.3649474359578941]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656031927464084,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2267.png","name":"2267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5334.png","name":"5334"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/717.png","name":"717"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8244.png","name":"8244"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":797.2537195521195,"rotation_z_degrees":201.77171207489675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007408919296838144,-0.008543068784107898,-0.015049973434316133]},{"name":"camera_2","offset_m":[0.006903709812506521,0.010959113534231974,0.013805040517907454]},{"name":"camera_3","offset_m":[0.015361266189833332,0.013444549741991042,-0.001094145308232465]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001917489826382287,-0.0009793118731999755,-0.0005298080642240045],"end_effector_yaw_offset_degrees":0.5602174510375002},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002016652915773848,0.0019321560930788033,-7.504884750120732e-05],"end_effector_yaw_offset_degrees":0.24291536374487754},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00034075013162752606,-0.0019173679849877234,0.0019542336399686533],"end_effector_yaw_offset_degrees":-0.3983512017710442}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001184382890566136,0.00012903186396615116],"position_m":[0.33958438289056614,0.08542903186396615,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00432007045676335,0.0009093412359150376],"position_m":[0.21297992954323663,-0.08629065876408497,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004805495109636959,0.004949498224157563],"position_m":[0.34979450489036307,0.24054949822415755,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002894253082440227,-0.004046669600491548],"position_m":[0.24929425308244024,-0.33974666960049155,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b0ce876193c173e78721270a8b05f8c6dadd06f6248eb337ad3bcc6b507ad953","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0137.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9709/tex_ceiling_textures_8244/tex_floor_textures_717/tex_table_textures_2267/tex_wall_textures_5334","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6077487514335635655,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6077487514335635655,"visual_seed":6077487514335635655,"scene_id":"lab_003","finished_at":"2026-09-03T13:23:39"} +{"episode_id":"ep_000083","started_at":"2026-09-03T13:25:04","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.27170114340959245,-0.36071403690339565,0.71338606911949],"aabb_xy":[[-0.3216744374128529,-0.4107140374579429],[-0.221727849406332,-0.3107140363488482]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.6488943150292701,-2.256023096462493,0.71338606911949],"aabb_xy":[[-0.6838943142220882,-2.266990142460155],[-0.6138943158364517,-2.24505605046483]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.6115547798546437,0.9698826253301074,0.71338606911949],"aabb_xy":[[0.5615759713443278,0.9198826253243886],[0.6615335883649596,1.0198826253358262]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.3859678670880499,-0.5824417235583303,0.71338606911949],"aabb_xy":[[-0.4026450030811455,-0.5991416475322607],[-0.36929073109495447,-0.5657417995844002]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.4926180327106391,-0.717669101799191,0.71338606911949],"aabb_xy":[[0.4276180341535662,-0.7474216352130735],[0.5576180312677119,-0.6879165683853082]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[-0.05214553240520314,-0.902179076018053,0.71338606911949],"aabb_xy":[[-0.07714553157083626,-0.9091313217234097],[-0.02714553323957003,-0.8952268303126966]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[-0.4611809774632927,1.1723254305750501,0.71338606911949],"aabb_xy":[[-0.4708126136837223,1.1626881177953412],[-0.45154934124286306,1.181962743354759]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.31495958383129297,-0.8321202876168183,0.71338606911949],"aabb_xy":[[-0.33485062371163327,-0.8447760989015153],[-0.2950685439509528,-0.8194644763321216]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.5416544510752359,0.3305085000365011,0.71338606911949],"aabb_xy":[[0.4966618643567855,0.28550850076205236],[0.5866470377936863,0.3755084993109499]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.18606619468633856,-1.7892880891022511,0.71338606911949],"aabb_xy":[[-0.1989380981872787,-1.8692880895160875],[-0.17319429118539842,-1.7092880886884152]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.14270151603027137,1.3900733258411968,0.71338606911949],"aabb_xy":[[-0.16158589979878155,1.371187401060844],[-0.12381713226176114,1.4089592506215496]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.35652086691390045,1.7767718437320927,0.71338606911949],"aabb_xy":[[-0.39029642610459336,1.7627333485189278],[-0.3227453077232074,1.7908103389452577]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[0.4859736745532428,0.6101501533277873,0.71338606911949],"aabb_xy":[[0.46854295947423624,0.5928780386639364],[0.5034043896322492,0.627422267991638]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.3287713922960618,0.8537956194701692,0.71338606911949],"aabb_xy":[[0.3117612950060111,0.8376611309718952],[0.3457814895861124,0.8699301079684431]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.6030794456404672,-0.08365253304764986,0.71338606911949],"aabb_xy":[[-0.6730794482770536,-0.10375739804351533],[-0.5330794430038809,-0.06354766805178433]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.5741501350812677,-0.337294225083673,0.71338606911949],"aabb_xy":[[0.5241501337974276,-0.38727307947429507],[0.6241501363651075,-0.28731537069305085]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.08845055520845213,-1.5111856619999986,0.71338606911949],"aabb_xy":[[-0.09236442840387464,-1.5199346774065552],[-0.0845366820130296,-1.5024366465934416]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.4978418609812827,1.084041264818954,0.71338606911949],"aabb_xy":[[-0.547841862000418,1.047575049081126],[-0.4478418599621474,1.1205074805567818]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.35228711928300616,-1.3771375737497393,0.71338606911949],"aabb_xy":[[0.344173464609629,-1.3852433902037684],[0.3604007739563832,-1.3690317572957102]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.5665126480768343,-1.912436322006074,0.71338606911949],"aabb_xy":[[0.5165195359676424,-1.9624363226802701],[0.6165057601860262,-1.8624363213318789]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.007216946727464424,-1.1229809330393425,0.71338606911949],"aabb_xy":[[-0.04275611880505104,-1.1729809328518757],[0.0571900122599799,-1.0729809332268099]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.665167336949837,-0.0801898342057763,0.71338606911949],"aabb_xy":[[0.6426673364377964,-0.10268169257117464],[0.6876673374618776,-0.05769797584037793]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.45613506681572547,0.6253231200881846,0.71338606911949],"aabb_xy":[[-0.5101506630976255,0.5613231171959273],[-0.40211947053382546,0.6893231229804416]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.059209712066501274,-1.7782021604929605,0.71338606911949],"aabb_xy":[[-0.07077869281343785,-1.8032021606098922],[-0.04764073131956471,-1.7532021603760288]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.32122499453453957,1.6076632544765768,0.71338606911949],"aabb_xy":[[0.2962249949828011,1.5975207706114416],[0.34622499408627805,1.617805738341711]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.40133526870519703,-1.7610837986212209,0.71338606911949],"aabb_xy":[[-0.423834404431424,-1.783583799399484],[-0.37883613297897006,-1.7385837978429581]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.09257962798784614,-0.45446934822429697,0.71338606911949],"aabb_xy":[[-0.15257962849569906,-0.5113160819102183],[-0.03257962747999322,-0.39762261453837566]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[-0.03269047692181393,-2.3299959042716885,0.71338606911949],"aabb_xy":[[-0.0409050220374979,-2.3386724945693294],[-0.024475931806129943,-2.3213193139740467]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[-0.5257661739229488,-1.2276746349264942,0.71338606911949],"aabb_xy":[[-0.5520549982433893,-1.253946068581145],[-0.49947734960250806,-1.2014032012718425]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_29","position":[-0.1619007491179062,1.4862366604143937,0.71338606911949],"aabb_xy":[[-0.19940074754130652,1.4730724464465625],[-0.12440075069450582,1.499400874382224]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_30","position":[-0.47276428831291595,-0.2858663827486838,0.71338606911949],"aabb_xy":[[-0.4977642875848783,-0.3022117463448461],[-0.4477642890409537,-0.2695210191525214]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[0.4465014737234254,1.141531916837351,0.71338606911949],"aabb_xy":[[0.39668469425859065,1.0915319183530476],[0.49631825318826017,1.1915319153216544]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_32","position":[0.22738435786388445,-1.5012659332608256,0.71338606911949],"aabb_xy":[[0.16338435581415242,-1.5413604163501333],[0.29138435991361644,-1.4611714501715174]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_33","position":[-0.3625789191016932,0.03075942411996513,0.71338606911949],"aabb_xy":[[-0.3706222790276483,-0.0542405769754013],[-0.354535559175738,0.11575942521533156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631915517700205,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6002.png","name":"6002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6002.png","name":"6002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6911.png","name":"6911"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/730.png","name":"730"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7672.png","name":"7672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3351.png","name":"3351"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":560.2536914884752,"rotation_z_degrees":123.9407399937488,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007512560063754585,-0.004035754451973843,0.009122745817277806]},{"name":"camera_2","offset_m":[-0.017982183793793405,-0.009159733303703352,0.014550488635281886]},{"name":"camera_3","offset_m":[0.015675497263986215,-0.003386032333024213,0.012456252139959056]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006927242510658725,0.001110623748130285,0.0004968768552519954],"end_effector_yaw_offset_degrees":0.9879846641136816},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009031689875602033,0.0012940430793751479,-0.001211236858072753],"end_effector_yaw_offset_degrees":0.9138031909883522},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011143844844358711,0.0013037029229526027,0.0003259693471074458],"end_effector_yaw_offset_degrees":-0.14363458394666906}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004575470900253425,-0.00037444032334932754],"position_m":[0.3429754709002534,0.08492555967665068,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004874495066778506,-0.004972124168670262],"position_m":[0.2124255049332215,-0.09217212416867027,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003363017751832123,-0.0034629006470145466],"position_m":[0.3512369822481679,0.23213709935298546,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002502722390481782,0.00046344663244521356],"position_m":[0.24389727760951824,-0.33523655336755476,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f5250f048da572286901f5e491daff991e94557ffb1f0053cb1d83ac9b5821cb","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0139.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6002/tex_ceiling_textures_3351/tex_floor_textures_7672/tex_table_textures_6911/tex_wall_textures_730","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6168079033985764157,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6168079033985764157,"visual_seed":6168079033985764157,"scene_id":"lab_003","finished_at":"2026-09-03T13:27:34"} +{"episode_id":"ep_000084","started_at":"2026-09-03T13:27:36","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.4123298617184987,0.8095217043855114,0.71338606911949],"aabb_xy":[[0.37583404109122,0.7730377619587538],[0.44882568234577747,0.846005646812269]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[-0.3328927335600907,-2.0701850429458744,0.71338606911949],"aabb_xy":[[-0.36154206592050686,-2.0988306022229497],[-0.3042434011996744,-2.041539483668798]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.6870264738460852,1.1916497236372399,0.71338606911949],"aabb_xy":[[0.6769447667675116,1.1116497257451252],[0.6971081809246585,1.2716497215293545]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.17523907103569225,-0.8316471376462584,0.71338606911949],"aabb_xy":[[-0.1840202981829285,-0.8404268849347888],[-0.16645784388845605,-0.8228673903577285]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.6752913130348617,-0.05101390448729859,0.71338606911949],"aabb_xy":[[0.6377913127426869,-0.05505537988790218],[0.7127913133270365,-0.04697242908669499]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.2405810628390549,-1.1132320352617997,0.71338606911949],"aabb_xy":[[-0.3205810642691821,-1.1927491902744092],[-0.16058106140892767,-1.0337148802491902]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.4634530379922853,-0.7131811667348757,0.71338606911949],"aabb_xy":[[-0.4706968040385306,-0.7931811649384781],[-0.45620927194603994,-0.6331811685312734]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.220307372403996,1.1523432683583823,0.71338606911949],"aabb_xy":[[0.20119506504601714,1.1332084894811403],[0.23941967976197487,1.1714780472356243]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.36770353552718915,0.2946565840832345,0.71338606911949],"aabb_xy":[[0.36306842037495574,0.29078924900608577],[0.37233865067942246,0.29852391916038307]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.6233360111869586,-0.9903613438630898,0.71338606911949],"aabb_xy":[[0.5733360095254637,-1.0403597861187923],[0.6733360128484532,-0.9403629016073871]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.6628265215789046,-1.408288845278767,0.71338606911949],"aabb_xy":[[0.65411255252897,-1.430788845937955],[0.671540490628839,-1.3857888446195785]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.3960071464751533,-2.333216706472395,0.71338606911949],"aabb_xy":[[-0.45100035781229014,-2.388216706811189],[-0.3410139351380166,-2.278216706133602]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.6194440645016513,-2.3787722202992425,0.71338606911949],"aabb_xy":[[-0.6274380530793546,-2.386772300394333],[-0.6114500759239478,-2.370772140204152]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.45504080330405317,-1.2041526476360767,0.71338606911949],"aabb_xy":[[0.4431687202925521,-1.289152647329727],[0.46691288631555433,-1.1191526479424263]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.16507876516105646,1.4606509647995582,0.71338606911949],"aabb_xy":[[-0.18257876443914334,1.443312864733212],[-0.1475787658829696,1.477989064865904]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.4027066383889891,-1.792127731567067,0.71338606911949],"aabb_xy":[[-0.46770664102678255,-1.843607330266514],[-0.3377066357511956,-1.74064813286762]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.41389129772360267,-1.6692352071808698,0.71338606911949],"aabb_xy":[[0.396881200433552,-1.6853696956791437],[0.4309013950136533,-1.653100718682596]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.5693351582902422,-1.9318574749414321,0.71338606911949],"aabb_xy":[[0.5318351574982467,-1.938225315899622],[0.6068351590822376,-1.9254896339832421]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.03223564205205154,1.5643176159243448,0.71338606911949],"aabb_xy":[[0.021395163825536634,1.5471313346336961],[0.04307612027856644,1.5815038972149935]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.22313925868402185,1.5862237084466382,0.71338606911949],"aabb_xy":[[-0.2581392569947173,1.5785086935230925],[-0.18813926037332643,1.5939387233701838]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.5383153918742167,0.7816366776610066,0.71338606911949],"aabb_xy":[[0.5033153927442611,0.7758914565853425],[0.5733153910041724,0.7873818987366707]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.20777710731718324,1.2519700208661737,0.71338606911949],"aabb_xy":[[0.1965320517465654,1.2407282231420784],[0.21902216288780108,1.263211818590269]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.6503413410800936,0.5435818563967181,0.71338606911949],"aabb_xy":[[0.6128413425044726,0.53084556073316],[0.6878413396557143,0.5563181520602759]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.5820905024856757,0.896821969013494,0.71338606911949],"aabb_xy":[[0.5445905023800828,0.8899998071605129],[0.6195905025912687,0.9036441308664751]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.0913269579951056,-0.7065960752271054,0.71338606911949],"aabb_xy":[[-0.17132695515468088,-0.7181436761849225],[-0.011326960835530295,-0.6950484742692884]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.07288187349039155,1.7364146425503475,0.71338606911949],"aabb_xy":[[-0.16288187290876244,1.7030391457061578],[0.017118125927979344,1.7697901393945372]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[0.6817242285544769,0.6716680983794348,0.71338606911949],"aabb_xy":[[0.6691215294174004,0.6590727021545693],[0.6943269276915534,0.6842634946043002]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[0.06262055497279384,-0.9556561472210097,0.71338606911949],"aabb_xy":[[-0.017379445497422114,-0.963966854835358],[0.14262055544300978,-0.9473454396066613]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.02740358066748627,1.420849031502439,0.71338606911949],"aabb_xy":[[0.01683610100938726,1.4103040013894304],[0.03797106032558528,1.4313940616154475]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.1645729864862311,-2.436542188233769,0.71338606911949],"aabb_xy":[[-0.18012875589649638,-2.4520926214781764],[-0.14901721707596585,-2.420991754989362]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[0.6016989996972282,-0.6319171307868845,0.71338606911949],"aabb_xy":[[0.5641989990326494,-0.6476041887871066],[0.6391990003618068,-0.6162300727866622]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[-0.5476635023082499,-2.005520211595055,0.71338606911949],"aabb_xy":[[-0.5517993586409502,-2.0430202110394124],[-0.5435276459755498,-1.9680202121506984]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_32","position":[-0.10463781865420174,-0.8520278984557148,0.71338606911949],"aabb_xy":[[-0.12213781889925111,-0.8695276862952815],[-0.08713781840915234,-0.8345281106161478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679438790786394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6462.png","name":"6462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1912.png","name":"1912"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":517.2756832075694,"rotation_z_degrees":286.18351921506326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00433128904864272,0.01256124065013665,0.01007411636821319]},{"name":"camera_2","offset_m":[0.008387204249354602,-0.0023110095783059267,0.014315218180561088]},{"name":"camera_3","offset_m":[-0.0023465684220246932,0.019236199183967944,0.002360314669228633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002054743914912103,0.00037783095831335446,0.0006085783579938206],"end_effector_yaw_offset_degrees":-0.2226722402882262},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016132074608949734,-0.0008372942169740196,-0.00018094781021908528],"end_effector_yaw_offset_degrees":0.2914891139494371},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016157531928536288,0.0005887972625354212,-0.0019516883877424944],"end_effector_yaw_offset_degrees":0.31392634550819065}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037245700319312237,-0.0014151576148008962],"position_m":[0.33467542996806876,0.08388484238519911,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035919663190145433,0.004757642966802793],"position_m":[0.21370803368098545,-0.0824423570331972,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015642198953272745,-0.003076061693705107],"position_m":[0.3561642198953273,0.2325239383062949,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012675153433513477,-0.00015378792644603258],"position_m":[0.24513248465664866,-0.33585378792644605,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd6792c99972b87f1bbd4f684c77651bfabd013a6e56590a2a10bab5aaaeca6b","episode_index":140,"episode_name":"episode_0140"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0140.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4850/tex_ceiling_textures_7287/tex_floor_textures_8714/tex_table_textures_6462/tex_wall_textures_1912","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7616862711021783515,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7616862711021783515,"visual_seed":7616862711021783515,"scene_id":"lab_003","finished_at":"2026-09-03T13:30:03"} +{"episode_id":"ep_000085","started_at":"2026-09-03T13:34:24","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.5464871354800975,-2.1474423782549477,0.71338606911949],"aabb_xy":[[0.48648713522869635,-2.201723703291412],[0.6064871357314987,-2.0931610532184832]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.6103135100804407,1.3867812847636714,0.71338606911949],"aabb_xy":[[-0.6168151465884453,1.3770134627373616],[-0.603811873572436,1.3965491067899811]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.5115272570968911,0.3687913470538655,0.71338606911949],"aabb_xy":[[-0.5483218902217973,0.3318854719572832],[-0.4747326239719848,0.40569722215044773]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.20755135036214928,-0.07720195560350795,0.71338606911949],"aabb_xy":[[-0.24255135033864514,-0.08666657165112457],[-0.17255135038565347,-0.06773733955589134]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.2071976381571159,0.41153227619750776,0.71338606911949],"aabb_xy":[[-0.26719763980003775,0.3595321269055636],[-0.14719763651419407,0.46353242548945195]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[0.23544115286115774,-0.6030491563990403,0.71338606911949],"aabb_xy":[[0.18544115119966292,-0.6530475986547429],[0.2854411545226524,-0.5530507141433375]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.7045359819278525,-0.8847381128958256,0.71338606911949],"aabb_xy":[[0.6990780362908323,-0.9647381162034847],[0.7099939275648725,-0.8047381095881665]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.07131706490691381,-1.9932125348811036,0.71338606911949],"aabb_xy":[[0.049427317317973,-2.0832125321703527],[0.0932068124958546,-1.9032125375918547]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.5244603292813357,-1.0770232583175339,0.71338606911949],"aabb_xy":[[0.5205464560859131,-1.0857722737240907],[0.528374202476758,-1.068274242910977]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.5723712484614721,-2.390972202704773,0.71338606911949],"aabb_xy":[[-0.5986600727819127,-2.4172436363594234],[-0.5460824241410314,-2.364700769050121]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.45368988854658276,-2.263335999985307,0.71338606911949],"aabb_xy":[[-0.5336898855608307,-2.283470551658718],[-0.3736898915323348,-2.243201448311896]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.37394022936432125,-1.6653863327064808,0.71338606911949],"aabb_xy":[[0.33644022954728764,-1.6700245440176227],[0.41144022918135476,-1.660748121395339]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.5120146957417318,-0.2594383612461657,0.71338606911949],"aabb_xy":[[0.4220146960185575,-0.28251171378134543],[0.6020146954649058,-0.23636500871098579]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.19266749375014725,0.8040949278884706,0.71338606911949],"aabb_xy":[[-0.21513226372155236,0.7815949270096101],[-0.17020272377874213,0.8265949287673311]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.5039858050661016,-0.6058975761446745,0.71338606911949],"aabb_xy":[[-0.5275709285299964,-0.6708975783901063],[-0.4804006816022067,-0.5408975738992428]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.3114246176513763,-0.6088329744644727,0.71338606911949],"aabb_xy":[[-0.32278635230466246,-0.6202014408707607],[-0.30006288299809014,-0.5974645080581845]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.40297387886951985,-1.40137044446361,0.71338606911949],"aabb_xy":[[0.3859637815794692,-1.4175049329618838],[0.4199839761595705,-1.385235955965336]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.1204341763154031,-0.23408771332420608,0.71338606911949],"aabb_xy":[[-0.17041298482571898,-0.2840877133299249],[-0.0704553678050872,-0.18408771331848725]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.4925026439516611,0.8732999917616051,0.71338606911949],"aabb_xy":[[-0.5565026460013931,0.8332055086722971],[-0.42850264190192916,0.9133944748509131]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.5042901731448539,-2.0823671033604123,0.71338606911949],"aabb_xy":[[-0.5194530461217911,-2.097532560655531],[-0.48912730016791695,-2.0672016460652936]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[-0.1614779012912383,0.06527915280175378,0.71338606911949],"aabb_xy":[[-0.2066492191394073,0.0012791556572153697],[-0.11630658344306932,0.12927914994629222]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.28451853131451366,-0.833081648603119,0.71338606911949],"aabb_xy":[[-0.29329975846174994,-0.8418613958916493],[-0.2757373041672775,-0.824301901314589]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[0.11114717757561987,1.4257050692989375,0.71338606911949],"aabb_xy":[[0.07364717707826163,1.4217363857508192],[0.14864717807297811,1.4296737528470562]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.5339234782346949,-2.440844463842145,0.71338606911949],"aabb_xy":[[0.5164235448007114,-2.458344463762379],[0.5514234116686781,-2.42334446392191]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.48545549098484586,-0.15230666360058498,0.71338606911949],"aabb_xy":[[0.45045549271472585,-0.15938079129557312],[0.5204554892549657,-0.1452325359055968]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.698892275412508,0.1744391276970898,0.71338606911949],"aabb_xy":[[0.6871240886178505,0.08943912779186823],[0.7106604622071655,0.25943912760231136]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[0.25389482027307153,1.4194608648179794,0.71338606911949],"aabb_xy":[[0.21639482184967107,1.4062966508501487],[0.29139481869647177,1.4326250787858101]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[0.3371678175725601,-2.4315831796870198,0.71338606911949],"aabb_xy":[[0.30932278079195297,-2.462367678425332],[0.3650128543531672,-2.4007986809487085]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.6374854194403614,-1.4367635631713775,0.71338606911949],"aabb_xy":[[0.5574854172775989,-1.516718746797521],[0.7174854216031239,-1.3568083795452337]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.28111385019691854,-2.25755098729381,0.71338606911949],"aabb_xy":[[-0.28910733999220056,-2.2655491192342856],[-0.2731203604016365,-2.2495528553533344]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[0.30484935384284273,-1.3584953965665336,0.71338606911949],"aabb_xy":[[0.3004187244880026,-1.3639437683012166],[0.30927998319768296,-1.3530470248318511]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_31","position":[0.231398385641841,0.5795687808304186,0.71338606911949],"aabb_xy":[[0.1673983837294987,0.5236576315724082],[0.29539838755418335,0.6354799300884291]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_32","position":[-0.08931500390171743,-0.6867637918968854,0.71338606911949],"aabb_xy":[[-0.1044173053627355,-0.701865313527947],[-0.0742127024406993,-0.6716622702658234]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_33","position":[0.5664115625681105,-0.39346653086967986,0.71338606911949],"aabb_xy":[[0.5164115631279148,-0.4434344553539961],[0.616411562008306,-0.3434986063853635]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_34","position":[-0.1690739963084702,0.5346476571022931,0.71338606911949],"aabb_xy":[[-0.17303448007820457,0.5269797925167726],[-0.16511351253873582,0.5423155216878138]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682699693378613,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8523.png","name":"8523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8523.png","name":"8523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6003.png","name":"6003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/31.png","name":"31"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/11.png","name":"11"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7083.png","name":"7083"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":843.518207656073,"rotation_z_degrees":97.6584257409547,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001982941335491352,-0.004166122053217022,-0.009495637776623682]},{"name":"camera_2","offset_m":[-0.004996870886541891,0.003944261553043917,0.01655556418972885]},{"name":"camera_3","offset_m":[-0.018148955597808523,0.004081871554202771,-0.01984528169771611]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004242345853037884,0.0005145317607524315,0.00019515850669062518],"end_effector_yaw_offset_degrees":0.8132831005411361},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00011502131400720466,0.0005574086206016817,-0.0010247428994293855],"end_effector_yaw_offset_degrees":-0.8338533080738946},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009339741587531809,0.0004019780813656975,-3.246565494320879e-05],"end_effector_yaw_offset_degrees":0.8176615304416577}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002194223921813211,0.0006300063134790056],"position_m":[0.3405942239218132,0.08593000631347901,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030641196125490286,0.0014269968923368214],"position_m":[0.220364119612549,-0.08577300310766318,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001628743767198313,-0.002314126100246553],"position_m":[0.3562287437671983,0.23328587389975344,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004959102886996673,0.004819780116985498],"position_m":[0.2513591028869967,-0.3308802198830145,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f15bcbd4661983cdec94302ab5de39e3efda306e7f4041e43a2b63e5cd6986c6","episode_index":143,"episode_name":"episode_0143"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0143.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8523/tex_ceiling_textures_7083/tex_floor_textures_11/tex_table_textures_6003/tex_wall_textures_31","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5573459194074996593,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5573459194074996593,"visual_seed":5573459194074996593,"scene_id":"lab_003","finished_at":"2026-09-03T13:36:45"} +{"episode_id":"ep_000086","started_at":"2026-09-03T13:36:48","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.30108144710188034,0.18958400018834265,0.71338606911949],"aabb_xy":[[-0.3560746584390171,0.13458399984954908],[-0.2460882357647436,0.2445840005271363]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.018964332731608358,-0.9505619545761514,0.71338606911949],"aabb_xy":[[-0.05629560925685098,-0.9852150093710037],[0.01836694379363427,-0.9159088997812992]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.28356207643758985,1.3312630905850695,0.71338606911949],"aabb_xy":[[-0.29446785252515256,1.2512630941862402],[-0.27265630035002714,1.4112630869838985]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.5920214826494075,-2.497802153292565,0.71338606911949],"aabb_xy":[[0.5470214811831787,-2.5428020101540456],[0.6370214841156364,-2.4528022964310843]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.270118637999635,-0.8025403632848689,0.71338606911949],"aabb_xy":[[0.18011863940516504,-0.8187909495982898],[0.3601186365941049,-0.7862897769714478]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.5964808005775302,-1.0351110433983268,0.71338606911949],"aabb_xy":[[0.5804188731190125,-1.1201110452109184],[0.6125427280360478,-0.9501110415857349]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.07382891682322601,0.0685520773353776,0.71338606911949],"aabb_xy":[[-0.10760447601391897,0.05451358212221258],[-0.040053357632533024,0.08259057254854263]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.5935615916093346,-2.350581597298495,0.71338606911949],"aabb_xy":[[-0.6086638930703525,-2.3656831189295566],[-0.5784592901483163,-2.3354800756674328]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.3221415751858816,-1.2133171515005905,0.71338606911949],"aabb_xy":[[-0.3471415744578439,-1.2296625150967528],[-0.2971415759139193,-1.1969717879044282]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.13801972023002462,0.759295712287654,0.71338606911949],"aabb_xy":[[-0.14405673323068938,0.7532690112187059],[-0.13198270722935992,0.7653224133566023]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.6453817459860738,0.05939559034941411,0.71338606911949],"aabb_xy":[[0.5803817433482803,0.007915991649967154],[0.7103817486238673,0.11087518904886107]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.1649266500952754,0.9343551101993723,0.71338606911949],"aabb_xy":[[0.16096616632554106,0.9266872456138517],[0.1688871338650098,0.9420229747848929]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.05618925426576393,0.2963850071689689,0.71338606911949],"aabb_xy":[[-0.06152176892037691,0.2910606789237333],[-0.05085673961115094,0.30170933541420447]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.6293854702108009,0.905432156447207,0.71338606911949],"aabb_xy":[[-0.6793585357433165,0.8554321566346742],[-0.5794124046782856,0.95543215625974]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.3148076489773277,-0.6875319873846484,0.71338606911949],"aabb_xy":[[0.3054606413950325,-0.7018356096022924],[0.32415465655962294,-0.6732283651670044]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.28202383072887693,-1.356295176971694,0.71338606911949],"aabb_xy":[[0.22800823444697688,-1.4202951798639512],[0.3360394270107769,-1.2922951740794368]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.5640949274388963,-0.39285840221629753,0.71338606911949],"aabb_xy":[[-0.6141923914199698,-0.45685840272610934],[-0.5139974634578226,-0.3288584017064857]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.2527969306211739,0.8902577230335096,0.71338606911949],"aabb_xy":[[0.24337945605131112,0.8808415458957906],[0.2622144051910366,0.8996739001712286]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.11349725632882901,-0.8231259974938769,0.71338606911949],"aabb_xy":[[-0.19349725740194934,-0.8329040438312614],[-0.033497255255708666,-0.8133479511564925]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.05608207874284343,1.661150101784124,0.71338606911949],"aabb_xy":[[-0.12008207791261338,1.6143834146651617],[0.007917920426926508,1.7079167889030866]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.6460284317926633,-0.6814767900041809,0.71338606911949],"aabb_xy":[[-0.6682009587693141,-0.703652457160304],[-0.6238559048160124,-0.6593011228480576]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[-0.5833739444135159,-1.1962170273662192,0.71338606911949],"aabb_xy":[[-0.5989297138237811,-1.2117674606106263],[-0.5678181750032506,-1.180666594121812]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.5424965228991052,0.6360262135710659,0.71338606911949],"aabb_xy":[[-0.6262187483991877,0.5460262100363701],[-0.45877429739902276,0.726026217105762]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[-0.547096187629768,-0.9724122780732463,0.71338606911949],"aabb_xy":[[-0.6022213932593586,-1.0324122795145332],[-0.49197098200017714,-0.912412276631959]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.042709852321452746,1.5275251790848778,0.71338606911949],"aabb_xy":[[-0.02129014972827925,1.4874306959955699],[0.10670985437118474,1.5676196621741858]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.021857429740007706,-1.3833230645418702,0.71338606911949],"aabb_xy":[[-0.044322199711412824,-1.4058230654207307],[0.000607340231397413,-1.3608230636630096]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[-0.3921169175582951,0.8175574183730041,0.71338606911949],"aabb_xy":[[-0.47211691802851113,0.8092467107586558],[-0.3121169170880792,0.8258681259873526]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[-0.2094018237579367,-0.24256197073642838,0.71338606911949],"aabb_xy":[[-0.29940182743485483,-0.3039943773135327],[-0.11940182008101849,-0.181129564159324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650832303377012,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4669.png","name":"4669"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4669.png","name":"4669"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5620.png","name":"5620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/25.png","name":"25"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5972.png","name":"5972"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":641.1032860379006,"rotation_z_degrees":71.79054567900403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016222838003437177,0.016524194492562507,0.009256399969480515]},{"name":"camera_2","offset_m":[0.0016871654164010291,-0.00715132731395491,0.01375826643148165]},{"name":"camera_3","offset_m":[0.009826213773321619,0.016918386255130192,-0.008725874427513887]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018285809314567106,0.001924807959438662,-0.0001264331857818771],"end_effector_yaw_offset_degrees":0.15571461323794833},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015496659830644536,-0.0014144259290096973,-0.0011178007517408735],"end_effector_yaw_offset_degrees":-0.6939441049620236},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001237358833074042,8.196609420892034e-05,-0.0018442087849150348],"end_effector_yaw_offset_degrees":-0.7639113866482676}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035516089022878806,-0.0036767976791970626],"position_m":[0.3348483910977121,0.08162320232080293,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030757575174369537,0.003044076335873656],"position_m":[0.22037575751743696,-0.08415592366412634,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021786165246035394,-0.001234236046962015],"position_m":[0.3524213834753965,0.234365763953038,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013901848520256731,-0.003244614405274752],"position_m":[0.24779018485202567,-0.33894461440527474,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ff2f93fd1e8f9ec567c639e2397d005d1b9204eec449d2bc4f5a0a23f6793480","episode_index":144,"episode_name":"episode_0144"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0144.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4669/tex_ceiling_textures_5972/tex_floor_textures_25/tex_table_textures_4206/tex_wall_textures_5620","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7880013618679316139,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7880013618679316139,"visual_seed":7880013618679316139,"scene_id":"lab_003","finished_at":"2026-09-03T13:39:20"} +{"episode_id":"ep_000087","started_at":"2026-09-03T13:39:23","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.25053511140507806,1.2801067778896313,0.71338606911949],"aabb_xy":[[-0.31453510999165046,1.2330998144901224],[-0.18653511281850554,1.3271137412891398]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.5708962760504626,-1.378915912907544,0.71338606911949],"aabb_xy":[[-0.5883962094844458,-1.3964159128277782],[-0.5533963426164791,-1.3614159129873091]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.483489099172348,0.8355415827081587,0.71338606911949],"aabb_xy":[[-0.488947044809368,0.7555415794004996],[-0.4780311535353279,0.9155415860158178]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.020028230081928,-1.555267632148994,0.71338606911949],"aabb_xy":[[-0.03703832737197865,-1.571402120647268],[-0.0030181327918773447,-1.53913314365072]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.6077111866541907,0.8554281958274341,0.71338606911949],"aabb_xy":[[-0.6414867458448836,0.841389700614269],[-0.5739356274634977,0.869466691040599]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.6036180706404404,-2.384588195548935,0.71338606911949],"aabb_xy":[[0.5927122945528777,-2.4645881919477644],[0.6145238467280031,-2.304588199150106]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.0378948662641474,-0.9342580451806104,0.71338606911949],"aabb_xy":[[-0.04925660091743355,-0.9456265115868984],[-0.02653313161086123,-0.9228895787743222]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[0.4216915309576188,-2.193630866437669,0.71338606911949],"aabb_xy":[[0.3616915304497659,-2.2504776001235895],[0.4816915314654717,-2.1367841327517474]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.0032136355277027073,-1.8099673218653063,0.71338606911949],"aabb_xy":[[-0.06821363340935051,-1.8610909855718474],[0.06178636235394509,-1.7588436581587656]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.3832936937897222,1.2620598264350815,0.71338606911949],"aabb_xy":[[0.3192936973624003,1.214890202612985],[0.4472936902170441,1.309229450257178]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.5297204474977375,-1.2174786323713975,0.71338606911949],"aabb_xy":[[0.5257599637280032,-1.2251464969569181],[0.5336809312674718,-1.209810767785877]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[-0.656686813679637,0.558186071832476,0.71338606911949],"aabb_xy":[[-0.6743624442682351,0.5405058555530732],[-0.6390111830910384,0.5758662881118787]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.3058388518456278,-0.22900959647464747,0.71338606911949],"aabb_xy":[[-0.39583884858123797,-0.282193059791942],[-0.21583885511001755,-0.17582613315735293]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.07239902699568801,-2.524790789192924,0.71338606911949],"aabb_xy":[[0.034899027051921605,-2.533083879227761],[0.10989902693945441,-2.5164976991580876]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.3780729594861961,1.6341957593809986,0.71338606911949],"aabb_xy":[[-0.4105346603681235,1.6040629272660956],[-0.3456112586042686,1.6643285914959007]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.29795420511755083,-1.7410130924591825,0.71338606911949],"aabb_xy":[[-0.3053666606589393,-1.7468643028808106],[-0.29054174957616236,-1.7351618820375547]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.522919138791896,1.4063615373233866,0.71338606911949],"aabb_xy":[[-0.5829191404348179,1.3543613880314425],[-0.46291913714897415,1.4583616866153308]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.3558754950209546,-2.4916725019127273,0.71338606911949],"aabb_xy":[[0.31837549350532285,-2.502899274928872],[0.39337549653658627,-2.4804457288965818]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.38050769590918865,-1.1102993152598437,0.71338606911949],"aabb_xy":[[0.30050769264517546,-1.123859347568757],[0.4605076991732017,-1.0967392829509304]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.013042432894241784,1.0669126887136091,0.71338606911949],"aabb_xy":[[-0.05054243339160003,1.0629440051654906],[0.02445756760311646,1.0708813722617276]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.3404903166722544,-0.7199173296279913,0.71338606911949],"aabb_xy":[[0.2903928526911808,-0.7839173301378031],[0.39058778065332805,-0.6559173291181795]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.4510736655240848,-1.7452551568618069,0.71338606911949],"aabb_xy":[[0.4010948570137689,-1.7952551568675257],[0.5010524740344007,-1.695255156856088]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697398797940061,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/199.png","name":"199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3586.png","name":"3586"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1847.png","name":"1847"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":590.6828167373815,"rotation_z_degrees":285.95557231990716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01818032894338312,-0.0006198028560912318,-0.0072063530215635205]},{"name":"camera_2","offset_m":[0.0024044586551704543,-0.014946842870447919,0.016516382125913314]},{"name":"camera_3","offset_m":[0.01163980100744479,-0.015684298181788334,0.013092374642583695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012920192376658672,0.00028841580291411343,0.0006922169481071152],"end_effector_yaw_offset_degrees":0.04941699580489778},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00046105907599738264,-0.0001549395177599302,0.0006884845619559393],"end_effector_yaw_offset_degrees":0.09549505083424115},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010281669334957877,0.0009251614414900132,0.0008092694160868551],"end_effector_yaw_offset_degrees":-0.9372517430766267}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004351844316534805,-0.0018277098992501273],"position_m":[0.34275184431653477,0.08347229010074987,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032599715719973483,-0.001660518173278116],"position_m":[0.22055997157199733,-0.08886051817327811,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036142350625242474,-0.003439779524394042],"position_m":[0.35821423506252426,0.23216022047560597,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037045380764078603,-0.0014847119789570262],"position_m":[0.24269546192359215,-0.33718471197895705,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"86c758330f9916ef611fe2a2d1f4c354d842a834bbaeb9d9715cfbfe5115b5c5","episode_index":145,"episode_name":"episode_0145"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0145.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9027/tex_ceiling_textures_1847/tex_floor_textures_5587/tex_table_textures_199/tex_wall_textures_3586","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3058458880954304413,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3058458880954304413,"visual_seed":3058458880954304413,"scene_id":"lab_003","finished_at":"2026-09-03T13:42:02"} +{"episode_id":"ep_000088","started_at":"2026-09-03T13:49:12","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.518974646537553,-1.7589444083958572,0.71338606911949],"aabb_xy":[[-0.5532909237121709,-1.808944408369035],[-0.48465836936293505,-1.7089444084226795]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.10072718462999553,-0.8564038168750936,0.71338606911949],"aabb_xy":[[-0.1153705901840285,-0.8710625365318777],[-0.08608377907596253,-0.8417450972183093]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.6161641932072658,0.3325667952805569,0.71338606911949],"aabb_xy":[[-0.6225780068504506,0.3261569750328885],[-0.6097503795640807,0.33897661552822517]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.6115613757960325,-2.4760803153934665,0.71338606911949],"aabb_xy":[[-0.6361075914187833,-2.5063292119425036],[-0.5870151601732818,-2.4458314188444295]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.09411458165070752,-1.8023308534585547,0.71338606911949],"aabb_xy":[[0.03011458453860183,-1.8513632232529653],[0.1581145787628132,-1.753298483664144]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.5854077456221987,-0.2001184959223421,0.71338606911949],"aabb_xy":[[0.5054077423643557,-0.28011500371432607],[0.6654077488800416,-0.12012198813035813]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.005724902460754855,-1.0234413463987704,0.71338606911949],"aabb_xy":[[-0.006742455648980794,-1.0359066710320939],[0.018192260570490504,-1.0109760217654469]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.5848783297489375,0.8525120440842855,0.71338606911949],"aabb_xy":[[-0.6173400306308647,0.8223792119693828],[-0.5524166288670098,0.882644876199188]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.564832589414358,0.6433804984214735,0.71338606911949],"aabb_xy":[[0.48483258834123777,0.633602452084089],[0.6448325904874784,0.6531585447588579]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.1336911557683016,-0.9591456202038937,0.71338606911949],"aabb_xy":[[0.10320690564127141,-1.0091456199853899],[0.16417540589533172,-0.9091456204223979]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[0.3112206415476566,-2.4282930057904495,0.71338606911949],"aabb_xy":[[0.27372064003202484,-2.4395197788065945],[0.34872064306328826,-2.4170662327743044]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.4531526708961835,1.5356450363138037,0.71338606911949],"aabb_xy":[[0.44373519632632075,1.5262288591760849],[0.46257014546604625,1.545061213451523]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.2167780051611108,1.6202798788785588,0.71338606911949],"aabb_xy":[[-0.23683641677435108,1.6002147919694014],[-0.1967195935478705,1.6403449657877163]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.4618581149295977,1.4075347214604004,0.71338606911949],"aabb_xy":[[-0.5218581157904105,1.3561082914539138],[-0.4018581140687849,1.4589611514668865]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.6070071230932421,1.2171453479867815,0.71338606911949],"aabb_xy":[[0.5938558771219529,1.192145348230095],[0.6201583690645316,1.242145347743468]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.3319070466791249,0.7644781248472632,0.71338606911949],"aabb_xy":[[-0.39590704307469804,0.7005148364285296],[-0.2679070502835519,0.8284414132659967]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.03665954288309148,1.3254102606712177,0.71338606911949],"aabb_xy":[[-0.05415954201745865,1.3155306336336297],[-0.01915954374872431,1.3352898877088053]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.6578488079694602,0.8558538138671454,0.71338606911949],"aabb_xy":[[0.6513471714614556,0.8460859918408359],[0.6643504444774648,0.8656216358934554]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.24412605828372108,-0.43996802602831675,0.71338606911949],"aabb_xy":[[-0.3081260586612547,-0.48971329287912896],[-0.18012605790618746,-0.39022275917750443]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.21538512694945477,1.2710039276361886,0.71338606911949],"aabb_xy":[[0.18194495175343514,1.2375603018052583],[0.24882530214547435,1.3044475534671185]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.5147060470713676,-0.5690388006623,0.71338606911949],"aabb_xy":[[0.48637633712282746,-0.573499542856017],[0.5430357570199079,-0.5645780584685829]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.44241159158529697,-1.105436267771775,0.71338606911949],"aabb_xy":[[-0.4595136695436651,-1.1225430733030446],[-0.4253095136269288,-1.088329462240505]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.2977347655877165,-1.8471168634217063,0.71338606911949],"aabb_xy":[[0.27862245822973764,-1.8662516422989484],[0.31684707294569536,-1.8279820845444643]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.6283197644964499,-1.4587272874045691,0.71338606911949],"aabb_xy":[[-0.6396814991497359,-1.470095753810857],[-0.6169580298431636,-1.4473588209982808]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[-0.6271724492917747,-1.180349467772139,0.71338606911949],"aabb_xy":[[-0.6681903926781456,-1.2303494684030962],[-0.5861545059054039,-1.1303494671411816]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.3417063966841489,0.6541420371014732,0.71338606911949],"aabb_xy":[[0.32350057302290125,0.6431166365194816],[0.3599122203453966,0.6651674376834649]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.49228675709690584,-0.44826364391814977,0.71338606911949],"aabb_xy":[[0.4744176493424503,-0.4620965518953607],[0.5101558648513613,-0.43443073594093884]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[0.48020966250028096,0.4601576043885047,0.71338606911949],"aabb_xy":[[0.3902096588233626,0.39872519781140026],[0.5702096661771989,0.521590010965609]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[0.1630785770968305,0.9222910916580949,0.71338606911949],"aabb_xy":[[0.1286160990837427,0.915627414475172],[0.19754105510991823,0.9289547688410177]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.03427072451667568,-0.5588386499839171,0.71338606911949],"aabb_xy":[[-0.04131103445021267,-0.6388386493835886],[-0.027230414583138685,-0.4788386505842458]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[0.29734914808392754,1.5365726384113825,0.71338606911949],"aabb_xy":[[0.2748491485602201,1.5140766909607615],[0.3198491476076349,1.559068585862003]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657264335136852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7658.png","name":"7658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7658.png","name":"7658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9612.png","name":"9612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6900.png","name":"6900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6083.png","name":"6083"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8933.png","name":"8933"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.1076776194096,"rotation_z_degrees":71.98318005501793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017070755716195093,0.006390558727277309,0.015552671324738167]},{"name":"camera_2","offset_m":[-0.0193520550898559,0.015922274747997078,0.014954417945088536]},{"name":"camera_3","offset_m":[-0.011105355621718962,0.004311108384866261,0.008392548681661255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00011218758080909063,0.001799027340438426,-0.0005551309174578968],"end_effector_yaw_offset_degrees":0.23697238618269512},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016745477468030974,0.0003181102512346736,-0.0008439713738345289],"end_effector_yaw_offset_degrees":0.8281762148939189},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00041870952933175526,-0.0007279929576725257,-0.0015440627619183998],"end_effector_yaw_offset_degrees":0.759363329205929}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004740284046033063,-0.004126460746210886],"position_m":[0.34314028404603303,0.08117353925378912,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002521902240348014,0.0011211830311650432],"position_m":[0.21477809775965198,-0.08607881696883496,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00036276968657818903,-0.004257070186268332],"position_m":[0.35423723031342186,0.23134292981373167,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002328236228014726,0.0006226466154744857],"position_m":[0.24407176377198528,-0.3350773533845255,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f4dd20841e2858a9283d883eef01d669f4fa296fa2c1edfee87cd287d5010d1d","episode_index":150,"episode_name":"episode_0150"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0150.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7658/tex_ceiling_textures_8933/tex_floor_textures_6083/tex_table_textures_9612/tex_wall_textures_6900","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5965356025342443173,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5965356025342443173,"visual_seed":5965356025342443173,"scene_id":"lab_003","finished_at":"2026-09-03T13:51:47"} +{"episode_id":"ep_000089","started_at":"2026-09-03T13:51:50","dimensions":{"distractor":{"count":35,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.2304825826356081,-2.307501673071635,0.71338606911949],"aabb_xy":[[-0.2537644248337394,-2.392501674368863],[-0.20720074043747674,-2.222501671774407]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.5137172257110671,-2.0863438862146837,0.71338606911949],"aabb_xy":[[0.4981614563008019,-2.101894319459091],[0.5292729951213324,-2.0707934529702765]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.5405581763444098,-1.3927649493839398,0.71338606911949],"aabb_xy":[[-0.5657790132042494,-1.4179887002368263],[-0.5153373394845701,-1.3675411985310528]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.26902925524750787,-1.3120464919047214,0.71338606911949],"aabb_xy":[[-0.2864599703265143,-1.3293186065685718],[-0.2515985401685013,-1.2947743772408702]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.6641665235291818,1.634408881037578,0.71338606911949],"aabb_xy":[[0.6578544239928436,1.628641941784359],[0.6704786230655203,1.6401758202907968]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.5005957270432443,-1.3066010814942113,0.71338606911949],"aabb_xy":[[-0.5149301521694077,-1.3186612970487501],[-0.48626130191708083,-1.2945408659396724]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.4850021976988703,1.6173037967840052,0.71338606911949],"aabb_xy":[[-0.49141601134205526,1.6108939765363366],[-0.4785883840556854,1.6237136170316733]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.24003984272207501,-0.6286078381981255,0.71338606911949],"aabb_xy":[[-0.25993088260241537,-0.6412636494828224],[-0.22014880284173485,-0.6159520269134288]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[0.33173594959191277,1.711013831155292,0.71338606911949],"aabb_xy":[[0.2864573347107635,1.6470138318071084],[0.37701456447306203,1.7750138305034757]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.3047234343394418,-0.6861848130672463,0.71338606911949],"aabb_xy":[[0.23472343792947994,-0.7066227487189279],[0.3747234307494035,-0.6657468774155645]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.6118622249566155,0.24245638868099295,0.71338606911949],"aabb_xy":[[0.5318622279935763,0.16538074703721947],[0.6918622219196546,0.3195320303247664]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.14938472225702892,0.7093455375208451,0.71338606911949],"aabb_xy":[[0.12309589793658822,0.6830741038661936],[0.17567354657746953,0.7356169711754961]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.20435146516768704,-1.9937263478146083,0.71338606911949],"aabb_xy":[[-0.21234495496296912,-2.001724479755084],[-0.19635797537240507,-1.985728215874133]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.38377143494590577,0.6411052906619705,0.71338606911949],"aabb_xy":[[-0.3892293805829258,0.5611052873543114],[-0.37831348930888564,0.7211052939696296]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.6241371579167267,0.7887073698967297,0.71338606911949],"aabb_xy":[[-0.631761426006905,0.7810741463601861],[-0.6165128898265485,0.7963405934332736]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.0670731335001784,-1.4077783272953774,0.71338606911949],"aabb_xy":[[-0.08417521145854656,-1.4248851328266474],[-0.04997105554181025,-1.390671521764108]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.08499901941802035,-0.7470249762314192,0.71338606911949],"aabb_xy":[[-0.1008835126833455,-0.7613779165302431],[-0.0691145261526952,-0.732672035932595]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.6367587471624865,0.2916934543210088,0.71338606911949],"aabb_xy":[[-0.6845649147762551,0.22669345161394983],[-0.5889525795487178,0.35669345702806776]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.11888613690119021,0.24915256070797032,0.71338606911949],"aabb_xy":[[-0.1828861333285121,0.2019829368858739],[-0.05488614047386832,0.29632218453006676]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.4106105455625313,-1.7242096286060806,0.71338606911949],"aabb_xy":[[0.36061054390103653,-1.7742080708617836],[0.46061054722402606,-1.6742111863503781]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.1433414720008741,0.4655723890782717,0.71338606911949],"aabb_xy":[[-0.15297310822130372,0.4559350762985628],[-0.13370983578044449,0.4752097018579806]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.5270990973438314,1.5368651164584262,0.71338606911949],"aabb_xy":[[-0.5770990982943642,1.5053159694549045],[-0.4770990963932986,1.5684142634619473]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.6357528055527529,1.787802794343437,0.71338606911949],"aabb_xy":[[-0.6707528054487717,1.7794285588314969],[-0.600752805656734,1.796177029855377]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.0014757378328206228,1.263122462722726,0.71338606911949],"aabb_xy":[[-0.02397573834486122,1.2406306043573274],[0.021024262679219974,1.2856143210881241]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[0.11582297989734125,-1.6582353979031732,0.71338606911949],"aabb_xy":[[0.1026717339260519,-1.68323539765986],[0.1289742258686306,-1.6332353981464869]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[0.656606725349165,-0.9022125015976865,0.71338606911949],"aabb_xy":[[0.6209775694492051,-0.9378451683545396],[0.6922358812491246,-0.8665798348408337]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.22389101596163252,0.9415031294569123,0.71338606911949],"aabb_xy":[[0.20139101571811713,0.9292984947971403],[0.24639101620514792,0.9537077641166842]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[-0.3374716512099149,1.6336273412576445,0.71338606911949],"aabb_xy":[[-0.34305332284404366,1.621127341439869],[-0.33188997957578614,1.64612734107542]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_28","position":[-0.16024079822296167,0.8220623013737951,0.71338606911949],"aabb_xy":[[-0.16674243473096628,0.8122944793474856],[-0.15373916171495705,0.8318301234001051]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[0.1916930088882718,1.5241745211802384,0.71338606911949],"aabb_xy":[[0.1416930085277057,1.4741945339706353],[0.24169300924883783,1.5741545083898412]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[0.5180681962533715,0.04428287891825278,0.71338606911949],"aabb_xy":[[0.4902231594727644,0.013498380179941094],[0.5459132330339787,0.07506737765656446]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_31","position":[-0.32085850073361566,0.8115090772146414,0.71338606911949],"aabb_xy":[[-0.3858584992906885,0.7817565438007589],[-0.2558585021765428,0.8412616106285241]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[0.09654671396560233,-0.8314699127079772,0.71338606911949],"aabb_xy":[[0.04157299192926943,-0.8864699122722104],[0.1515204360019352,-0.776469913143744]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_33","position":[-0.5680220285815636,1.3602445508154712,0.71338606911949],"aabb_xy":[[-0.5762365736972475,1.3515679605178297],[-0.5598074834658795,1.3689211411131124]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_34","position":[-0.3132119015458063,1.5001147827640824,0.71338606911949],"aabb_xy":[[-0.3772119032238036,1.4515973912847682],[-0.2492118998678089,1.5486321742433966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6654351837928729,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2389.png","name":"2389"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2389.png","name":"2389"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2986.png","name":"2986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1177.png","name":"1177"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7017.png","name":"7017"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9358.png","name":"9358"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":662.4197213425043,"rotation_z_degrees":134.02742621543584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035558413720343553,0.004551350729646263,0.0007374947305800669]},{"name":"camera_2","offset_m":[0.017313573948484363,-0.006049576022098706,-0.006294983401633765]},{"name":"camera_3","offset_m":[0.017757989982116407,-0.011160976924996752,-0.0044970098212421435]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019847712485854263,0.0019086824965014355,0.001673031855795642],"end_effector_yaw_offset_degrees":0.8569518494931005},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015886730317118878,-0.0008114441964483623,-0.0016530378209540734],"end_effector_yaw_offset_degrees":-0.667459122080301},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001416896735724994,-0.00031034597286124215,0.0010775828328631713],"end_effector_yaw_offset_degrees":-0.9209386675044715}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003455953263052776,-0.002487543770252364],"position_m":[0.34185595326305274,0.08281245622974763,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033663932158379513,0.0038466811303395467],"position_m":[0.22066639321583795,-0.08335331886966045,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033000975120488643,0.0027073680486342476],"position_m":[0.3512999024879512,0.23830736804863425,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010699494344555017,0.0005065299437106204],"position_m":[0.24746994943445552,-0.33519347005628936,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"efa37de5bf3b92fb47042e1e135220dbf65d78423b51266833b475cc6d4dd222","episode_index":151,"episode_name":"episode_0151"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0151.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2389/tex_ceiling_textures_9358/tex_floor_textures_7017/tex_table_textures_2986/tex_wall_textures_1177","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":374175715560481656,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":374175715560481656,"visual_seed":374175715560481656,"scene_id":"lab_003","finished_at":"2026-09-03T13:54:13"} +{"episode_id":"ep_000090","started_at":"2026-09-03T13:54:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.17061041468342897,-2.5015062610306877,0.71338606911949],"aabb_xy":[[-0.21279482884425974,-2.565506261307899],[-0.12842600052259825,-2.4375062607534765]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[0.5806534521401812,-2.2092662070618836,0.71338606911949],"aabb_xy":[[0.4906534498061621,-2.2867485616469962],[0.6706534544742002,-2.131783852476771]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.46214234360428197,0.4166044495401682,0.71338606911949],"aabb_xy":[[-0.5261380409993786,0.3526044512394595],[-0.39814664620918533,0.48060444784087686]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.6948463413569996,1.7399405295299846,0.71338606911949],"aabb_xy":[[0.6715644991588683,1.6549405282327565],[0.718128183555131,1.8249405308272126]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.43868570098906745,0.14422716777642863,0.71338606911949],"aabb_xy":[[-0.4886645094993832,0.09422716777070983],[-0.38870689247875145,0.19422716778214744]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.5215799559307425,1.1887690254991883,0.71338606911949],"aabb_xy":[[-0.5565799551235606,1.1778019795015255],[-0.4865799567379241,1.1997360714968506]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.3012277255430913,-1.71377326563652,0.71338606911949],"aabb_xy":[[-0.35120079107560676,-1.7637732654490532],[-0.25125466001057584,-1.6637732658239874]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.01221995578272328,-2.0548769093591646,0.71338606911949],"aabb_xy":[[-0.07621995604319408,-2.0998857087120926],[0.051780044477747526,-2.0098681100062366]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.06189894973972587,-1.7432222424410453,0.71338606911949],"aabb_xy":[[-0.002101051668264797,-1.79501119396497],[0.12589895114771651,-1.6914332909171206]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[0.08050920471972167,-0.7071883539557944,0.71338606911949],"aabb_xy":[[0.0630092055853545,-0.7170679809933822],[0.09800920385408884,-0.6973087269182066]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.1333241053974289,-2.0047413221864705,0.71338606911949],"aabb_xy":[[-0.1413180939751323,-2.0127414022815606],[-0.1253301168197255,-1.9967412420913797]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[0.15165493351313708,1.2591851071950955,0.71338606911949],"aabb_xy":[[0.13905223437606062,1.2465897109702302],[0.16425763265021354,1.2717805034199612]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.054840395408948694,1.7543866090363207,0.71338606911949],"aabb_xy":[[0.032326703585491494,1.6843866084353127],[0.07735408723240589,1.8243866096373278]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.48870732468169753,0.3292643491184588,0.71338606911949],"aabb_xy":[[0.4768352416701964,0.2442643494248085],[0.5005794076931986,0.4142643488121092]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.019559718213915,-0.9132532075391877,0.71338606911949],"aabb_xy":[[-0.0835597215036231,-0.9565881265431053],[0.044440285075793104,-0.8699182885352701]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[0.5913541659490091,-2.488076611077111,0.71338606911949],"aabb_xy":[[0.5503362225626383,-2.5380766117080684],[0.63237210933538,-2.4380766104461538]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.06587047467898233,1.2088937937033455,0.71338606911949],"aabb_xy":[[-0.11086306139743274,1.1638937944288967],[-0.020877887960531916,1.2538937929777942]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.5438293745781075,1.5491880349896312,0.71338606911949],"aabb_xy":[[0.5398688908083731,1.5415201704041104],[0.5477898583478418,1.5568558995751516]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.18100776148891595,-0.866028149202237,0.71338606911949],"aabb_xy":[[0.16350776221082908,-0.8833662492685829],[0.19850776076700283,-0.848690049135891]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.5337944487988231,-0.27749944612382604,0.71338606911949],"aabb_xy":[[0.5205635032641418,-0.29072686514582546],[0.5470253943335044,-0.2642720271018266]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.12167671895135657,-1.5169791273262911,0.71338606911949],"aabb_xy":[[-0.17166983106054845,-1.5669791280004872],[-0.07168360684216467,-1.4669791266520957]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.39800896874539093,-0.7573099204614457,0.71338606911949],"aabb_xy":[[0.3340089665249839,-0.8016830045867341],[0.46200897096579796,-0.7129368363361576]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.6481327948144684,-2.136983492283267,0.71338606911949],"aabb_xy":[[-0.6599009816091259,-2.221983492188489],[-0.6363646080198109,-2.051983492378046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647348228061363,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5293.png","name":"5293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5293.png","name":"5293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6013.png","name":"6013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2777.png","name":"2777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/233.png","name":"233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2588.png","name":"2588"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":644.1745765101292,"rotation_z_degrees":252.98062855286548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0147435009438141,0.007905507114363951,0.002638268863588252]},{"name":"camera_2","offset_m":[0.00577701405033899,-0.003919925750589966,-0.010796066242021372]},{"name":"camera_3","offset_m":[0.015068664244542788,0.005008140613843155,0.016274230313083986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012589170724976544,0.0019001685437635835,-0.0005182953148831927],"end_effector_yaw_offset_degrees":0.6364403435074459},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001813149728377073,0.0012160220791892027,0.0019359571624068912],"end_effector_yaw_offset_degrees":0.9542445652376867},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012604102989518771,-0.0017739457328043641,0.0010300049664646671],"end_effector_yaw_offset_degrees":0.9580124057974446}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003932885001323924,-0.0019589375366859006],"position_m":[0.33879328850013235,0.0833410624633141,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003159680445413096,0.004573777651791897],"position_m":[0.2204596804454131,-0.0826262223482081,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004098284584536507,0.002832364629993215],"position_m":[0.35050171541546354,0.23843236462999323,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002309419312491491,-0.0038148449405855924],"position_m":[0.24616905806875086,-0.3395148449405856,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"949db2b4d14a33f4c131021079e290604f5bd42e4707c237d417da2c259dd266","episode_index":152,"episode_name":"episode_0152"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0152.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5293/tex_ceiling_textures_2588/tex_floor_textures_233/tex_table_textures_6013/tex_wall_textures_2777","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2544302781458852228,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2544302781458852228,"visual_seed":2544302781458852228,"scene_id":"lab_003","finished_at":"2026-09-03T13:56:41"} +{"episode_id":"ep_000091","started_at":"2026-09-03T13:56:44","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.33460450543832276,1.5552003786779456,0.71338606911949],"aabb_xy":[[-0.42460450485669365,1.5218248818337559],[-0.24460450601995187,1.5885758755221353]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.483492228316978,1.5657002819322394,0.71338606911949],"aabb_xy":[[0.4194922318896562,1.5185306581101432],[0.5474922247442999,1.612869905754336]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.07296025324466937,-2.0028443882696445,0.71338606911949],"aabb_xy":[[0.06654643960148442,-2.0092542085173126],[0.0793740668878543,-1.996434568021976]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.33346766089984214,-2.133154317538872,0.71338606911949],"aabb_xy":[[0.3273730330117239,-2.1417237120905406],[0.3395622887879605,-2.124584922987203]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.48604041083222427,1.412568256317448,0.71338606911949],"aabb_xy":[[0.43604040954838424,1.3625894019268259],[0.5360404121160641,1.46254711070807]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.5846781009284421,-1.7433655526207184,0.71338606911949],"aabb_xy":[[-0.67467810460536,-1.8047979591978225],[-0.4946780972515237,-1.6819331460436138]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.436244451300853,1.1809549904689192,0.71338606911949],"aabb_xy":[[-0.506244454692415,1.1456392167654883],[-0.366244447909291,1.21627076417235]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.06312843097792054,1.7758583585087941,0.71338606911949],"aabb_xy":[[-0.07254590554778328,1.766442181371075],[-0.053710956408057786,1.785274535646513]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.6439885018485534,-0.879602106546669,0.71338606911949],"aabb_xy":[[0.6359622312179275,-0.8883536015240218],[0.6520147724791795,-0.8708506115693165]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.3139672996569336,-0.8518730158390986,0.71338606911949],"aabb_xy":[[0.2589750490214227,-0.9068730175824113],[0.3689595502924446,-0.7968730140957858]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.244314697127616,0.8622836397109137,0.71338606911949],"aabb_xy":[[-0.28181469831240874,0.8578654170148533],[-0.20681469594282317,0.8667018624069743]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.41775935987459456,-2.418616417516895,0.71338606911949],"aabb_xy":[[-0.4257956945758794,-2.4266545368213115],[-0.4097230251733097,-2.4105782982124775]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.43525202057025525,0.17546928401917317,0.71338606911949],"aabb_xy":[[0.4209175954440918,0.1634090684646343],[0.4495864456964187,0.18752949957371198]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.6161089794661938,-0.3454025265476841,0.71338606911949],"aabb_xy":[[-0.6215669251032139,-0.4254025298553432],[-0.6106510338291737,-0.265402523240025]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.44888231813846735,-0.21913160668277198,0.71338606911949],"aabb_xy":[[-0.4738823173041004,-0.22608385238812853],[-0.4238823189728342,-0.21217936097741538]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[0.46932178191712426,-0.6075884763193331,0.71338606911949],"aabb_xy":[[0.4348594345189824,-0.6420823587171557],[0.503784129315266,-0.5730945939215103]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.41132176557763156,-1.4184210765820509,0.71338606911949],"aabb_xy":[[-0.4488217641532523,-1.4311573722456088],[-0.3738217670020107,-1.405684780918493]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.1192153921355914,1.2091796216881217,0.71338606911949],"aabb_xy":[[-0.18421539029151046,1.1828833771382092],[-0.05421539397967236,1.2354758662380336]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.2672441105060953,1.6159934881207385,0.71338606911949],"aabb_xy":[[0.2619115958514823,1.610669159875503],[0.2725766251607083,1.621317816365974]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.6324760809185873,-0.47743735092440076,0.71338606911949],"aabb_xy":[[-0.6387881804549258,-0.48320429017761957],[-0.6261639813822488,-0.47167041167118195]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.5404623207449297,-1.6788880160941846,0.71338606911949],"aabb_xy":[[0.48046232014891355,-1.733700488639408],[0.6004623213409459,-1.624075543548961]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.4395813234173114,-0.8735552118574386,0.71338606911949],"aabb_xy":[[0.4109319910568951,-0.9022007711345141],[0.46823065577772754,-0.8449096525803625]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.03561820750851785,-0.6651649322043423,0.71338606911949],"aabb_xy":[[-0.08561131961770974,-0.7151649328785379],[0.014374904600674043,-0.6151649315301466]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[0.3896908250544928,-0.4537174398360837,0.71338606911949],"aabb_xy":[[0.3096908270737077,-0.46131898079793565],[0.4696908230352778,-0.44611589887423175]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.2758801776351048,-0.37842734977441284,0.71338606911949],"aabb_xy":[[-0.36588017413597657,-0.424338992192871],[-0.18588018113423307,-0.33251570735595454]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[-0.5259698736388037,0.5542562751753506,0.71338606911949],"aabb_xy":[[-0.5759698739993696,0.5042762879657475],[-0.47596987327823753,0.6042362623849534]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.2786528509754981,-0.5655633232109483,0.71338606911949],"aabb_xy":[[-0.3336528505972439,-0.620547015998421],[-0.22365285135375224,-0.5105796304234755]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_27","position":[0.49365568408273175,0.5862516988052651,0.71338606911949],"aabb_xy":[[0.42865568144493826,0.5347721001058181],[0.5586556867205252,0.637731297504712]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[-0.5182537550172105,1.7411311364656608,0.71338606911949],"aabb_xy":[[-0.5381447948975508,1.7284753251809641],[-0.49836271513687036,1.7537869477503578]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[-0.4044724133914484,1.738060880576802,0.71338606911949],"aabb_xy":[[-0.434870524490592,1.7076539785751323],[-0.3740743022923048,1.7684677825784714]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[-0.5598875139636388,-1.9177687651808104,0.71338606911949],"aabb_xy":[[-0.5844011380606445,-1.942033358482847],[-0.5353738898666328,-1.8935041718787742]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_31","position":[0.23631171276335017,1.543561979238739,0.71338606911949],"aabb_xy":[[0.16631171116107069,1.5301291860370816],[0.30631171436562965,1.5569947724403967]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_32","position":[0.5706427985145557,0.36308166021641686,0.71338606911949],"aabb_xy":[[0.5130123296272846,0.3030816612897062],[0.6282732674018263,0.42308165914312734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671172503299241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/581.png","name":"581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/581.png","name":"581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3125.png","name":"3125"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6817.png","name":"6817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8965.png","name":"8965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/522.png","name":"522"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":606.0917404411804,"rotation_z_degrees":261.7496449214258,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008484133202800066,0.00926801794761047,-0.01027973513544565]},{"name":"camera_2","offset_m":[-0.018483406536378207,-0.0019572069355051486,-0.015098790494028135]},{"name":"camera_3","offset_m":[0.014748089820838691,-0.004257068648937948,0.006619730449948246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012467915126027802,0.0018020165572176245,-0.0018614125714551612],"end_effector_yaw_offset_degrees":0.5488136466126765},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00031551649279215437,-4.866270057545647e-05,-0.000949741763736319],"end_effector_yaw_offset_degrees":0.34817285600923786},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000317855735537699,-0.0004158054199562308,-0.001024186277327929],"end_effector_yaw_offset_degrees":0.2753737502335454}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00282125730871858,-0.0009210490562060235],"position_m":[0.3355787426912814,0.08437895094379398,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015520778395058778,0.00019464853972759027],"position_m":[0.21574792216049413,-0.08700535146027241,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011857676439254237,0.0018870674513172814],"position_m":[0.3534142323560746,0.23748706745131729,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002219619702380903,-0.0037682259503574868],"position_m":[0.2441803802976191,-0.33946822595035747,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d2e37837922f07d96c33bdec3d0348ddd57cbaaf09c5cca589f92ec8fad6c7d6","episode_index":153,"episode_name":"episode_0153"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0153.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_581/tex_ceiling_textures_522/tex_floor_textures_8965/tex_table_textures_3125/tex_wall_textures_6817","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2953708359491512249,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2953708359491512249,"visual_seed":2953708359491512249,"scene_id":"lab_003","finished_at":"2026-09-03T13:59:26"} +{"episode_id":"ep_000092","started_at":"2026-09-03T13:59:29","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.1589363925084416,0.2851546508325078,0.71338606911949],"aabb_xy":[[-0.19271195169913455,0.27111615561934277],[-0.1251608333177486,0.2991931460456728]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.49673169035132236,0.005920304734686965,0.71338606911949],"aabb_xy":[[0.47667327873808213,-0.014144782174470572],[0.5167901019645627,0.025985391643844502]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.33645770705520633,-0.34448018775853795,0.71338606911949],"aabb_xy":[[-0.4064577096917926,-0.3645850527544034],[-0.26645770441861993,-0.3243753227626724]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.2985970433529709,0.8695240736430763,0.71338606911949],"aabb_xy":[[0.20859704661736067,0.8163406103257816],[0.3885970400885811,0.9227075369603707]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.10162309910886014,-1.0983056004091993,0.71338606911949],"aabb_xy":[[-0.10532636043799899,-1.102007618717917],[-0.09791983777972126,-1.0946035821004811]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.5064227605294717,1.3336644055930162,0.71338606911949],"aabb_xy":[[-0.5704227598236399,1.269678265224162],[-0.44242276123530344,1.3976505459618704]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[-0.5723261082082589,-1.1462777500382288,0.71338606911949],"aabb_xy":[[-0.5803523788388849,-1.1550292450155815],[-0.5642998375776329,-1.1375262550608762]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.20646346048057362,0.8624902480027314,0.71338606911949],"aabb_xy":[[-0.25146346194680247,0.8174903911412509],[-0.16146345901434478,0.9074901048642122]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.03081892130184083,1.3581347779820754,0.71338606911949],"aabb_xy":[[-0.04258710809649835,1.2731347780768538],[-0.01905073450718331,1.443134777887297]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.6108589470882462,-1.0925601547804733,0.71338606911949],"aabb_xy":[[0.6035766307115823,-1.182560158389982],[0.6181412634649096,-1.002560151170964]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.34846231446305054,-0.5746700307873933,0.71338606911949],"aabb_xy":[[0.30991662163784944,-0.6132158018435819],[0.3870080072882515,-0.5361242597312047]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.5184317874134139,-0.5643541776657681,0.71338606911949],"aabb_xy":[[0.4684488372259344,-0.6143541773083284],[0.568414737600893,-0.5143541780232076]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.3643822472333237,-2.216579876760976,0.71338606911949],"aabb_xy":[[-0.38688224774536417,-2.239071735126374],[-0.341882246721283,-2.1940880183955773]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.5862434251677479,-2.4314315858288342,0.71338606911949],"aabb_xy":[[-0.5996899518017912,-2.4449014374819256],[-0.5727968985337045,-2.417961734175743]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.5764688726854985,0.5769555768627215,0.71338606911949],"aabb_xy":[[0.5414688727090027,0.5674909608151049],[0.6114688726619943,0.5864201929103381]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.0948685555752885,-0.768691685594993,0.71338606911949],"aabb_xy":[[-0.1361730986390245,-0.8326916851631101],[-0.05356401251155252,-0.7046916860268759]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.25906558278136826,1.802995727227103,0.71338606911949],"aabb_xy":[[-0.2766984183748958,1.78537278121148],[-0.24143274718784066,1.8206186732427259]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.6198900215032961,1.3803142567511295,0.71338606911949],"aabb_xy":[[0.5852989386492508,1.3153142564660982],[0.6544811043573412,1.4453142570361603]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.6241647457310904,-0.01797737121973375,0.71338606911949],"aabb_xy":[[-0.6616647459029623,-0.05067810660264094],[-0.5866647455592184,0.014723364163173436]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.18085741461730498,1.020301535603997,0.71338606911949],"aabb_xy":[[-0.18848168270748328,1.0126683120674533],[-0.17323314652712676,1.0279347591405408]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[0.6420815474953945,-1.5317373964610927,0.71338606911949],"aabb_xy":[[0.5620815503358192,-1.5432849974189096],[0.7220815446549698,-1.5201897955032755]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[0.5859125556407951,0.15689578696036666,0.71338606911949],"aabb_xy":[[0.5609125560890567,0.1467533030952319],[0.6109125551925336,0.16703827082550135]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.04613425447629571,0.21892016025755234,0.71338606911949],"aabb_xy":[[-0.06971937794019056,0.15392015801212056],[-0.022549131012400858,0.28392016250298413]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.5944217908985676,-1.5401574694614761,0.71338606911949],"aabb_xy":[[-0.6744217883021609,-1.620150040659659],[-0.5144217934949741,-1.4601648982632933]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[0.43233360515660957,1.1472508501659777,0.71338606911949],"aabb_xy":[[0.3955389720317033,1.1103449750693954],[0.46912823828151584,1.18415672526256]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.49863947593043434,1.0843039216683712,0.71338606911949],"aabb_xy":[[-0.5886394753488052,1.0509284248241815],[-0.40863947651206345,1.117679418512561]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[-0.49592370140564934,-0.9003761712721852,0.71338606911949],"aabb_xy":[[-0.5856107777137649,-0.9903761715266356],[-0.40623662509753394,-0.8103761710177345]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.49275981057493534,-2.0464840652735052,0.71338606911949],"aabb_xy":[[-0.5727536341534936,-2.1264840678663472],[-0.41276598699637707,-1.9664840626806641]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722251404660629,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4727.png","name":"4727"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4727.png","name":"4727"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6975.png","name":"6975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9297.png","name":"9297"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/137.png","name":"137"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":846.3524346098826,"rotation_z_degrees":165.79711460326814,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00457525190367512,0.012945764074983514,0.019340418899306485]},{"name":"camera_2","offset_m":[-0.0057264565836832575,0.011494946316316142,0.01096160189723313]},{"name":"camera_3","offset_m":[-0.0162671168343254,-0.0006140746116231229,0.005792340611881813]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010940779505456489,0.0009791596633007258,0.0004518725550469666],"end_effector_yaw_offset_degrees":-0.31632478808374165},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005646497264130015,0.00112486516086455,0.0006534768730533185],"end_effector_yaw_offset_degrees":-0.040638325718325374},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017801797615387743,0.0004516783988334568,0.0012074221448980888],"end_effector_yaw_offset_degrees":0.7892914131633773}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003295653053395288,0.0015172548085263986],"position_m":[0.3416956530533953,0.0868172548085264,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025502071491462757,0.001843282584446446],"position_m":[0.21985020714914627,-0.08535671741555355,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003730410254907379,0.003329951117497389],"position_m":[0.3583304102549074,0.2389299511174974,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008985226308015851,0.0034909941241148606],"position_m":[0.24550147736919842,-0.33220900587588514,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c8cf6dc9daa1a00470ef3ed65d974209be6ffc3a73a361bb6e94b512eea51f78","episode_index":154,"episode_name":"episode_0154"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0154.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4727/tex_ceiling_textures_137/tex_floor_textures_9399/tex_table_textures_6975/tex_wall_textures_9297","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7175969974653602514,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7175969974653602514,"visual_seed":7175969974653602514,"scene_id":"lab_003","finished_at":"2026-09-03T14:01:55"} +{"episode_id":"ep_000093","started_at":"2026-09-03T14:01:58","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.3267910831188533,0.7889074479471376,0.71338606911949],"aabb_xy":[[-0.36429108463448495,0.7776806749309925],[-0.28929108160322153,0.8001342209632826]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.2610409776050814,-1.8266646021834703,0.71338606911949],"aabb_xy":[[-0.27710290506359897,-1.9116646039960619],[-0.2449790501465637,-1.7416646003708782]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.4021478484302914,-2.022558135592031,0.71338606911949],"aabb_xy":[[0.395835748893953,-2.0283250748452497],[0.4084599479666299,-2.0167911963388123]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.3202256690606257,-0.4095954071399208,0.71338606911949],"aabb_xy":[[-0.3427256693041411,-0.4218000417996929],[-0.2977256688171103,-0.397390772480149]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.5197546009419485,-0.06437209097640428,0.71338606911949],"aabb_xy":[[-0.5572546010475414,-0.0711942528293854],[-0.4822546008363556,-0.05754992912342315]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.6044196728699064,0.8074472472362038,0.71338606911949],"aabb_xy":[[-0.6944196725930805,0.7843738947010238],[-0.5144196731467321,0.8305205997713835]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.04820676677323332,-0.27172390177754124,0.71338606911949],"aabb_xy":[[-0.08164694196925291,-0.30516752760847127],[-0.014766591577213715,-0.23828027594661114]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.6542825392564662,0.09934699490340915,0.71338606911949],"aabb_xy":[[0.5892825413748186,0.048223331196868266],[0.7192825371381142,0.15047065860995001]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.6754323602604813,-0.2623806314077739,0.71338606911949],"aabb_xy":[[0.6379323590756883,-0.26679885410383436],[0.7129323614452739,-0.25796240871171333]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.1988778541939744,0.675171663616505,0.71338606911949],"aabb_xy":[[0.15669344003314367,0.611171663339294],[0.24106226835480515,0.7391716638937164]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.677494377462089,1.2341565164681993,0.71338606911949],"aabb_xy":[[0.672650782700859,1.2293048639892152],[0.6823379722233189,1.2390081689471835]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.1500736224061081,0.7695402595413445,0.71338606911949],"aabb_xy":[[-0.16757362266544476,0.755448717352572],[-0.1325736221467715,0.7836318017301173]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.3579449303713547,0.14918690468565776,0.71338606911949],"aabb_xy":[[-0.4029449318375836,0.10418704782417709],[-0.3129449289051259,0.19418676154713846]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.18805374925975626,1.426187832629347,0.71338606911949],"aabb_xy":[[0.18413987606433374,1.41743881722279],[0.1919676224551788,1.4349368480359037]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[0.5245957451267635,1.2793400905575143,0.71338606911949],"aabb_xy":[[0.515302126889613,1.2418400920693804],[0.5338893633639141,1.3168400890456482]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.43374915687743454,1.2374517534394864,0.71338606911949],"aabb_xy":[[0.4249471015684618,1.2296404272845571],[0.44255121218640725,1.2452630795944153]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.03328946626605733,-0.07253323635031306,0.71338606911949],"aabb_xy":[[-0.04128295606133937,-0.08053136829078872],[-0.025295976470775312,-0.0645351044098374]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.5071371855399196,-1.6036810749354689,0.71338606911949],"aabb_xy":[[0.4962967073134047,-1.620867356226117],[0.5179776637664345,-1.5864947936448197]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.6527161479942025,-1.703361124896875,0.71338606911949],"aabb_xy":[[0.6411471672472661,-1.728361125013807],[0.6642851287411392,-1.6783611247799435]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.5809298175196951,1.5537811351850883,0.71338606911949],"aabb_xy":[[0.5728021293263819,1.5448675267743806],[0.5890575057130083,1.562694743595796]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[0.02045106064330393,-2.24925357138548,0.71338606911949],"aabb_xy":[[-0.03356453563859607,-2.3132535742777374],[0.07446665692520393,-2.185253568493223]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.42444647365990984,-1.8963509916475472,0.71338606911949],"aabb_xy":[[0.41720270761366446,-1.9763509898511493],[0.4316902397061551,-1.8163509934439446]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.23043028613164174,-0.8285890993758889,0.71338606911949],"aabb_xy":[[-0.2954302846887146,-0.8583416327897715],[-0.1654302875745689,-0.7988365659620063]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[-0.17481907763391247,-2.472084594801777,0.71338606911949],"aabb_xy":[[-0.19773479051896237,-2.4949888919382004],[-0.15190336474886254,-2.4491802976653534]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.05503893265908655,-2.431198728598178,0.71338606911949],"aabb_xy":[[-0.1050389343205813,-2.4811971708538803],[-0.005038930997591783,-2.381200286342475]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[0.4163489092151902,0.6215152366016214,0.71338606911949],"aabb_xy":[[0.4098472727071856,0.6117474145753118],[0.4228505457231948,0.6312830586279313]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671758087169433,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4156.png","name":"4156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6765.png","name":"6765"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7574.png","name":"7574"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7489.png","name":"7489"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":619.3137740916104,"rotation_z_degrees":42.802769850450375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001489480019083004,0.004503872082830835,-0.0010552913209675094]},{"name":"camera_2","offset_m":[-0.010733306698368156,0.016560877160016817,0.007048704549302901]},{"name":"camera_3","offset_m":[-0.013772318158906893,-0.0005744137580182412,-0.006694291056802406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010398294859623835,0.0006834262738500099,0.0008940239933322202],"end_effector_yaw_offset_degrees":0.15570791520687743},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001814564667233217,-0.0017745387096522857,0.0009189148616072125],"end_effector_yaw_offset_degrees":0.7390501467687742},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007954235063825177,-0.0014646821915235981,-0.0015445879622442722],"end_effector_yaw_offset_degrees":-0.5397049034319719}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001966736332834048,0.0037954409094350756],"position_m":[0.34036673633283404,0.08909544090943508,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007394392002632996,0.0029598301753823103],"position_m":[0.2165605607997367,-0.08424016982461768,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019993018169161803,0.004174721352110192],"position_m":[0.35260069818308387,0.2397747213521102,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042510730415927815,0.002951389558029513],"position_m":[0.2506510730415928,-0.33274861044197046,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"11ababd7a8448be22d969d11b90db5f1250d9ce49187e2705a7fe5c58051c21d","episode_index":155,"episode_name":"episode_0155"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0155.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7494/tex_ceiling_textures_7489/tex_floor_textures_7574/tex_table_textures_4156/tex_wall_textures_6765","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5777045786210425072,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5777045786210425072,"visual_seed":5777045786210425072,"scene_id":"lab_003","finished_at":"2026-09-03T14:04:07"} +{"episode_id":"ep_000094","started_at":"2026-09-03T14:04:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.6329705940987376,-0.6219892503863942,0.71338606911949],"aabb_xy":[[0.6225590354182539,-0.6273349837222927],[0.6433821527792213,-0.6166435170504957]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.11472449331878043,-1.0193009255805938,0.71338606911949],"aabb_xy":[[-0.11863836651420297,-1.0280499409871506],[-0.11081062012335792,-1.010551910174037]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.19895241925990886,-1.5710309254272727,0.71338606911949],"aabb_xy":[[-0.2789462428384671,-1.651030928020114],[-0.11895859568135064,-1.491030922834431]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.49129358640095444,-2.1129287392620317,0.71338606911949],"aabb_xy":[[0.4413202923976939,-2.1629287398165786],[0.5412668804042148,-2.062928738707484]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.5724518746520654,-1.921210466182579,0.71338606911949],"aabb_xy":[[-0.6024435373859357,-1.9512104655193794],[-0.542460211918195,-1.8912104668457783]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.031166719764575412,-1.7737853572136304,0.71338606911949],"aabb_xy":[[-0.0056838281724121975,-1.811285358036664],[0.06801726770156302,-1.7362853563905964]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.16655895030068846,0.6837149905280855,0.71338606911949],"aabb_xy":[[-0.2365589529372748,0.66361012553222],[-0.09655894766410211,0.703819855523951]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.4672586065151784,0.4100206078469468,0.71338606911949],"aabb_xy":[[-0.5572586062383525,0.38694725531176694],[-0.3772586067920042,0.4330939603821266]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.1664343452035566,-0.6083956282855199,0.71338606911949],"aabb_xy":[[-0.22155955083314735,-0.668395629726807],[-0.1113091395739658,-0.5483956268442327]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.46873992144125787,-1.9974983021887147,0.71338606911949],"aabb_xy":[[-0.48462441470658296,-2.0118512424875385],[-0.45285542817593266,-1.9831453618898907]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.20821960448976,-1.232502026469973,0.71338606911949],"aabb_xy":[[-0.22571960473480937,-1.2500018143095397],[-0.1907196042447106,-1.215002238630406]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.2230277159078662,1.7072115007284023,0.71338606911949],"aabb_xy":[[-0.23427277147848402,1.6959697030043073],[-0.21178266033724835,1.7184532984524978]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.10765134188112824,-0.8421681656642555,0.71338606911949],"aabb_xy":[[-0.1314875595217333,-0.9321681664727419],[-0.08381512424052316,-0.752168164855769]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.3124767766383687,-1.7447310761727677,0.71338606911949],"aabb_xy":[[0.2674767751721399,-1.7897309330342486],[0.3574767781045976,-1.6997312193112872]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.5641523817168521,-1.2574840795596756,0.71338606911949],"aabb_xy":[[0.5141523807663192,-1.2890332265631967],[0.6141523826673848,-1.225934932556154]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.22747472443659034,-2.187121721139872,0.71338606911949],"aabb_xy":[[-0.2337868239729288,-2.192888660393091],[-0.22116262490025193,-2.1813547818866534]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.5572811227169119,0.136037408942435,0.71338606911949],"aabb_xy":[[-0.5822811222686503,0.12589492507730027],[-0.5322811231651733,0.1461798928075697]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[0.16316736112264352,-1.7527036596889067,0.71338606911949],"aabb_xy":[[0.1432763212423033,-1.7653594709736038],[0.1830584010029838,-1.7400478484042101]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.6897890397518425,0.8744055049122865,0.71338606911949],"aabb_xy":[[0.6820858490777655,0.8666961342135485],[0.6974922304259195,0.8821148756110245]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.29032861055920156,-0.8082753331904653,0.71338606911949],"aabb_xy":[[0.24902406749546552,-0.8722753327585823],[0.3316331536229375,-0.7442753336223481]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.27352388145947004,1.5436600655673964,0.71338606911949],"aabb_xy":[[0.25573037452455355,1.5258603199715988],[0.2913173883943864,1.561459811163194]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.6546635309648619,1.4625590946174571,0.71338606911949],"aabb_xy":[[0.5906635286220602,1.4176182433733246],[0.7186635333076633,1.5074999458615896]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67160131578489,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9093.png","name":"9093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9093.png","name":"9093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4837.png","name":"4837"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2768.png","name":"2768"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9764.png","name":"9764"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":605.478570796113,"rotation_z_degrees":172.21229941503395,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009753335111983702,0.0022046908298472903,0.010401280156371939]},{"name":"camera_2","offset_m":[0.016273734769581976,0.012484479615516696,0.002138002722629543]},{"name":"camera_3","offset_m":[-0.012766335886695202,-0.008625927761693908,0.010060863538680666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011794722634590285,0.0004278594907231063,-0.0011187636339826433],"end_effector_yaw_offset_degrees":0.6660763116444972},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001547629182885014,0.000891536943408348,0.0008592175740790085],"end_effector_yaw_offset_degrees":-0.23324331383696273},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008992880035516254,-0.0019430735391024793,0.00055462857674157],"end_effector_yaw_offset_degrees":-0.6779712034023657}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014032115909875988,-0.0008218103486191718],"position_m":[0.3398032115909876,0.08447818965138083,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028838659587238176,-0.0031294908272670044],"position_m":[0.2201838659587238,-0.090329490827267,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003515395811403155,0.0021380142736653705],"position_m":[0.35811539581140317,0.23773801427366537,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002839540028207333,0.00453822404123026],"position_m":[0.24923954002820733,-0.3311617759587697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9ce71e3dc00c7981a13eb5fc525e0e92e085b8bcd6c3c901aba9c8042da4baa8","episode_index":156,"episode_name":"episode_0156"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0156.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9093/tex_ceiling_textures_9764/tex_floor_textures_2768/tex_table_textures_4837/tex_wall_textures_8417","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":846556668555200609,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":846556668555200609,"visual_seed":846556668555200609,"scene_id":"lab_003","finished_at":"2026-09-03T14:06:45"} +{"episode_id":"ep_000095","started_at":"2026-09-03T14:09:46","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.6310742885368096,-0.7307236125198602,0.71338606911949],"aabb_xy":[[-0.6810475825400699,-0.7807236130744075],[-0.581100994533549,-0.6807236119653128]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.2638228932797825,-1.7020057522032135,0.71338606911949],"aabb_xy":[[0.22923181042573723,-1.7670057524882443],[0.29841397613382764,-1.6370057519181822]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.18859846936540592,-1.7138100093828652,0.71338606911949],"aabb_xy":[[-0.2525984696258767,-1.758818808735793],[-0.12459846910493509,-1.668801210029937]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.17081700441626124,-0.6377629493476118,0.71338606911949],"aabb_xy":[[-0.19710582873670185,-0.6640343830022629],[-0.14452818009582052,-0.6114915156929605]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.2757850979510461,0.5765584877627914,0.71338606911949],"aabb_xy":[[0.20578510154108423,0.5561205521111096],[0.3457850943610078,0.596996423414473]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.6008794142053419,0.13931218722190053,0.71338606911949],"aabb_xy":[[-0.6160422871822789,0.1241467299267818],[-0.5857165412284048,0.1544776445170193]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.6521279337080461,1.5721641535236288,0.71338606911949],"aabb_xy":[[-0.6614215519451967,1.5346641550354947],[-0.6428343154708955,1.6096641520117625]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.06294497975706737,0.38865315418770274,0.71338606911949],"aabb_xy":[[-0.07371795367843514,0.3536531559686638],[-0.052172005835699586,0.4236531524067418]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.5713022781408379,-0.40083816261959226,0.71338606911949],"aabb_xy":[[0.5673884049454154,-0.409587178026149],[0.5752161513362604,-0.3920891472130355]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.30178219160752634,-1.1857525193140146,0.71338606911949],"aabb_xy":[[-0.3392821923995218,-1.1921203602722046],[-0.2642821908155309,-1.1793846783558246]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.06059477046955575,1.4519972690026468,0.71338606911949],"aabb_xy":[[-0.1505947741464739,1.3905648624255422],[0.029405233207362436,1.5134296755797507]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.6405015645810914,-0.09290564618370212,0.71338606911949],"aabb_xy":[[0.6159553489583406,-0.12315454273273915],[0.665047780203842,-0.06265674963466503]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.5366027211416846,-1.6376509443322809,0.71338606911949],"aabb_xy":[[-0.5410333504965249,-1.6430993160669636],[-0.5321720917868445,-1.6322025725975982]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.38623389894930993,-0.7979085391799052,0.71338606911949],"aabb_xy":[[0.35838886216870275,-0.8286930379182169],[0.414078935729917,-0.7671240404415935]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.4775968994722699,-2.121007846548796,0.71338606911949],"aabb_xy":[[0.4125969013163509,-2.147304091098708],[0.542596897628189,-2.0947116019988834]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.11555957588220356,-2.430760911489267,0.71338606911949],"aabb_xy":[[0.0780595774588032,-2.4439251254570973],[0.1530595743056039,-2.417596697521436]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.13302748599474556,-1.527509981618668,0.71338606911949],"aabb_xy":[[-0.14625843152942683,-1.5407374006406669],[-0.11979654046006424,-1.514282562596668]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.35854111760982127,1.0697380401982222,0.71338606911949],"aabb_xy":[[-0.43854111788342826,0.9967884923725056],[-0.2785411173362143,1.1426875880239389]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.4899601402246163,-2.2263572159690126,0.71338606911949],"aabb_xy":[[-0.49758440831479456,-2.2339904395055563],[-0.48233587213443807,-2.218723992432469]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.1117412998137488,1.1472686353366868,0.71338606911949],"aabb_xy":[[-0.1757369972088454,1.083268637035978],[-0.04774560241865221,1.2112686336373955]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.4647372608490066,-2.443416569043695,0.71338606911949],"aabb_xy":[[-0.5447372580085819,-2.454964170001512],[-0.3847372636894313,-2.431868968085878]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.4882404175755697,1.411325857204953,0.71338606911949],"aabb_xy":[[0.4242404184057997,1.3645591700859905],[0.5522404167453395,1.4580925443239154]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.3253231875747533,-2.1243241011411147,0.71338606911949],"aabb_xy":[[0.3034145054354022,-2.1462247679612054],[0.3472318697141043,-2.102423434321024]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.23893156008466077,1.0496619432329148,0.71338606911949],"aabb_xy":[[0.15893155792189825,0.9697067596067712],[0.31893156224742325,1.1296171268590585]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.6332557544988833,0.8589401322467722,0.71338606911949],"aabb_xy":[[0.6163450220625414,0.8454679266541577],[0.6501664869352249,0.8724123378393868]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.2402626958968922,0.6395485636082006,0.71338606911949],"aabb_xy":[[-0.30426269911553006,0.5928254517091922],[-0.17626269267825437,0.6862716755072089]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663614362641194,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3225.png","name":"3225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9774.png","name":"9774"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":723.5782128825948,"rotation_z_degrees":189.27289204736616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009770132104205985,-0.015513185837166477,0.013705005475615598]},{"name":"camera_2","offset_m":[0.0032255264365127177,0.002231196555396768,0.013571022429307081]},{"name":"camera_3","offset_m":[0.008464961667123648,-0.01751212874000927,-0.00449122597320009]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00045573983710007647,-0.00013631808947047516,-0.0010634197416514253],"end_effector_yaw_offset_degrees":0.5229426973751075},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008578343714725572,0.00043547656826210205,-0.0008839159792558623],"end_effector_yaw_offset_degrees":-0.33250942866984223},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007930044065963195,-0.001662476358221944,-0.0011322155560423092],"end_effector_yaw_offset_degrees":-0.6432243278870342}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004583428152104278,-0.002306131546988894],"position_m":[0.3338165718478957,0.08299386845301111,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004740784116563029,0.0018358734069234776],"position_m":[0.22204078411656303,-0.08536412659307652,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022662137320290454,0.002597835539110316],"position_m":[0.35233378626797096,0.2381978355391103,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004693201554251292,0.0009031977078604644],"position_m":[0.24170679844574872,-0.33479680229213954,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"379dd99064514f2b302456d187a5fddf86c40bab8f2d31b52cf40344c1ddcf2d","episode_index":159,"episode_name":"episode_0159"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0159.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_666/tex_ceiling_textures_9774/tex_floor_textures_3225/tex_table_textures_1434/tex_wall_textures_4370","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2503218898550663667,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2503218898550663667,"visual_seed":2503218898550663667,"scene_id":"lab_003","finished_at":"2026-09-03T14:12:20"} +{"episode_id":"ep_000096","started_at":"2026-09-03T14:12:25","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.18808678813981317,1.3820266240033345,0.71338606911949],"aabb_xy":[[-0.2032589574214465,1.3668577670751312],[-0.17291461885817982,1.397195480931538]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[-0.5474761149275822,-1.6951290922728033,0.71338606911949],"aabb_xy":[[-0.5824761140575379,-1.7008743133484672],[-0.5124761157976265,-1.689383871197139]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.5680633825579198,1.6874039940993923,0.71338606911949],"aabb_xy":[[-0.6480633795209589,1.610328352455619],[-0.4880633855948806,1.7644796357431658]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.4108199315059041,-1.4755234359302585,0.71338606911949],"aabb_xy":[[-0.4748199286180098,-1.524555805724669],[-0.34681993439379843,-1.4264910661358479]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[-0.03527151519773419,-2.0864570494071417,0.71338606911949],"aabb_xy":[[-0.06773321607966165,-2.1165898815220436],[-0.002809814315806742,-2.056324217292238]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.0853788873483492,-0.7159912419761745,0.71338606911949],"aabb_xy":[[-0.1453788878562021,-0.7728379756620957],[-0.02537888684049627,-0.6591445082902531]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.5261433839722676,-1.1300338772674285,0.71338606911949],"aabb_xy":[[0.5197295703290825,-1.1364436975150967],[0.5325571976154524,-1.12362405701976]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.589849496764361,-2.5216951603802347,0.71338606911949],"aabb_xy":[[-0.6548494946460088,-2.572818824086776],[-0.5248494988827133,-2.4705714966736942]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.4179888617644763,-1.3455066273836898,0.71338606911949],"aabb_xy":[[-0.43387335502980146,-1.3598595676825138],[-0.40210436849915115,-1.3311536870848657]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.05291417707209545,-1.0448442748311455,0.71338606911949],"aabb_xy":[[-0.03208582161997919,-1.0768301382260244],[0.1379141757641701,-1.0128584114362666]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.1480266490251544,-2.1884068082238803,0.71338606911949],"aabb_xy":[[-0.17842476012429795,-2.2188137102255494],[-0.11762853792601079,-2.1579999062222104]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.41720970112050026,-1.7369536950027231,0.71338606911949],"aabb_xy":[[0.3827472231074125,-1.743617372185646],[0.45167217913358804,-1.7302900178198006]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.14502391852440233,-0.48598160770890964,0.71338606911949],"aabb_xy":[[-0.20902391890193595,-0.5357268745597219],[-0.08102391814686871,-0.43623634085809737]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.14915046926334508,-0.9311221577486377,0.71338606911949],"aabb_xy":[[-0.21315047094134243,-0.9796395492279518],[-0.08515046758534772,-0.8826047662693234]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.37686659541792,0.45546847033066795,0.71338606911949],"aabb_xy":[[0.34095309099293025,0.4195549621139133],[0.41278009984290964,0.4913819785474225]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.46294383310023957,-2.377909105991227,0.71338606911949],"aabb_xy":[[0.4129608829127602,-2.427909105633787],[0.5129267832877188,-2.3279091063486663]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.24221865043542679,-0.29301917983760584,0.71338606911949],"aabb_xy":[[-0.28934802943726246,-0.3570191808820078],[-0.1950892714335911,-0.22901917879320388]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.011555981181295083,-2.1980269067953677,0.71338606911949],"aabb_xy":[[-0.02865805913966324,-2.2151337123266375],[0.005546096777073073,-2.180920101264098]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.0055067206304700855,0.7980341152012103,0.71338606911949],"aabb_xy":[[-0.020782103689970573,0.7717626815465589],[0.03179554495091074,0.8243055488558614]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.5415367401367639,0.360722700130228,0.71338606911949],"aabb_xy":[[0.5040367396394057,0.3567540165821096],[0.5790367406341221,0.3646913836783464]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.3050936957197983,0.8824463531230209,0.71338606911949],"aabb_xy":[[0.2623269888403781,0.8184463497012185],[0.34786040259921847,0.9464463565448235]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.2068632831632108,-1.3725079642987235,0.71338606911949],"aabb_xy":[[0.20290279939347644,-1.380175828884244],[0.2108237669329452,-1.3648400997132029]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.5903567890315973,0.33915900424243794,0.71338606911949],"aabb_xy":[[-0.6403567886079321,0.28917842529033205],[-0.5403567894552627,0.38913958319454395]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.13469335907275315,-1.3213812128441154,0.71338606911949],"aabb_xy":[[0.13057740896068046,-1.325496767876961],[0.13880930918482579,-1.3172656578112698]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.117703022290782,-1.5772832055320285,0.71338606911949],"aabb_xy":[[-0.1258166769641591,-1.5853890219860578],[-0.1095893676174049,-1.5691773890779996]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.12895420853076178,1.4644259472178383,0.71338606911949],"aabb_xy":[[0.10030487617034553,1.4357803879407622],[0.15760354089117798,1.4930715064949138]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[-0.018266209622391782,1.540176559735078,0.71338606911949],"aabb_xy":[[-0.037378516980370646,1.5210417808578363],[0.0008460977355870813,1.5593113386123203]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.18476967594333682,1.1451626679993456,0.71338606911949],"aabb_xy":[[-0.2347427414758523,1.095162668186813],[-0.13479661041082136,1.1951626678118787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6715222933452168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7007.png","name":"7007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7007.png","name":"7007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1255.png","name":"1255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1892.png","name":"1892"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9836.png","name":"9836"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/285.png","name":"285"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":628.2224951429364,"rotation_z_degrees":61.74011823653028,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014200675474588307,0.00497105216225464,-0.004412840378216201]},{"name":"camera_2","offset_m":[-0.017387597743831026,0.017834941857658344,0.018984941061915023]},{"name":"camera_3","offset_m":[0.013462126214710133,-0.014255867283945015,-0.006936208135569203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003004495989383702,-0.00040724178036087143,-0.001503620292829928],"end_effector_yaw_offset_degrees":0.07470338680673905},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012514649905999283,0.00047911563152724544,-0.0012838959376845335],"end_effector_yaw_offset_degrees":0.3725377996812407},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018240274652244928,-0.0005104749603379957,-0.0019907868559711256],"end_effector_yaw_offset_degrees":0.46891771127907744}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0002486710741278139,0.0034998992275688595],"position_m":[0.3381513289258722,0.08879989922756885,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004037440958182784,0.0013705207222069141],"position_m":[0.22133744095818278,-0.08582947927779308,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031817699249424786,0.00279510552607939],"position_m":[0.3577817699249425,0.2383951055260794,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024525601081628323,-0.0036942237225265065],"position_m":[0.24394743989183718,-0.3393942237225265,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"12434e6e0218fc3f505e8b53ec331906fa8c34b680374d684e48596af52e3551","episode_index":160,"episode_name":"episode_0160"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0160.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7007/tex_ceiling_textures_285/tex_floor_textures_9836/tex_table_textures_1255/tex_wall_textures_1892","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7402484752470252275,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7402484752470252275,"visual_seed":7402484752470252275,"scene_id":"lab_003","finished_at":"2026-09-03T14:14:53"} +{"episode_id":"ep_000097","started_at":"2026-09-03T14:14:56","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.6447472904022747,1.321598425651187,0.71338606911949],"aabb_xy":[[-0.6672472904124229,1.3075022060115837],[-0.6222472903921263,1.3356946452907903]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.19880969561228623,-1.5443762941813794,0.71338606911949],"aabb_xy":[[0.14932927439832747,-1.6083762920942315],[0.24829011682624505,-1.4803762962685278]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.3595714091781883,-1.2505592970422321,0.71338606911949],"aabb_xy":[[0.32908715905115815,-1.300559296823728],[0.39005565930521846,-1.2005592972607362]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.16836228343742987,-1.7229419428427932,0.71338606911949],"aabb_xy":[[0.11836228241829463,-1.7594081585806216],[0.2183622844565652,-1.6864757271049657]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.28479492118241223,-1.0023885912451516,0.71338606911949],"aabb_xy":[[0.25364800233882906,-1.0723885899319587],[0.3159418400259953,-0.9323885925583444]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.20202608840289615,-2.11040500885568,0.71338606911949],"aabb_xy":[[-0.26602608570524255,-2.154771435823536],[-0.13802609110054972,-2.0660385818878226]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.060524084261749156,1.1213318501832283,0.71338606911949],"aabb_xy":[[0.04916234960846299,1.10996338377694],[0.07188581891503532,1.1327003165895162]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[0.02388384151327516,0.9820931063908835,0.71338606911949],"aabb_xy":[[-0.021108745205175253,0.9370931071164349],[0.06887642823172557,1.0270931056653323]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.5395115644970518,1.133592969234217,0.71338606911949],"aabb_xy":[[-0.6045115623786997,1.0824693055276762],[-0.47451156661540417,1.184716632940758]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.35410344166851115,1.575522703662695,0.71338606911949],"aabb_xy":[[0.3406569150344678,1.5620528520096038],[0.3675499683025545,1.5889925553157864]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.4787607929506102,1.4715500887951891,0.71338606911949],"aabb_xy":[[-0.5587607899648581,1.4514155371217778],[-0.39876079593636216,1.4916846404686004]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.16188528065595076,1.4143013756164788,0.71338606911949],"aabb_xy":[[-0.211767977533647,1.364301376370204],[-0.11200258377825459,1.4643013748627536]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.06692085271877224,0.09112110321837452,0.71338606911949],"aabb_xy":[[-0.07323295225511067,0.0853541639651557],[-0.060608753182433805,0.09688804247159337]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[-0.25653503604270506,0.42143833884224335,0.71338606911949],"aabb_xy":[[-0.2790487278661622,0.3514383382412357],[-0.2340213442192478,0.49143833944325077]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.5656853424986215,-0.36443412725031443,0.71338606911949],"aabb_xy":[[0.5465730351406426,-0.38356890612755645],[0.5847976498566003,-0.3452993483730724]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.320640575629192,0.5689212596550539,0.71338606911949],"aabb_xy":[[-0.3381405749072789,0.551583159588708],[-0.30314057635110514,0.5862593597213999]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.10306582147302945,-0.7820018619637068,0.71338606911949],"aabb_xy":[[-0.14056582176520427,-0.7860433373643104],[-0.06556582118085465,-0.7779603865631032]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.5537473930885655,0.2884369624426655,0.71338606911949],"aabb_xy":[[0.47374739592899007,0.2768893614848484],[0.6337473902481406,0.29998456340048246]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.6118131483470101,-2.54112047098073,0.71338606911949],"aabb_xy":[[-0.6477266527719997,-2.577033979197484],[-0.5758996439220204,-2.5052069627639746]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.6311216135918813,0.7723363374680687,0.71338606911949],"aabb_xy":[[0.6191888792300532,0.7599541846602094],[0.6430543479537093,0.7847184902759281]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.5953498704566897,-1.4116904025768477,0.71338606911949],"aabb_xy":[[0.5453768049241744,-1.4616904023893806],[0.6453229359892053,-1.3616904027643149]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.24813538438627547,-1.8497332952453025,0.71338606911949],"aabb_xy":[[0.18413538400874185,-1.8994785620961145],[0.3121353847638091,-1.79998802839449]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.5729406170396525,0.9871774596105531,0.71338606911949],"aabb_xy":[[-0.6369406143253012,0.9456707406577092],[-0.508940619754004,1.0286841785633971]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.280398419784497,0.7464697150373971,0.71338606911949],"aabb_xy":[[0.2722847651111199,0.738363898583368],[0.2885120744578741,0.7545755314914262]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.20138186338190867,-2.388465918370932,0.71338606911949],"aabb_xy":[[0.14638961274639775,-2.4434659201142446],[0.25637411401741966,-2.333465916627619]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.07119464864917147,-2.2632380640833487,0.71338606911949],"aabb_xy":[[-0.08906375640362695,-2.2770709720605598],[-0.05332554089471596,-2.2494051561061377]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[-0.17212880775758843,-0.5619218019608332,0.71338606911949],"aabb_xy":[[-0.19101319152609864,-0.580807726741186],[-0.15324442398907823,-0.5430358771804804]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[0.41098592618137997,-1.6258369843168132,0.71338606911949],"aabb_xy":[[0.3469859259209091,-1.6708457836697412],[0.4749859264418507,-1.5808281849638852]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[0.6382543868405395,-1.1453841980396897,0.71338606911949],"aabb_xy":[[0.62075438659549,-1.1628839858792563],[0.6557543870855888,-1.1278844102001226]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_29","position":[-0.5698233846444107,-0.06810724076177532,0.71338606911949],"aabb_xy":[[-0.6338233869872123,-0.1130480920059078],[-0.5058233823016092,-0.023166389517642823]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.22142953548087196,1.5271011716920362,0.71338606911949],"aabb_xy":[[-0.2389295346152391,1.5172215446544484],[-0.20392953634650476,1.536980798729624]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_31","position":[-0.3671558716082878,-1.053640202156295,0.71338606911949],"aabb_xy":[[-0.37443818798495127,-1.1436402057658037],[-0.35987355523162395,-0.9636401985467858]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_32","position":[-0.4847469306705755,0.6918852575125252,0.71338606911949],"aabb_xy":[[-0.5447469305171422,0.6350666353194864],[-0.42474693082400866,0.7487038797055637]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_33","position":[-0.31066297847567576,-2.331676855983928,0.71338606911949],"aabb_xy":[[-0.395662976893099,-2.416551151446213],[-0.22566298005825253,-2.246802560521643]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669916151058626,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7231.png","name":"7231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7231.png","name":"7231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7279.png","name":"7279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2045.png","name":"2045"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3628.png","name":"3628"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1875.png","name":"1875"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":702.9301767894384,"rotation_z_degrees":285.7675204312693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00777658331854025,-0.005148742096941996,-0.005357273282078393]},{"name":"camera_2","offset_m":[0.004854716929702806,-0.013963602005245344,0.01853546579473379]},{"name":"camera_3","offset_m":[-0.01391987886745309,0.002896426118585569,0.004677700396781063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000543024161644457,0.0013155071105427352,0.0019220441276972967],"end_effector_yaw_offset_degrees":0.030614710766792452},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009382690799307133,-0.00046821771215730746,-0.0005714441025013524],"end_effector_yaw_offset_degrees":0.5176240333482682},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001394346552533297,-9.766590028933574e-05,-0.001240793520825335],"end_effector_yaw_offset_degrees":-0.3064100064449644}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023900991480147425,-0.0005496292827780417],"position_m":[0.33600990085198523,0.08475037071722195,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008989842969840912,0.004626418705092317],"position_m":[0.2164010157030159,-0.08257358129490769,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023264092144744076,0.004511181496973369],"position_m":[0.3522735907855256,0.24011118149697339,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004914062520233789,0.002174117168591296],"position_m":[0.2414859374797662,-0.3335258828314087,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"26235b8edd4b0ffdb61e90638279d9e025d127c731ac0cf71f8b44000d88f5a8","episode_index":161,"episode_name":"episode_0161"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0161.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7231/tex_ceiling_textures_1875/tex_floor_textures_3628/tex_table_textures_7279/tex_wall_textures_2045","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2594451394757799347,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2594451394757799347,"visual_seed":2594451394757799347,"scene_id":"lab_003","finished_at":"2026-09-03T14:17:25"} +{"episode_id":"ep_000098","started_at":"2026-09-03T14:17:28","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.6238548120318388,-1.816607728773199,0.71338606911949],"aabb_xy":[[-0.6888548131377822,-1.841573101841327],[-0.5588548109258956,-1.7916423557050705]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.23238423268399666,-1.0773692895434883,0.71338606911949],"aabb_xy":[[0.22795360332915648,-1.082817661278171],[0.23681486203883684,-1.071920917808806]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.2957730582180844,-2.329268589413218,0.71338606911949],"aabb_xy":[[0.2732739224918574,-2.3517685901914813],[0.31827219394431133,-2.306768588634955]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.3244814160558752,-1.7911876053539149,0.71338606911949],"aabb_xy":[[-0.37429819552071,-1.841187603838218],[-0.27466463659104046,-1.7411876068696113]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.0234982975663528,-1.6460221220281142,0.71338606911949],"aabb_xy":[[-0.03938279083167795,-1.6603750623269382],[-0.007613804301027649,-1.63166918172929]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.04653205961164075,0.7633275345834574,0.71338606911949],"aabb_xy":[[0.009497950183581037,0.7289503272497478],[0.08356616903970046,0.7977047419171667]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.048271326265477255,-0.8835662052550328,0.71338606911949],"aabb_xy":[[-0.08418483069046694,-0.9194797134717874],[-0.012357821840487573,-0.8476526970382781]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.6970020897011531,0.6345445822685787,0.71338606911949],"aabb_xy":[[0.6818299204195198,0.6193757253403754],[0.7121742589827865,0.6497134391967821]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.33679467683184977,-0.8549263568565977,0.71338606911949],"aabb_xy":[[-0.3742946767756162,-0.8632194468914343],[-0.29929467688808337,-0.8466332668217611]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.6787772257024574,1.616126588183596,0.71338606911949],"aabb_xy":[[0.6750739643733182,1.6124245698748783],[0.682480487031596,1.6198286064923137]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.09286160339205296,0.059463010369606994,0.71338606911949],"aabb_xy":[[-0.1303616038894112,0.05549432682148858],[-0.0553616028946947,0.0634316939177254]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.268253189464422,0.9414130464372072,0.71338606911949],"aabb_xy":[[-0.2791047957132976,0.9305537557095561],[-0.2574015832155464,0.9522723371648582]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.5542568390320484,-2.1341209360456674,0.71338606911949],"aabb_xy":[[0.5197944916339063,-2.1686148184434897],[0.58871918643019,-2.0996270536478443]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.27412403944625235,1.4426269485965624,0.71338606911949],"aabb_xy":[[-0.28845846457241575,1.4305667330420235],[-0.25978961432008885,1.4546871641511012]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.2628585147877953,-2.0566836685534997,0.71338606911949],"aabb_xy":[[-0.2978585146838142,-2.0650579040654398],[-0.22785851489177647,-2.0483094330415597]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.20997797101948767,-2.294030168460475,0.71338606911949],"aabb_xy":[[0.18747797149578022,-2.316526115911095],[0.23247797054319502,-2.2715342210098535]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.27302851145263035,-1.076472945669373,0.71338606911949],"aabb_xy":[[-0.3076195943066755,-1.1414729459544037],[-0.2384374285985851,-1.0114729453843416]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.655225092085328,-2.2736186422888123,0.71338606911949],"aabb_xy":[[0.5912250947829815,-2.3179850692566686],[0.7192250893876743,-2.229252215320955]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.15132574945538002,1.0886689051732672,0.71338606911949],"aabb_xy":[[-0.21532574972935828,1.0386028049759792],[-0.08732574918140182,1.1387350053705552]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.10658037394915354,-1.427694637667833,0.71338606911949],"aabb_xy":[[0.09481218715449605,-1.5126946375730548],[0.11834856074381109,-1.3426946377626114]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.6645987233442774,1.1446648053245423,0.71338606911949],"aabb_xy":[[0.6145987246983562,1.09474526166508],[0.7145987219901986,1.1945843489840047]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.32681407471696544,1.562348102371081,0.71338606911949],"aabb_xy":[[0.23712699840885,1.4723481021166305],[0.4165011510250809,1.6523481026255316]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.6595247961875604,-1.930307743473724,0.71338606911949],"aabb_xy":[[-0.6634386693829829,-1.9390567588802805],[-0.6556109229921377,-1.9215587280671669]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643094670659628,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3199.png","name":"3199"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3199.png","name":"3199"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8712.png","name":"8712"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8138.png","name":"8138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9389.png","name":"9389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5896.png","name":"5896"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":684.4330752104215,"rotation_z_degrees":62.58007539188196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011313427434609311,0.01783708457369301,-0.00552308331634848]},{"name":"camera_2","offset_m":[0.019489694567956597,0.007180254019208632,0.008033730337032967]},{"name":"camera_3","offset_m":[0.01674362215562854,-0.018866832158116104,-0.0016517192852648459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018751350228217016,0.0010524240744143412,0.00020762624938990178],"end_effector_yaw_offset_degrees":0.13854464217528206},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018639214244014633,-0.00011686792836527451,9.069054096251961e-05],"end_effector_yaw_offset_degrees":-0.2225170085505741},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009217362086837992,0.0008848502379121778,-0.000428250650961894],"end_effector_yaw_offset_degrees":0.053977113515743635}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009411666734170541,-0.0020799775203512163],"position_m":[0.33745883332658294,0.08322002247964878,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014622665032350403,-0.0042724500814481],"position_m":[0.21583773349676497,-0.0914724500814481,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003169047814148328,-0.0008008808270618282],"position_m":[0.3514309521858517,0.23479911917293816,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010728303257101857,0.0032461831205025738],"position_m":[0.24532716967428983,-0.33245381687949743,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bcdfee06cd0b3c5ee35b626df36b954c0bcdf6b39787b7d9f4260710dcda75a9","episode_index":162,"episode_name":"episode_0162"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0162.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3199/tex_ceiling_textures_5896/tex_floor_textures_9389/tex_table_textures_8712/tex_wall_textures_8138","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5480236250976475017,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5480236250976475017,"visual_seed":5480236250976475017,"scene_id":"lab_003","finished_at":"2026-09-03T14:20:04"} +{"episode_id":"ep_000099","started_at":"2026-09-03T14:21:33","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.22840354819894493,1.411551788395959,0.71338606911949],"aabb_xy":[[0.1784035472484121,1.3800026413924376],[0.27840354914947774,1.4431009353994804]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.5282683931925864,-1.1235903975294104,0.71338606911949],"aabb_xy":[[0.4907683925280078,-1.1392774555296323],[0.5657683938571652,-1.107903339529188]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[0.09443724452018354,-0.7797711039123005,0.71338606911949],"aabb_xy":[[0.04443724507998792,-0.8297390283966167],[0.14443724396037916,-0.7298031794279841]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.6220422721908447,-0.03095367704590135,0.71338606911949],"aabb_xy":[[0.5323551958827293,-0.12095367730035189],[0.7117293484989602,0.05904632320854919]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.31564880371100545,1.0313938099015378,0.71338606911949],"aabb_xy":[[0.27831752718576286,0.9967407551066856],[0.35298008023624805,1.06604686469639]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.4807746297884965,-0.8033626019273303,0.71338606911949],"aabb_xy":[[-0.5707746321225156,-0.880844956512443],[-0.39077462745447744,-0.7258802473422177]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[-0.50664779119397,0.07433891897014178,0.71338606911949],"aabb_xy":[[-0.514674061824596,0.06558742399278916],[-0.49862152056334397,0.08309041394749439]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.4336775029887428,1.1470539865270415,0.71338606911949],"aabb_xy":[[-0.4416007832274912,1.1245539862890384],[-0.4257542227499945,1.169553986765045]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.32811416188510134,-1.67316644084238,0.71338606911949],"aabb_xy":[[0.29311416190860556,-1.682631056889997],[0.36311416186159723,-1.6637018247947637]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.4821714827082699,0.45803667318532426,0.71338606911949],"aabb_xy":[[-0.5046714829517853,0.4458320385255523],[-0.45967148246475453,0.4702413078450962]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.29737138598527757,-1.4157089152906848,0.71338606911949],"aabb_xy":[[0.26174223008531783,-1.451341582047538],[0.3330005418852373,-1.380076248533832]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.25517221106171156,0.8453056952978368,0.71338606911949],"aabb_xy":[[-0.33517221133531855,0.7723561474721201],[-0.1751722107881046,0.9182552431235536]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.5562312329352863,0.6865891686170076,0.71338606911949],"aabb_xy":[[0.5187312317504934,0.6821709459209468],[0.593731234120079,0.6910073913130679]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.5232366470640062,-2.4882147321868917,0.71338606911949],"aabb_xy":[[-0.5617823398892072,-2.52676050324308],[-0.48469095423880515,-2.4496689611307025]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.09373692675018497,-2.2539703448544057,0.71338606911949],"aabb_xy":[[-0.17373692473097002,-2.2615718858162572],[-0.013736928769399926,-2.2463688038925533]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.20323789304930345,-1.7681892046704892,0.71338606911949],"aabb_xy":[[-0.23753480406704408,-1.8024860908804305],[-0.16894098203156283,-1.733892318460548]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.3618043687274488,-2.0694967582475736,0.71338606911949],"aabb_xy":[[0.2978043670494514,-2.1180141497268874],[0.4258043704054461,-2.020979366768259]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.5346112600845037,1.0740212941946066,0.71338606911949],"aabb_xy":[[0.49330671702076756,1.0100212946264895],[0.5759158031482395,1.1380212937627237]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.5003840124729217,1.2575379344817326,0.71338606911949],"aabb_xy":[[-0.5703840140752012,1.2441051412800748],[-0.43038401087064226,1.27097072768339]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.3690215251839707,-1.0311128446426296,0.71338606911949],"aabb_xy":[[-0.38148888329370634,-1.0435781692759531],[-0.35655416707423504,-1.0186475200093061]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.5567432117007016,1.5138506164768626,0.71338606911949],"aabb_xy":[[-0.620743210287274,1.4668436530773539],[-0.49274321311412905,1.5608575798763713]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6715398540287888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5296.png","name":"5296"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3774.png","name":"3774"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":809.0070959728437,"rotation_z_degrees":163.4388134304501,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021738171502275853,-0.009747367869543404,0.0001055959067572769]},{"name":"camera_2","offset_m":[0.0011568603506303086,-0.010967319205580034,-0.006595163410516984]},{"name":"camera_3","offset_m":[-0.0008836413112140798,-0.006972487837712054,0.013889478061676511]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005133160162323596,-0.0018501745702333356,-8.825980684292302e-05],"end_effector_yaw_offset_degrees":0.6351552605551039},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001032264969021758,2.5662838548485504e-05,-0.0009191978450754181],"end_effector_yaw_offset_degrees":0.8441971115666163},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010801782326159055,0.0002401109359638975,0.0017744547723658596],"end_effector_yaw_offset_degrees":-0.1557697537260574}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003156177522885081,-0.0045005230146067015],"position_m":[0.3415561775228851,0.0807994769853933,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0047629888566144635,0.004894656778674866],"position_m":[0.22206298885661446,-0.08230534322132513,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004400759641614194,-0.00038986751760258006],"position_m":[0.3590007596416142,0.23521013248239742,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003998372136548162,0.002227902889176049],"position_m":[0.24240162786345185,-0.33347209711082393,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a79be5ae63cd4f94d6e8fe7f6d83705fba177cd593fa66675665d98ae215a86","episode_index":164,"episode_name":"episode_0164"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/dataset/episode_0164.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6985/tex_ceiling_textures_9127/tex_floor_textures_3774/tex_table_textures_1434/tex_wall_textures_5296","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6795195789780508517,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6795195789780508517,"visual_seed":6795195789780508517,"scene_id":"lab_003","finished_at":"2026-09-03T14:24:08"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f76f1e0cd8a27d33566d5ff3e3489f55a3b50944 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_poo_00020 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at home. + layout_id: layout_00020 + reproducibility: + enabled: true + layout_id: layout_00020 + action_seed: 5991770722474229261 + step_seeds: + - 3028738977928516977 + - 5597848014300184368 + - 589239366799290088 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2173 + - 0.2173 + 'y': + - -0.0872 + - -0.0872 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3384 + - 0.3384 + 'y': + - 0.0853 + - 0.0853 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3546 + - 0.3546 + 'y': + - 0.2356 + - 0.2356 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2464 + - 0.2464 + 'y': + - -0.3357 + - -0.3357 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5b0a9d5efb8acf91803b25404940f729b15918e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3620681609834176, + 0.09413553403981093, + 1.0486308021844872 + ], + "current_z": 1.0486308021844872, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19204435438056644, + "gripper_z": 1.0493537250062024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35675250438218264, + 0.08912996801494019, + 1.0493537250062024 + ], + "object_minus_gripper": [ + 0.005315656601234953, + 0.005005566024870733, + -0.0007229228217151551 + ], + "object_to_gripper_xy": 0.007301499594712919, + "object_to_gripper_z": -0.0007229228217151551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3620681609834176, + 0.06958319739434297, + 1.0486308021844872 + ], + "finger_b": [ + 0.3499398194134837, + 0.09413553403981093, + 1.0486308021844872 + ], + "finger_midpoint": [ + 0.35600399019845064, + 0.08185936571707694, + 1.0486308021844872 + ], + "object_minus_finger_midpoint": [ + 0.00606417078496696, + 0.012276168322733982, + 0.0 + ], + "finger_gap": 0.027384555939240197, + "fingertip_max_gap": 0.0930562164338615, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013692277969620106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486308021844872, + "object_top_z": 1.0954944529349524, + "finger_top_clearance": 0.04686365075046517, + "fingertip_min_top_clearance": 0.01405909522513955, + "object_projection_between_fingers": 0.8038485905455739, + "object_to_finger_line_xy": 0.010873980423014424, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902810821693075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1123991729690936, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3624913274583157, + 0.09079766984989306, + 1.2403344400484502 + ], + "held_position": [ + 0.36822338743699495, + 0.09528931970159288, + 1.239441468702201 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007336813192025095, + "max_held_gripper_dist": 0.0073378899799043645, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008929713462491051, + "max_held_gripper_z_dist": 0.000903902047834082, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0879086887695707, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36822338743699495, + 0.0695199164161722, + 1.239441468702201 + ], + "held_grasp_finger_b": [ + 0.35854964504387865, + 0.09528931970159288, + 1.239441468702201 + ], + "held_grasp_midpoint": [ + 0.36338651624043683, + 0.08240461805888254, + 1.239441468702201 + ], + "held_grasp_object_position": [ + 0.36822338743699495, + 0.09528931970159288, + 1.239441468702201 + ], + "held_grasp_finger_gap": 0.027525323568943307, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024788118514937153, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08953593736578823, + -0.995532020039213, + 0.029988547758662325 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036848030715992924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.031940018115339364, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31708755959824364, + 0.09601044810493184, + 0.7565943907101161 + ], + "target_position": [ + 0.3373707830772441, + 0.09023816169715812, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.021088585658418278, + "xy_threshold": 0.08, + "gripper_dist": 0.20292732896869395, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565943907101161, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551727023157774, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08963813932892288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1762794076564913, + "release_required_pad_clearance": 0.05481906966446144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.667249505003215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9211145c2cb5e68f573650983c4593b0c023fc7b7826814b535fe1217da2670e", + "visual_seed": 1085881715991286791, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..157a6600a0d9e1bca37d2ab05e61040ffc174a05 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36473301681042425, + 0.0943854903250918, + 1.0506105036940934 + ], + "current_z": 1.0506105036940934, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19402405589017258, + "gripper_z": 1.0513197449995904, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3595973433170815, + 0.08950437507673561, + 1.0513197449995904 + ], + "object_minus_gripper": [ + 0.005135673493342763, + 0.004881115248356188, + -0.0007092413054969882 + ], + "object_to_gripper_xy": 0.007085226058352602, + "object_to_gripper_z": -0.0007092413054969882, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36473301681042425, + 0.06992434430378057, + 1.0506105036940934 + ], + "finger_b": [ + 0.3528346157085538, + 0.0943854903250918, + 1.0506105036940934 + ], + "finger_midpoint": [ + 0.358783816259489, + 0.0821549173144362, + 1.0506105036940934 + ], + "object_minus_finger_midpoint": [ + 0.00594920055093523, + 0.01223057301065561, + 0.0 + ], + "finger_gap": 0.027201463443294785, + "fingertip_max_gap": 0.09307296483194502, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013600731721647387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506105036940934, + "object_top_z": 1.0967934698619866, + "finger_top_clearance": 0.04618296616789319, + "fingertip_min_top_clearance": 0.013854889850367957, + "object_projection_between_fingers": 0.8086657709753517, + "object_to_finger_line_xy": 0.010699737805641018, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903648241597251, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.328753689520071, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36525242454905327, + 0.09143186402225305, + 1.2405279315154047 + ], + "held_position": [ + 0.3707577564264255, + 0.09586093604765777, + 1.2396551244477116 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007119490871098061, + "max_held_gripper_dist": 0.007123337300335293, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008728070676931043, + "max_held_gripper_z_dist": 0.0008830122717975453, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08783277027645138, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3707577564264255, + 0.07025126554876929, + 1.2396551244477116 + ], + "held_grasp_finger_b": [ + 0.3611563903031013, + 0.09586093604765777, + 1.2396551244477116 + ], + "held_grasp_midpoint": [ + 0.3659570733647634, + 0.08305610079821353, + 1.2396551244477116 + ], + "held_grasp_object_position": [ + 0.3707577564264255, + 0.09586093604765777, + 1.2396551244477116 + ], + "held_grasp_finger_gap": 0.027350346515094767, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02495952958798859, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.062094344564786824, + -0.9978933592859823, + 0.018791909589153995 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004003717750124961, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212426963546212, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3419108449261128, + 0.09409578246091174, + 0.7565863136573276 + ], + "target_position": [ + 0.34027395993271353, + 0.09019559533569944, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004229757923721812, + "xy_threshold": 0.08, + "gripper_dist": 0.2150693555425592, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863136573276, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545276413651605, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08892829572139686, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18621476268689446, + "release_required_pad_clearance": 0.054464147860698434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9568625591102027, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d05b7fa81e5c47b93aa6a58ec20c1f5d5bd98abd2328904aec9a509a56f96dfe", + "visual_seed": 1135771175455457281, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9407e4fa210e1010b3abcf7bf9f3b727c96c715 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_102_success.json @@ -0,0 +1,684 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3582777769919365, + 0.09067063493853494, + 1.0487576276827981 + ], + "current_z": 1.0487576276827981, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19217112027423255, + "gripper_z": 1.049738358870693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3532266620199599, + 0.08577242333103954, + 1.049738358870693 + ], + "object_minus_gripper": [ + 0.0050511149719766335, + 0.004898211607495401, + -0.0009807311878948788 + ], + "object_to_gripper_xy": 0.007036067041460675, + "object_to_gripper_z": -0.0009807311878948788, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3582777769919365, + 0.06635069158881625, + 1.0487576276827981 + ], + "finger_b": [ + 0.3462535800066461, + 0.09067063493853494, + 1.0487576276827981 + ], + "finger_midpoint": [ + 0.3522656784992913, + 0.07851066326367559, + 1.0487576276827981 + ], + "object_minus_finger_midpoint": [ + 0.006012098492645224, + 0.012159971674859354, + 0.0 + ], + "finger_gap": 0.02713007478195728, + "fingertip_max_gap": 0.09164424966190968, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013565037390978647, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487576276827981, + "object_top_z": 1.094463232686405, + "finger_top_clearance": 0.045705605003606875, + "fingertip_min_top_clearance": 0.013711681501082096, + "object_projection_between_fingers": 0.8035689296450979, + "object_to_finger_line_xy": 0.010778731421064874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832212483095484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7390038460750897, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3588067681235998, + 0.08781569145255202, + 1.2422584272790804 + ], + "held_position": [ + 0.36426719704697286, + 0.09221875017686239, + 1.2411381433644395 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007103396807608166, + "max_held_gripper_dist": 0.007104694790007783, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0011202839146409183, + "max_held_gripper_z_dist": 0.001132706386709481, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08783577939408302, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36426719704697286, + 0.06665001142324845, + 1.2411381433644395 + ], + "held_grasp_finger_b": [ + 0.3546524241182664, + 0.09221875017686239, + 1.2411381433644395 + ], + "held_grasp_midpoint": [ + 0.35945981058261967, + 0.07943438080005541, + 1.2411381433644395 + ], + "held_grasp_object_position": [ + 0.36426719704697286, + 0.09221875017686239, + 1.2411381433644395 + ], + "held_grasp_finger_gap": 0.027316739555099646, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024719675363653926, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07956378404537676, + -0.9967117786361989, + 0.015337359493918009 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037802147071348425, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03207539956703888, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31026734688045454, + 0.08577233209298006, + 0.7565909511407751 + ], + "target_position": [ + 0.3338840964951047, + 0.0875002199339887, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02367987455102294, + "xy_threshold": 0.08, + "gripper_dist": 0.19810061885003546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565909511407751, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518337353957416, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09137232713205072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1707831446478022, + "release_required_pad_clearance": 0.05568616356602536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.522559122015789, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30b2f9297e3675cd08f4fe6ed0c2cedd6157b821d706bf379a8fd698a7346391", + "visual_seed": 8238210208384705759, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00a1660578848afdf8cc61164fe556f6a84355b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_103_success.json @@ -0,0 +1,691 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36418355683963477, + 0.08205901946158166, + 1.0492995145687989 + ], + "current_z": 1.0492995145687989, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19271294755558854, + "gripper_z": 1.0499777378889175, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3593289681073436, + 0.07729204810306849, + 1.0499777378889175 + ], + "object_minus_gripper": [ + 0.004854588732291165, + 0.004766971358513172, + -0.0006782233201185761 + ], + "object_to_gripper_xy": 0.006803752471436131, + "object_to_gripper_z": -0.0006782233201185761, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36418355683963477, + 0.05784858293527491, + 1.0492995145687989 + ], + "finger_b": [ + 0.3523828810850325, + 0.08205901946158166, + 1.0492995145687989 + ], + "finger_midpoint": [ + 0.3582832189623336, + 0.06995380119842828, + 1.0492995145687989 + ], + "object_minus_finger_midpoint": [ + 0.005900337877301154, + 0.012105218263153375, + 0.0 + ], + "finger_gap": 0.02693327282488308, + "fingertip_max_gap": 0.09123004901817808, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013466636412441552, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492995145687989, + "object_top_z": 1.0947063665988976, + "finger_top_clearance": 0.045406852030098754, + "fingertip_min_top_clearance": 0.013622055609029626, + "object_projection_between_fingers": 0.8080290587699842, + "object_to_finger_line_xy": 0.010607678954648753, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811502450908904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7653920780816734, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [ + { + "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh", + "b": "/World/beaker_2/mesh", + "a_name": "robot wrist3", + "b_name": "beaker_a" + } + ], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3649980129893685, + 0.07899833383567284, + 1.240630752726805 + ], + "held_position": [ + 0.37024994107560266, + 0.08328991046605469, + 1.2397996775029674 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006833086025003012, + "max_held_gripper_dist": 0.006837547461166857, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008310752238376296, + "max_held_gripper_z_dist": 0.0008397196245393257, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08785135147306651, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37024994107560266, + 0.05777382194640123, + 1.2397996775029674 + ], + "held_grasp_finger_b": [ + 0.360954145052914, + 0.08328991046605469, + 1.2397996775029674 + ], + "held_grasp_midpoint": [ + 0.36560204306425836, + 0.07053186620622796, + 1.2397996775029674 + ], + "held_grasp_object_position": [ + 0.37024994107560266, + 0.08328991046605469, + 1.2397996775029674 + ], + "held_grasp_finger_gap": 0.02715663081161257, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024703042240869923, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07878141387718866, + -0.9968368848955822, + 0.01047443264252723 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003630886024241995, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211636789159445, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3110261841202923, + 0.0834559435639249, + 0.7565867535218862 + ], + "target_position": [ + 0.33996169979703894, + 0.08077214593667234, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.029059711581213194, + "xy_threshold": 0.08, + "gripper_dist": 0.19529404110367027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867535218862, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752293087824936, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09153534029167691, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.16958480374472143, + "release_required_pad_clearance": 0.05576767014583846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.723351734946473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "946021753650a40bf1340f7cc208a7e2d36b732975e0c10dc259c1e629564c26", + "visual_seed": 3294374983719938999, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0cd98bdb986ea97ee415faa4bec410cd885dcfb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_104_success.json @@ -0,0 +1,684 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35863466945112277, + 0.08653382752845705, + 1.0502748371709185 + ], + "current_z": 1.0502748371709185, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.19368850857628728, + "gripper_z": 1.0514406719231464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35368449874171703, + 0.08172864126224917, + 1.0514406719231464 + ], + "object_minus_gripper": [ + 0.004950170709405732, + 0.004805186266207878, + -0.0011658347522278678 + ], + "object_to_gripper_xy": 0.0068988408522889745, + "object_to_gripper_z": -0.0011658347522278678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35863466945112277, + 0.06223269341439037, + 1.0502748371709185 + ], + "finger_b": [ + 0.3468086906373453, + 0.08653382752845705, + 1.0502748371709185 + ], + "finger_midpoint": [ + 0.35272168004423404, + 0.07438326047142371, + 1.0502748371709185 + ], + "object_minus_finger_midpoint": [ + 0.0059129894068887245, + 0.012150567057033337, + 0.0 + ], + "finger_gap": 0.02702589303119822, + "fingertip_max_gap": 0.09239072482962932, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013512946515599106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502748371709185, + "object_top_z": 1.0961689269028274, + "finger_top_clearance": 0.045894089731908894, + "fingertip_min_top_clearance": 0.0137682269195727, + "object_projection_between_fingers": 0.8085241146623372, + "object_to_finger_line_xy": 0.010633679962100248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869536241481466, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0476215355923948, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35923156677004264, + 0.08383068097145596, + 1.2425371577506046 + ], + "held_position": [ + 0.3645507173571847, + 0.0881867233502837, + 1.2412269369688211 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006998938967576019, + "max_held_gripper_dist": 0.006999970304023519, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0013102207817834444, + "max_held_gripper_z_dist": 0.0013203141963169518, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.087852460769041, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3645507173571847, + 0.0626799848961711, + 1.2412269369688211 + ], + "held_grasp_finger_b": [ + 0.35505966723543975, + 0.0881867233502837, + 1.2412269369688211 + ], + "held_grasp_midpoint": [ + 0.35980519229631225, + 0.07543335412322741, + 1.2412269369688211 + ], + "held_grasp_object_position": [ + 0.3645507173571847, + 0.0881867233502837, + 1.2412269369688211 + ], + "held_grasp_finger_gap": 0.02721532176881216, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024790758627271522, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.068779975926394, + -0.9975227868484664, + 0.014751428054047607 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003861813399430527, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032152051453285195, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3229851220026022, + 0.07906947731281576, + 0.7565865876486892 + ], + "target_position": [ + 0.33432491164558725, + 0.08147054444817751, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01159120151389256, + "xy_threshold": 0.08, + "gripper_dist": 0.20788792856782778, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865876486892, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567283675482306, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09490774405306761, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1783207258105224, + "release_required_pad_clearance": 0.057453872026533806, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.606012683405657, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "14c469b53e74984c210e6b2e2a181773603c06e24454db3feb257b222be21a9e", + "visual_seed": 2089003634833445890, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a6f10e2eaf5c6f557827d5898856c24542dc3a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3581423865382735, + 0.08611076489366147, + 1.0464990429885506 + ], + "current_z": 1.0464990429885506, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18991247597534022, + "gripper_z": 1.047435391478348, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3533168417427889, + 0.08135467461266269, + 1.047435391478348 + ], + "object_minus_gripper": [ + 0.0048255447954846376, + 0.004756090280998784, + -0.0009363484897975116 + ], + "object_to_gripper_xy": 0.006775417133597013, + "object_to_gripper_z": -0.0009363484897975116, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3581423865382735, + 0.06192769345495516, + 1.0464990429885506 + ], + "finger_b": [ + 0.34635210869017224, + 0.08611076489366147, + 1.0464990429885506 + ], + "finger_midpoint": [ + 0.3522472476142229, + 0.07401922917430831, + 1.0464990429885506 + ], + "object_minus_finger_midpoint": [ + 0.005895138924050636, + 0.01209153571935316, + 0.0 + ], + "finger_gap": 0.02690411856844599, + "fingertip_max_gap": 0.09283262456011274, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013452059284223002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464990429885506, + "object_top_z": 1.0926971617883927, + "finger_top_clearance": 0.04619811879984215, + "fingertip_min_top_clearance": 0.01385943563995261, + "object_projection_between_fingers": 0.8079516665006287, + "object_to_finger_line_xy": 0.010597824669760144, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891631228005637, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0722714477853912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3587956101611002, + 0.08338177583886199, + 1.2382909687282146 + ], + "held_position": [ + 0.36400884974732495, + 0.0876729138940636, + 1.2372068085177907 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006838650170468363, + "max_held_gripper_dist": 0.006840048401172794, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010841602104239012, + "max_held_gripper_z_dist": 0.001092816679806763, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08762030902427655, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36400884974732495, + 0.06221236090847315, + 1.2372068085177907 + ], + "held_grasp_finger_b": [ + 0.3546592447626673, + 0.0876729138940636, + 1.2372068085177907 + ], + "held_grasp_midpoint": [ + 0.3593340472549961, + 0.07494263740126839, + 1.2372068085177907 + ], + "held_grasp_object_position": [ + 0.36400884974732495, + 0.0876729138940636, + 1.2372068085177907 + ], + "held_grasp_finger_gap": 0.027122958387705315, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024695356532450835, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07387373108665378, + -0.9970736594457021, + 0.019666964557168546 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037302366613152548, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216185649518232, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3186874624276683, + 0.09247869947943578, + 0.7565865616163538 + ], + "target_position": [ + 0.333982387503302, + 0.08295134733284629, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01801957746436834, + "xy_threshold": 0.08, + "gripper_dist": 0.20638803257771962, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865616163538, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546000709109961, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571042455728077, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1802271478252761, + "release_required_pad_clearance": 0.05285521227864039, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7527706871014472, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50751a9e9a31bdcf440e9c9424b2d0a7c37eacec1017b67c62cd7da7695f6501", + "visual_seed": 849367887916367324, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8695f64cf734d662605677d76a68fef0924e6f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35879488466669607, + 0.08733248475866373, + 1.0487643998902707 + ], + "current_z": 1.0487643998902707, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19217789248170514, + "gripper_z": 1.0505716986198537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35347553136446624, + 0.08241186871535101, + 1.0505716986198537 + ], + "object_minus_gripper": [ + 0.005319353302229823, + 0.004920616043312717, + -0.0018072987295829623 + ], + "object_to_gripper_xy": 0.007246239148665315, + "object_to_gripper_z": -0.0018072987295829623, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35879488466669607, + 0.06265541860058796, + 1.0487643998902707 + ], + "finger_b": [ + 0.3469581412822009, + 0.08733248475866373, + 1.0487643998902707 + ], + "finger_midpoint": [ + 0.3528765129744485, + 0.07499395167962584, + 1.0487643998902707 + ], + "object_minus_finger_midpoint": [ + 0.00591837169224757, + 0.012338533079037886, + 0.0 + ], + "finger_gap": 0.027369071743857845, + "fingertip_max_gap": 0.09291825678353191, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013684535871928923, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487643998902707, + "object_top_z": 1.0941916659858237, + "finger_top_clearance": 0.04542726609555303, + "fingertip_min_top_clearance": 0.013628179828665876, + "object_projection_between_fingers": 0.8129557642878339, + "object_to_finger_line_xy": 0.010672488359452842, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895912839176596, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3340567570331245, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3588009990205783, + 0.08487676193246162, + 1.2390993056414727 + ], + "held_position": [ + 0.3643967563731498, + 0.08942193063926193, + 1.237134265720096 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007472110867401408, + "max_held_gripper_dist": 0.007472730231934019, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019650399213766434, + "max_held_gripper_z_dist": 0.0019762920286694463, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779922899127121, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3643967563731498, + 0.06381024210512552, + 1.237134265720096 + ], + "held_grasp_finger_b": [ + 0.3545036476817577, + 0.08942193063926193, + 1.237134265720096 + ], + "held_grasp_midpoint": [ + 0.3594502020274537, + 0.07661608637219372, + 1.237134265720096 + ], + "held_grasp_object_position": [ + 0.3643967563731498, + 0.08942193063926193, + 1.237134265720096 + ], + "held_grasp_finger_gap": 0.027456004610090526, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025333472028404736, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02712435900012009, + -0.9996145402929609, + 0.005919458060083983 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004598015475998105, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03226514471983588, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33337122029660504, + 0.09232975821019018, + 0.7565870703357624 + ], + "target_position": [ + 0.33420927655253885, + 0.08564315426004944, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006738917618887144, + "xy_threshold": 0.08, + "gripper_dist": 0.21603627562516545, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870703357624, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581136641337201, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09360138731770822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18722572972951182, + "release_required_pad_clearance": 0.05680069365885411, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.0564470300776, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "add9a27626017bf52c160c46d84cebd9926f23e8fbf5a31e61c4d335bb616b45", + "visual_seed": 3891192698174585733, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c663c01250395f1f117806a314298c277a26c7f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36446203175653813, + 0.08840931246936816, + 1.046933471950363 + ], + "current_z": 1.046933471950363, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19034696454179734, + "gripper_z": 1.0475790801518026, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.359572897732381, + 0.08367829344981716, + 1.0475790801518026 + ], + "object_minus_gripper": [ + 0.004889134024157138, + 0.004731019019551003, + -0.0006456082014396625 + ], + "object_to_gripper_xy": 0.006803394187427648, + "object_to_gripper_z": -0.0006456082014396625, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36446203175653813, + 0.06408190748861656, + 1.046933471950363 + ], + "finger_b": [ + 0.3528338382206057, + 0.08840931246936816, + 1.046933471950363 + ], + "finger_midpoint": [ + 0.35864793498857195, + 0.07624560997899235, + 1.046933471950363 + ], + "object_minus_finger_midpoint": [ + 0.0058140967679661815, + 0.012163702490375808, + 0.0 + ], + "finger_gap": 0.026963633249371243, + "fingertip_max_gap": 0.09142613249974454, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013481816624685615, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046933471950363, + "object_top_z": 1.0923466560095176, + "finger_top_clearance": 0.04541318405915473, + "fingertip_min_top_clearance": 0.01362395521774642, + "object_projection_between_fingers": 0.8140193847494492, + "object_to_finger_line_xy": 0.010491307707939613, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048213066249872275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9266064643149085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36512339564415075, + 0.08567674166664177, + 1.2400849031973058 + ], + "held_position": [ + 0.3703783441443854, + 0.08997403303826741, + 1.2393008761477853 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006833439491730839, + "max_held_gripper_dist": 0.006834982552254974, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007840270495205193, + "max_held_gripper_z_dist": 0.0007961669647731373, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08790208888453398, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3703783441443854, + 0.0644950408881123, + 1.2393008761477853 + ], + "held_grasp_finger_b": [ + 0.3610012344963007, + 0.08997403303826741, + 1.2393008761477853 + ], + "held_grasp_midpoint": [ + 0.3656897893203431, + 0.07723453696318985, + 1.2393008761477853 + ], + "held_grasp_object_position": [ + 0.3703783441443854, + 0.08997403303826741, + 1.2393008761477853 + ], + "held_grasp_finger_gap": 0.027149755548436693, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024785361241915386, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06759920975348643, + -0.9976550993106276, + 0.01070745815803975 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003819147738118877, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032173659142870764, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3359888626655766, + 0.08027964812589261, + 0.7565924895443075 + ], + "target_position": [ + 0.34026295048141764, + 0.08547949668574997, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006730991881065638, + "xy_threshold": 0.08, + "gripper_dist": 0.2118422140074837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565924895443075, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758780742832104, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856622764299012, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1807323452661645, + "release_required_pad_clearance": 0.0528311382149506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7066488536903722, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf0b51e2aff7c13f2ae0e4fee70e30db8bc27ec55e6b9b50b014827f6b8d7633", + "visual_seed": 6346030159807860357, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3fed615087c9c21d4e58b11fac57827e9b8124b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36451395531016045, + 0.091768850260447, + 1.0476572300652183 + ], + "current_z": 1.0476572300652183, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1910707226566527, + "gripper_z": 1.0484011196969245, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3596281976591723, + 0.08704914872693653, + 1.0484011196969245 + ], + "object_minus_gripper": [ + 0.004885757650988143, + 0.004719701533510465, + -0.0007438896317062405 + ], + "object_to_gripper_xy": 0.0067931002045907, + "object_to_gripper_z": -0.0007438896317062405, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36451395531016045, + 0.06742090890733203, + 1.0476572300652183 + ], + "finger_b": [ + 0.352921962338643, + 0.091768850260447, + 1.0476572300652183 + ], + "finger_midpoint": [ + 0.3587179588244017, + 0.07959487958388951, + 1.0476572300652183 + ], + "object_minus_finger_midpoint": [ + 0.0057959964857587365, + 0.012173970676557483, + 0.0 + ], + "finger_gap": 0.026966582082022118, + "fingertip_max_gap": 0.09317246120953246, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013483291041011059, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476572300652183, + "object_top_z": 1.094038013194918, + "finger_top_clearance": 0.04638078312969962, + "fingertip_min_top_clearance": 0.013914234938909852, + "object_projection_between_fingers": 0.8152159808760863, + "object_to_finger_line_xy": 0.010466330667259133, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908623060476623, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2478484126948046, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3654107354132101, + 0.08872115101002251, + 1.2386341296845667 + ], + "held_position": [ + 0.3706771918320902, + 0.0929799871995557, + 1.23772892038714 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068332022341936, + "max_held_gripper_dist": 0.006836317251346593, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009052092974266568, + "max_held_gripper_z_dist": 0.0009153993988071374, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08837624399934205, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3706771918320902, + 0.06740687945211696, + 1.23772892038714 + ], + "held_grasp_finger_b": [ + 0.36153402823191316, + 0.0929799871995557, + 1.23772892038714 + ], + "held_grasp_midpoint": [ + 0.3661056100320017, + 0.08019343332583634, + 1.23772892038714 + ], + "held_grasp_object_position": [ + 0.3706771918320902, + 0.0929799871995557, + 1.23772892038714 + ], + "held_grasp_finger_gap": 0.02715844768173825, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024851006226387633, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07113585821201533, + -0.9971964795093454, + 0.02321359365991782 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003662772220301015, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321243150631455, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3244841426779941, + 0.08936889231280654, + 0.7565875736561508 + ], + "target_position": [ + 0.34026030776696625, + 0.08864800897338264, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.015792626687906076, + "xy_threshold": 0.08, + "gripper_dist": 0.2055270505408234, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875736561508, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571470241652976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09446751218610581, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17706149234441645, + "release_required_pad_clearance": 0.05723375609305291, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.072823079314905, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dff1c1f1ac0a2bdae7a1d8704d6f0a0e9594381bcb44078a81dda86aaa665f19", + "visual_seed": 3015033881294705171, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c21725b88127d116d5f28edf62f0c5d43616e41d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3651967264557548, + 0.08356720910947991, + 1.0492897988529977 + ], + "current_z": 1.0492897988529977, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1927032914444321, + "gripper_z": 1.0499695829979439, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3603864243184016, + 0.07884775917159918, + 1.0499695829979439 + ], + "object_minus_gripper": [ + 0.004810302137353173, + 0.004719449937880732, + -0.0006797841449461828 + ], + "object_to_gripper_xy": 0.006738858536042061, + "object_to_gripper_z": -0.0006797841449461828, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3651967264557548, + 0.059348117867606805, + 1.0492897988529977 + ], + "finger_b": [ + 0.3535171556490724, + 0.08356720910947991, + 1.0492897988529977 + ], + "finger_midpoint": [ + 0.35935694105241356, + 0.07145766348854336, + 1.0492897988529977 + ], + "object_minus_finger_midpoint": [ + 0.0058397854033412355, + 0.012109545620936552, + 0.0 + ], + "finger_gap": 0.026888227067073108, + "fingertip_max_gap": 0.0926949421259873, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013444113533536563, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492897988529977, + "object_top_z": 1.0954140501594258, + "finger_top_clearance": 0.046124251306428166, + "fingertip_min_top_clearance": 0.013837275391928482, + "object_projection_between_fingers": 0.8113184506684913, + "object_to_finger_line_xy": 0.010520165213100112, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048847471062993655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.031939111216764, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36594100234638904, + 0.08080110682883994, + 1.239718600946968 + ], + "held_position": [ + 0.3711214396001587, + 0.08508586249367907, + 1.2388862406579906 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006774133516419806, + "max_held_gripper_dist": 0.006774893133372276, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000832360288977485, + "max_held_gripper_z_dist": 0.0008423194715851956, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08781186919562456, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3711214396001587, + 0.059629204641010486, + 1.2388862406579906 + ], + "held_grasp_finger_b": [ + 0.3618198496951011, + 0.08508586249367907, + 1.2388862406579906 + ], + "held_grasp_midpoint": [ + 0.3664706446476299, + 0.07235753356734478, + 1.2388862406579906 + ], + "held_grasp_object_position": [ + 0.3711214396001587, + 0.08508586249367907, + 1.2388862406579906 + ], + "held_grasp_finger_gap": 0.027102785904583725, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024738716731393547, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07009939760721932, + -0.9974110791556954, + 0.016037881174779778 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003752804771021144, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032178830750980075, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33927141958256807, + 0.07729942610905453, + 0.7565864067374266 + ], + "target_position": [ + 0.3410574687050449, + 0.08205884711323931, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005083508607544148, + "xy_threshold": 0.08, + "gripper_dist": 0.21477892311298996, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864067374266, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514465091580456, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879365334873256, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18476925376448586, + "release_required_pad_clearance": 0.0539682667436628, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9470524984012885, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b85a5066ec7aa65f132f53ea86de48c996b4580c42c8de1b2195989d269e228", + "visual_seed": 6406237718976067791, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6def9a553d37c60a0729c249bf2905e9a29ac66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36242602400181995, + 0.08842285326106207, + 1.048062242712504 + ], + "current_z": 1.048062242712504, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1914756160946488, + "gripper_z": 1.0488065762556582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3575304459245503, + 0.08361847876578064, + 1.0488065762556582 + ], + "object_minus_gripper": [ + 0.004895578077269647, + 0.004804374495281427, + -0.0007443335431542852 + ], + "object_to_gripper_xy": 0.006859205420568321, + "object_to_gripper_z": -0.0007443335431542852, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36242602400181995, + 0.06420561065907004, + 1.048062242712504 + ], + "finger_b": [ + 0.3505414089008485, + 0.08842285326106207, + 1.048062242712504 + ], + "finger_midpoint": [ + 0.35648371645133425, + 0.07631423196006606, + 1.048062242712504 + ], + "object_minus_finger_midpoint": [ + 0.005942307550485693, + 0.012108621300996006, + 0.0 + ], + "finger_gap": 0.026976265778309198, + "fingertip_max_gap": 0.09157442476901564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01348813288915458, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048062242712504, + "object_top_z": 1.0934899815291632, + "finger_top_clearance": 0.04542773881665929, + "fingertip_min_top_clearance": 0.01362832164499782, + "object_projection_between_fingers": 0.805908472185495, + "object_to_finger_line_xy": 0.010669104815943256, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048287212384507824, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0741512059177478, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36322169674909455, + 0.08548291742148864, + 1.2395008153841922 + ], + "held_position": [ + 0.3685310039902521, + 0.08979801682108032, + 1.2386005328827305 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006900676401035112, + "max_held_gripper_dist": 0.006901876161946733, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00090028250146168, + "max_held_gripper_z_dist": 0.000910642152506691, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0865738352967354, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3685310039902521, + 0.06424940951786165, + 1.2386005328827305 + ], + "held_grasp_finger_b": [ + 0.3592013212752939, + 0.08979801682108032, + 1.2386005328827305 + ], + "held_grasp_midpoint": [ + 0.36386616263277305, + 0.07702371316947099, + 1.2386005328827305 + ], + "held_grasp_object_position": [ + 0.3685310039902521, + 0.08979801682108032, + 1.2386005328827305 + ], + "held_grasp_finger_gap": 0.02719879252275491, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024768411526420314, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07563604922667735, + -0.9970826027886417, + 0.010269920817979172 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003687680035639644, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211035886150276, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3263112155537914, + 0.08344678793875518, + 0.7565874317301178 + ], + "target_position": [ + 0.3381591560293749, + 0.08444555210439365, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011889963135835777, + "xy_threshold": 0.08, + "gripper_dist": 0.20828509127194894, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874317301178, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567231406440024, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0871055998952641, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17929220826574419, + "release_required_pad_clearance": 0.053552799947632054, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1136866731437025, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26df645d15f3252ada5a7f09f69b57c43ce9e3aebf0cd372395f0a46c1b3172d", + "visual_seed": 8242722445183599745, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52fcaca7e2eedddfa1ae66fc7eb3b0c372c16fc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36228039697999775, + 0.08861123488492569, + 1.050351141715158 + ], + "current_z": 1.050351141715158, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19376457470194774, + "gripper_z": 1.0510811595600036, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35739935250110805, + 0.08383646434400958, + 1.0510811595600036 + ], + "object_minus_gripper": [ + 0.004881044478889707, + 0.004774770540916101, + -0.0007300178448454986 + ], + "object_to_gripper_xy": 0.006828105807857691, + "object_to_gripper_z": -0.0007300178448454986, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36228039697999775, + 0.0643705926391132, + 1.050351141715158 + ], + "finger_b": [ + 0.350482635893857, + 0.08861123488492569, + 1.050351141715158 + ], + "finger_midpoint": [ + 0.3563815164369274, + 0.07649091376201944, + 1.050351141715158 + ], + "object_minus_finger_midpoint": [ + 0.005898880543070362, + 0.012120321122906244, + 0.0 + ], + "finger_gap": 0.026959152492894257, + "fingertip_max_gap": 0.09123325006701374, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013479576246447118, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050351141715158, + "object_top_z": 1.0958092171220006, + "finger_top_clearance": 0.045458075406842546, + "fingertip_min_top_clearance": 0.013637422622052763, + "object_projection_between_fingers": 0.8084920869184099, + "object_to_finger_line_xy": 0.010608097041110095, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048116625033506874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6859804974577952, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36308245785249016, + 0.08561315451625705, + 1.2444271383343448 + ], + "held_position": [ + 0.3683654636908194, + 0.08991193880573115, + 1.2435607911945115 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006865876085536912, + "max_held_gripper_dist": 0.006870808720775794, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008663471398333566, + "max_held_gripper_z_dist": 0.0008756375028877716, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0877734874062906, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3683654636908194, + 0.06441147691766687, + 1.2435607911945115 + ], + "held_grasp_finger_b": [ + 0.358984569521476, + 0.08991193880573115, + 1.2435607911945115 + ], + "held_grasp_midpoint": [ + 0.3636750166061477, + 0.07716170786169901, + 1.2435607911945115 + ], + "held_grasp_object_position": [ + 0.3683654636908194, + 0.08991193880573115, + 1.2435607911945115 + ], + "held_grasp_finger_gap": 0.027171211454792364, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024669382005153513, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07972190726318865, + -0.996736643114079, + 0.012668140194872612 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003662713425413054, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032117671188219836, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3360222419190837, + 0.0736277235757041, + 0.7565864288177019 + ], + "target_position": [ + 0.33803944532285385, + 0.08388979886465545, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010458455852002613, + "xy_threshold": 0.08, + "gripper_dist": 0.21385607291268416, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864288177019, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544831110491092, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567947160732613, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18243312668309894, + "release_required_pad_clearance": 0.052839735803663065, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7198135117892358, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87c961dcc182cd5884f8fa55a7b1fa4278d74cfc9d730b2b283652c6625e3022", + "visual_seed": 7546145945500965804, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae5cf1b94cb714943d4f9c916711ccafbd1422b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36421341445124483, + 0.08500297040273486, + 1.048003712239403 + ], + "current_z": 1.048003712239403, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.1914173240401269, + "gripper_z": 1.0486965698752897, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35936741155435425, + 0.08027199934192981, + 1.0486965698752897 + ], + "object_minus_gripper": [ + 0.004846002896890578, + 0.004730971060805042, + -0.0006928576358866678 + ], + "object_to_gripper_xy": 0.006772431709131267, + "object_to_gripper_z": -0.0006928576358866678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36421341445124483, + 0.06073698584075684, + 1.048003712239403 + ], + "finger_b": [ + 0.35254309969475395, + 0.08500297040273486, + 1.048003712239403 + ], + "finger_midpoint": [ + 0.3583782570729994, + 0.07286997812174585, + 1.048003712239403 + ], + "object_minus_finger_midpoint": [ + 0.005835157378245415, + 0.012132992280989005, + 0.0 + ], + "finger_gap": 0.026926460095558873, + "fingertip_max_gap": 0.0910794029426473, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01346323004777942, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048003712239403, + "object_top_z": 1.0934345642962433, + "finger_top_clearance": 0.045430852056840276, + "fingertip_min_top_clearance": 0.013629255617052083, + "object_projection_between_fingers": 0.8121519833030579, + "object_to_finger_line_xy": 0.010517226427440438, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04803970147132365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5828047711829625, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36503544782429764, + 0.08194429531895787, + 1.2395814772141918 + ], + "held_position": [ + 0.3702702866771557, + 0.08621274849199498, + 1.2387339316137678 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006807463833954691, + "max_held_gripper_dist": 0.0068094208479902, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008475456004239934, + "max_held_gripper_z_dist": 0.0008577091252544022, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08787863054435041, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3702702866771557, + 0.06068354726474888, + 1.2387339316137678 + ], + "held_grasp_finger_b": [ + 0.3610577374809553, + 0.08621274849199498, + 1.2387339316137678 + ], + "held_grasp_midpoint": [ + 0.3656640120790555, + 0.07344814787837192, + 1.2387339316137678 + ], + "held_grasp_object_position": [ + 0.3702702866771557, + 0.08621274849199498, + 1.2387339316137678 + ], + "held_grasp_finger_gap": 0.027140581754885734, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02471027443135568, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0798818621357326, + -0.9967483819669105, + 0.010561777694775176 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035745113055158733, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321091721653234, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3157395028657184, + 0.08323120466161096, + 0.7565878997118166 + ], + "target_position": [ + 0.3400055433331156, + 0.08039286515946407, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.024431473371346372, + "xy_threshold": 0.08, + "gripper_dist": 0.19895060686048832, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878997118166, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578780961367791, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710066383229208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17171285836864647, + "release_required_pad_clearance": 0.05355033191614604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1044037773581232, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cfccde5add06b69c70cd3f4ef8a4cd78acf36f50186c81f4239ab3d1064d3289", + "visual_seed": 1479842024691758966, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..167596837488171a0b3396e62e1281f703cd4a35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_112_success.json @@ -0,0 +1,684 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36437032347503173, + 0.08907058363753148, + 1.050296217044482 + ], + "current_z": 1.050296217044482, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.19370970963591672, + "gripper_z": 1.0509793736407373, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35957162986896674, + 0.08428438784901889, + 1.0509793736407373 + ], + "object_minus_gripper": [ + 0.0047986936060649965, + 0.0047861957885125955, + -0.0006831565962552855 + ], + "object_to_gripper_xy": 0.0067775460493356135, + "object_to_gripper_z": -0.0006831565962552855, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36437032347503173, + 0.0649622714267111, + 1.050296217044482 + ], + "finger_b": [ + 0.3524643204260061, + 0.08907058363753148, + 1.050296217044482 + ], + "finger_midpoint": [ + 0.3584173219505189, + 0.07701642753212129, + 1.050296217044482 + ], + "object_minus_finger_midpoint": [ + 0.005953001524512835, + 0.012054156105410191, + 0.0 + ], + "finger_gap": 0.026887982933976255, + "fingertip_max_gap": 0.0931438052456304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344399146698814, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050296217044482, + "object_top_z": 1.096705801996628, + "finger_top_clearance": 0.04640958495214598, + "fingertip_min_top_clearance": 0.013922875485643792, + "object_projection_between_fingers": 0.803928021473019, + "object_to_finger_line_xy": 0.010675164418011678, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490719026228152, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1914499723900613, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36537989919126035, + 0.08590125704223064, + 1.2433970698599224 + ], + "held_position": [ + 0.37062654846593235, + 0.09016916574918078, + 1.2425679703280965 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068139400772204385, + "max_held_gripper_dist": 0.006815297381537009, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008290995318258609, + "max_held_gripper_z_dist": 0.0008394142844569963, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08787952112181438, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37062654846593235, + 0.06463569304299457, + 1.2425679703280965 + ], + "held_grasp_finger_b": [ + 0.3614002705469427, + 0.09016916574918078, + 1.2425679703280965 + ], + "held_grasp_midpoint": [ + 0.3660134095064375, + 0.07740242939608769, + 1.2425679703280965 + ], + "held_grasp_object_position": [ + 0.37062654846593235, + 0.09016916574918078, + 1.2425679703280965 + ], + "held_grasp_finger_gap": 0.027149262101869222, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02464233644217048, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0856178050885455, + -0.9960364733532545, + 0.024102597408399266 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035170464189724165, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032089123080164726, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33542208996876377, + 0.0928493939099217, + 0.7565916730361526 + ], + "target_position": [ + 0.3401732370848998, + 0.0856956027311456, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008587789421539321, + "xy_threshold": 0.08, + "gripper_dist": 0.21338580543937102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565916730361526, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526009545224577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08883453157299497, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1859543126121958, + "release_required_pad_clearance": 0.054417265786497485, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8566723562532514, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51ff742272f6fb22127da6619528317993da2fbc7fad9015ea09b5f7254e5111", + "visual_seed": 2454938517474341164, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6c887863ba05f7a322b798ba3e213a47517f09 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_114_success.json @@ -0,0 +1,684 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36646225310736, + 0.08570312364005386, + 1.047646615206381 + ], + "current_z": 1.047646615206381, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19106010779781546, + "gripper_z": 1.048321241005213, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36127872725622157, + 0.08082556801410046, + 1.048321241005213 + ], + "object_minus_gripper": [ + 0.00518352585113846, + 0.004877555625953406, + -0.0006746257988319293 + ], + "object_to_gripper_xy": 0.007117547971997829, + "object_to_gripper_z": -0.0006746257988319293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36646225310736, + 0.061141748893050546, + 1.047646615206381 + ], + "finger_b": [ + 0.35465156703917583, + 0.08570312364005386, + 1.047646615206381 + ], + "finger_midpoint": [ + 0.36055691007326796, + 0.0734224362665522, + 1.047646615206381 + ], + "object_minus_finger_midpoint": [ + 0.00590534303409207, + 0.012280687373501659, + 0.0 + ], + "finger_gap": 0.027253503166821187, + "fingertip_max_gap": 0.09356637868105408, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013626751583410581, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047646615206381, + "object_top_z": 1.0938194601230635, + "finger_top_clearance": 0.0461728449166825, + "fingertip_min_top_clearance": 0.013851853475004783, + "object_projection_between_fingers": 0.8121956777934601, + "object_to_finger_line_xy": 0.010644014634164157, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04928318934052704, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.74308655153793, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36693901672278634, + 0.08246686723213874, + 1.2388061964238222 + ], + "held_position": [ + 0.37249262211563383, + 0.08689052486517657, + 1.2379640672270205 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007149857431998522, + "max_held_gripper_dist": 0.00715103649001469, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008421291968017108, + "max_held_gripper_z_dist": 0.0008533305900888521, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08792673799449019, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37249262211563383, + 0.06119998803781541, + 1.2379640672270205 + ], + "held_grasp_finger_b": [ + 0.3629726524316558, + 0.08689052486517657, + 1.2379640672270205 + ], + "held_grasp_midpoint": [ + 0.3677326372736448, + 0.07404525645149598, + 1.2379640672270205 + ], + "held_grasp_object_position": [ + 0.37249262211563383, + 0.08689052486517657, + 1.2379640672270205 + ], + "held_grasp_finger_gap": 0.027397691604619925, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025134782724667546, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05399366119186482, + -0.9983754296260705, + 0.01819851834785857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004066338026790457, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211881558580346, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33440246396069073, + 0.08423584351450121, + 0.7565858973162312 + ], + "target_position": [ + 0.34193292851194357, + 0.08346090821117866, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007570232564592134, + "xy_threshold": 0.08, + "gripper_dist": 0.20838781097702447, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565858973162312, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564850898689028, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795872540812415, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1793248679496057, + "release_required_pad_clearance": 0.053979362704062075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.965585869949233, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e90f0431f500a40b046c114048befc63c9262179bee6597d81111f0f03d71788", + "visual_seed": 5342754915117898856, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..78aaa94fe888531d0735d52627f25a4d5c2fd243 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3612221389178745, + 0.08575739867924548, + 1.0488460101311983 + ], + "current_z": 1.0488460101311983, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19225944311798793, + "gripper_z": 1.0507190035408844, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3559182479202939, + 0.08081595676993043, + 1.0507190035408844 + ], + "object_minus_gripper": [ + 0.005303890997580607, + 0.004941441909315045, + -0.0018729934096861633 + ], + "object_to_gripper_xy": 0.007249076345118164, + "object_to_gripper_z": -0.0018729934096861633, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3612221389178745, + 0.06109984856843724, + 1.0488460101311983 + ], + "finger_b": [ + 0.3493490068449241, + 0.08575739867924548, + 1.0488460101311983 + ], + "finger_midpoint": [ + 0.3552855728813993, + 0.07342862362384137, + 1.0488460101311983 + ], + "object_minus_finger_midpoint": [ + 0.005936566036475244, + 0.012328775055404112, + 0.0 + ], + "finger_gap": 0.02736724397320168, + "fingertip_max_gap": 0.09486196917880499, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013683621986600844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488460101311983, + "object_top_z": 1.0949962239218256, + "finger_top_clearance": 0.04615021379062734, + "fingertip_min_top_clearance": 0.0138450641371882, + "object_projection_between_fingers": 0.8117788294972015, + "object_to_finger_line_xy": 0.01069754591831371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0499309845894025, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8668390636893086, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3610719020782073, + 0.08354500526551216, + 1.2409265592678789 + ], + "held_position": [ + 0.3666402668509435, + 0.08812801690308841, + 1.2389199422883073 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007485799463992736, + "max_held_gripper_dist": 0.0074876068392659475, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002006616979571607, + "max_held_gripper_z_dist": 0.0020208589360266593, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08751418837869884, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3666402668509435, + 0.06261168999569106, + 1.2389199422883073 + ], + "held_grasp_finger_b": [ + 0.35653456393203664, + 0.08812801690308841, + 1.2389199422883073 + ], + "held_grasp_midpoint": [ + 0.3615874153914901, + 0.07536985344938973, + 1.2389199422883073 + ], + "held_grasp_object_position": [ + 0.3666402668509435, + 0.08812801690308841, + 1.2389199422883073 + ], + "held_grasp_finger_gap": 0.027444638280188217, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0253734367977463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.013665299336115511, + -0.9998121730341623, + 0.013743298248988008 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00488120281148679, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0323754091115489, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3374910291513386, + 0.07580189010381955, + 0.7565863760282927 + ], + "target_position": [ + 0.3367056169906512, + 0.08276475454765386, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007007021730048209, + "xy_threshold": 0.08, + "gripper_dist": 0.2149919893699765, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863760282927, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583002217169224, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09095233091335518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18307624205466616, + "release_required_pad_clearance": 0.05547616545667759, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.091236945866358, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 245, + "max_placed_release_frames": 245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9df7f0fb8007d8c4c7b078cb328baaea6e11a30a5795d5137c56b41520bf3006", + "visual_seed": 1811957719165713198, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00b23563d33d8872e4a8d181df2255c91e546302 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36182958453168446, + 0.0912605959892733, + 1.0471060086208388 + ], + "current_z": 1.0471060086208388, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19051944160762846, + "gripper_z": 1.0478526784011906, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3570423688078227, + 0.08648773756435234, + 1.0478526784011906 + ], + "object_minus_gripper": [ + 0.00478721572386176, + 0.004772858424920964, + -0.0007466697803517608 + ], + "object_to_gripper_xy": 0.0067600008824798465, + "object_to_gripper_z": -0.0007466697803517608, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36182958453168446, + 0.06713897867685559, + 1.0471060086208388 + ], + "finger_b": [ + 0.34996817842845074, + 0.0912605959892733, + 1.0471060086208388 + ], + "finger_midpoint": [ + 0.3558988814800676, + 0.07919978733306444, + 1.0471060086208388 + ], + "object_minus_finger_midpoint": [ + 0.005930703051616859, + 0.012060808656208857, + 0.0 + ], + "finger_gap": 0.026880204175425453, + "fingertip_max_gap": 0.09317660558281057, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013440102087712727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471060086208388, + "object_top_z": 1.0936915324297076, + "finger_top_clearance": 0.04658552380886882, + "fingertip_min_top_clearance": 0.013975657142660679, + "object_projection_between_fingers": 0.8052814960564842, + "object_to_finger_line_xy": 0.010644126694206942, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908830279140529, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1277525890404574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3627625975873288, + 0.08797197071825591, + 1.2386948309871457 + ], + "held_position": [ + 0.36799419785684356, + 0.092230403059239, + 1.2377914249154218 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006805882008464821, + "max_held_gripper_dist": 0.006810466493562145, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009034060717239001, + "max_held_gripper_z_dist": 0.0009146983433321321, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08820461220195261, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36799419785684356, + 0.06667038227377609, + 1.2377914249154218 + ], + "held_grasp_finger_b": [ + 0.35886225078314005, + 0.092230403059239, + 1.2377914249154218 + ], + "held_grasp_midpoint": [ + 0.3634282243199918, + 0.07945039266650755, + 1.2377914249154218 + ], + "held_grasp_object_position": [ + 0.36799419785684356, + 0.092230403059239, + 1.2377914249154218 + ], + "held_grasp_finger_gap": 0.02714234919660085, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024630162024759313, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08961350787456847, + -0.9956372120883581, + 0.025999252130330268 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034190466291789978, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03206679814243164, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31865627868416907, + 0.10250899108470606, + 0.7565864641951732 + ], + "target_position": [ + 0.3376444938926689, + 0.08944936909323231, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.023045738073762964, + "xy_threshold": 0.08, + "gripper_dist": 0.20148739924473916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864641951732, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07667115483894348, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08787576988412958, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1768567005939929, + "release_required_pad_clearance": 0.05393788494206479, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8858580850337345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b7e19cc3d3fdc3a172194eea3a258672d45c6aa2b5f344cac71a1322176ed4ba", + "visual_seed": 753886954220375496, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_122_success.json new file mode 100644 index 0000000000000000000000000000000000000000..536e252ff5c8f7de715efa5157cbf977f841e944 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_122_success.json @@ -0,0 +1,684 @@ +{ + "episode": 122, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35873090251618855, + 0.08697216753761151, + 1.0476279438940943 + ], + "current_z": 1.0476279438940943, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1910415556948183, + "gripper_z": 1.0490168254234857, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35346419492919295, + 0.08208181804987455, + 1.0490168254234857 + ], + "object_minus_gripper": [ + 0.0052667075869956, + 0.004890349487736964, + -0.001388881529391428 + ], + "object_to_gripper_xy": 0.007187052728283424, + "object_to_gripper_z": -0.001388881529391428, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35873090251618855, + 0.06224612013883908, + 1.0476279438940943 + ], + "finger_b": [ + 0.3470480225915048, + 0.08697216753761151, + 1.0476279438940943 + ], + "finger_midpoint": [ + 0.3528894625538467, + 0.0746091438382253, + 1.0476279438940943 + ], + "object_minus_finger_midpoint": [ + 0.005841439962341877, + 0.012363023699386216, + 0.0 + ], + "finger_gap": 0.02734715896214668, + "fingertip_max_gap": 0.09270006432103708, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367357948107334, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476279438940943, + "object_top_z": 1.0930273830900528, + "finger_top_clearance": 0.04539943919595846, + "fingertip_min_top_clearance": 0.013619831758787537, + "object_projection_between_fingers": 0.8174947357195638, + "object_to_finger_line_xy": 0.010563124424432786, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048850032160518544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.252132066331085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35871128004355185, + 0.0844166000015209, + 1.2389676901386502 + ], + "held_position": [ + 0.3642505319984912, + 0.08894869762966899, + 1.237434023915483 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007319518646430842, + "max_held_gripper_dist": 0.007322692917022642, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001533666223167085, + "max_held_gripper_z_dist": 0.0015467142233158704, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08742827888396196, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3642505319984912, + 0.06336678966597252, + 1.237434023915483 + ], + "held_grasp_finger_b": [ + 0.35436926793274515, + 0.08894869762966899, + 1.237434023915483 + ], + "held_grasp_midpoint": [ + 0.3593098999656182, + 0.07615774364782076, + 1.237434023915483 + ], + "held_grasp_object_position": [ + 0.3642505319984912, + 0.08894869762966899, + 1.237434023915483 + ], + "held_grasp_finger_gap": 0.027423956581792527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025330260707923193, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.024632596028403717, + -0.9996776600946468, + 0.006149074775423702 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004624733736368467, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229169342586767, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31654445893767746, + 0.09092344562440421, + 0.7565916412197422 + ], + "target_position": [ + 0.334215455427477, + 0.08388315303377743, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019021825272674063, + "xy_threshold": 0.08, + "gripper_dist": 0.20602058299706494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565916412197422, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562705058648944, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08760684388627625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17920197649409805, + "release_required_pad_clearance": 0.05380342194313813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6152193610861456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 122, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a3e7f1686bd842ec39d4f9fb64428688d3db9b0f83830c51e3ed9c7cab83b95c", + "visual_seed": 3052219044622570918, + "episode_index": 122, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_124_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a48b35fbdca1774f268ce7458d2d8f69a25ea50f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_124_success.json @@ -0,0 +1,684 @@ +{ + "episode": 124, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3585725440160482, + 0.08610357865408651, + 1.048387714132242 + ], + "current_z": 1.048387714132242, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1918012067236764, + "gripper_z": 1.0501776690614586, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35328538279920674, + 0.08118099788355426, + 1.0501776690614586 + ], + "object_minus_gripper": [ + 0.005287161216841474, + 0.004922580770532245, + -0.0017899549292166306 + ], + "object_to_gripper_xy": 0.00722397917876889, + "object_to_gripper_z": -0.0017899549292166306, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3585725440160482, + 0.06144503308902269, + 1.048387714132242 + ], + "finger_b": [ + 0.3467386724076796, + 0.08610357865408651, + 1.048387714132242 + ], + "finger_midpoint": [ + 0.3526556082118639, + 0.07377430587155459, + 1.048387714132242 + ], + "object_minus_finger_midpoint": [ + 0.005916935804184287, + 0.012329272782531916, + 0.0 + ], + "finger_gap": 0.027351131359190275, + "fingertip_max_gap": 0.09319419152098021, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675565679595133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048387714132242, + "object_top_z": 1.09389119133602, + "finger_top_clearance": 0.04550347720377812, + "fingertip_min_top_clearance": 0.01365104316113347, + "object_projection_between_fingers": 0.8128011762487825, + "object_to_finger_line_xy": 0.01066888453109721, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909709576049011, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3806638752479814, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3585790588483977, + 0.08344997566141352, + 1.2412317154840542 + ], + "held_position": [ + 0.36415847541818236, + 0.08798452558492306, + 1.2393068466891972 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074429263159997965, + "max_held_gripper_dist": 0.007444059950027152, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001924868794856982, + "max_held_gripper_z_dist": 0.001936128940227988, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08744257633955485, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36415847541818236, + 0.06241663474020249, + 1.2393068466891972 + ], + "held_grasp_finger_b": [ + 0.3541982463505902, + 0.08798452558492306, + 1.2393068466891972 + ], + "held_grasp_midpoint": [ + 0.35917836088438626, + 0.07520058016256277, + 1.2393068466891972 + ], + "held_grasp_object_position": [ + 0.36415847541818236, + 0.08798452558492306, + 1.2393068466891972 + ], + "held_grasp_finger_gap": 0.02743944615560696, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025288479931551092, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027024258955543817, + -0.9995993762781394, + 0.0084128694426131 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004634080378998882, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032286817190456084, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3350948636585565, + 0.08637037178204833, + 0.7565863507414319 + ], + "target_position": [ + 0.3340235234234406, + 0.0833913689779699, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00316579020247478, + "xy_threshold": 0.08, + "gripper_dist": 0.21671380337602006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863507414319, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526483372158585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644806245116719, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18806335969648869, + "release_required_pad_clearance": 0.0532240312255836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.469240114649347, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 124, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4842b620bf9d90b6f58b68c6e5882252c98f0e96d8ae799a4aeb997e3918b5fb", + "visual_seed": 2405523739377112752, + "episode_index": 124, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_126_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a70309431a9951128d0a5a6225f1f1fcef280240 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_126_success.json @@ -0,0 +1,684 @@ +{ + "episode": 126, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36765226760310393, + 0.08396702731447686, + 1.0485311926033367 + ], + "current_z": 1.0485311926033367, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19194474479941592, + "gripper_z": 1.0503687345494037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36232490303541964, + 0.07911333809034067, + 1.0503687345494037 + ], + "object_minus_gripper": [ + 0.0053273645676842896, + 0.00485368922413619, + -0.0018375419460670006 + ], + "object_to_gripper_xy": 0.007206879513458914, + "object_to_gripper_z": -0.0018375419460670006, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36765226760310393, + 0.05924378666654405, + 1.0485311926033367 + ], + "finger_b": [ + 0.3559804745190324, + 0.08396702731447686, + 1.0485311926033367 + ], + "finger_midpoint": [ + 0.3618163710610682, + 0.07160540699051046, + 1.0485311926033367 + ], + "object_minus_finger_midpoint": [ + 0.005835896542035757, + 0.012361620323966399, + 0.0 + ], + "finger_gap": 0.027339886282370978, + "fingertip_max_gap": 0.09598831918681214, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013669943141185484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485311926033367, + "object_top_z": 1.0951965274451112, + "finger_top_clearance": 0.046665334841774486, + "fingertip_min_top_clearance": 0.013999600452532379, + "object_projection_between_fingers": 0.8177440346184041, + "object_to_finger_line_xy": 0.010554709197764576, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05049415959340607, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.140786508314337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36697197765456013, + 0.08280102084991793, + 1.2401961224064442 + ], + "held_position": [ + 0.37291546392586894, + 0.08765928751556296, + 1.2369513850897687 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00833403289566225, + "max_held_gripper_dist": 0.008335271019615825, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032447373166755167, + "max_held_gripper_z_dist": 0.0032715019656681665, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08765878885582162, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37291546392586894, + 0.062228368326682236, + 1.2369513850897687 + ], + "held_grasp_finger_b": [ + 0.3618628921605056, + 0.08765928751556296, + 1.2369513850897687 + ], + "held_grasp_midpoint": [ + 0.36738917804318727, + 0.0749438279211226, + 1.2369513850897687 + ], + "held_grasp_object_position": [ + 0.37291546392586894, + 0.08765928751556296, + 1.2369513850897687 + ], + "held_grasp_finger_gap": 0.02772888373916066, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02579905990293177, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.046790869146317894, + -0.9941402540723927, + 0.0974462405504223 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006236958301289558, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0328178544535483, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3987110745160256, + 0.1233241385366088, + 0.7433654148416036 + ], + "target_position": [ + 0.3432627132347826, + 0.08035944757884227, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0701461719402537, + "xy_threshold": 0.08, + "gripper_dist": 0.26733592823939806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7433654148416036, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.10030707581529111, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.12133269504799397, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.24123633225364008, + "release_required_pad_clearance": 0.07066634752399699, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.824954995900919, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 516, + "max_placed_release_frames": 516 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 126, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7046c9b3c68d46022bcdaf5ea26e25ac6170aadc25196ac16b11e03fbae92685", + "visual_seed": 7234154924116469093, + "episode_index": 126, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eceec875d8fcb7f5aec4a7618d9ade2ec3529b8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36669065289268576, + 0.08473406860654865, + 1.0488609674725944 + ], + "current_z": 1.0488609674725944, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19227457927331837, + "gripper_z": 1.04947603416436, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3618241437280869, + 0.08003423930330084, + 1.04947603416436 + ], + "object_minus_gripper": [ + 0.004866509164598853, + 0.004699829303247818, + -0.0006150666917656977 + ], + "object_to_gripper_xy": 0.006765449499389638, + "object_to_gripper_z": -0.0006150666917656977, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36669065289268576, + 0.06039106282916449, + 1.0488609674725944 + ], + "finger_b": [ + 0.3551476649305139, + 0.08473406860654865, + 1.0488609674725944 + ], + "finger_midpoint": [ + 0.36091915891159987, + 0.07256256571785658, + 1.0488609674725944 + ], + "object_minus_finger_midpoint": [ + 0.005771493981085896, + 0.012171502888692079, + 0.0 + ], + "finger_gap": 0.026941093173303177, + "fingertip_max_gap": 0.0925823535251262, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013470546586651573, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488609674725944, + "object_top_z": 1.0950772256287475, + "finger_top_clearance": 0.046216258156153156, + "fingertip_min_top_clearance": 0.013864877446845947, + "object_projection_between_fingers": 0.8164281613715847, + "object_to_finger_line_xy": 0.010429830031168449, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487911767625631, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.847988447155374, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3674438519602463, + 0.08183140328581436, + 1.2412396722731402 + ], + "held_position": [ + 0.37267774462073683, + 0.08609541552639732, + 1.2404775883072328 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006793835789925389, + "max_held_gripper_dist": 0.00679433869879497, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007620839659074896, + "max_held_gripper_z_dist": 0.0007719974853921396, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08790285161064117, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37267774462073683, + 0.060576024255920964, + 1.2404775883072328 + ], + "held_grasp_finger_b": [ + 0.3634475583700785, + 0.08609541552639732, + 1.2404775883072328 + ], + "held_grasp_midpoint": [ + 0.3680626514954077, + 0.07333571989115914, + 1.2404775883072328 + ], + "held_grasp_object_position": [ + 0.37267774462073683, + 0.08609541552639732, + 1.2404775883072328 + ], + "held_grasp_finger_gap": 0.027137348231496505, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024760674889223653, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07404753872736251, + -0.9970515046147136, + 0.020131049499608533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003666849473423494, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213641494734256, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3388271639299937, + 0.07752427083247539, + 0.7565871474092178 + ], + "target_position": [ + 0.34250754924694804, + 0.08145114393168021, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00538196696557232, + "xy_threshold": 0.08, + "gripper_dist": 0.2143690847603131, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565871474092178, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561335381349187, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541674980360757, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1840463967313796, + "release_required_pad_clearance": 0.05270837490180379, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4698044162995982, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50f3c6406df69ce45d62c67753876de60aec69f9b0764c5a3e28ed328c2e87f0", + "visual_seed": 692555247198696993, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_130_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ba51a54232d44eb0c13310d54456573accf169c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_130_success.json @@ -0,0 +1,684 @@ +{ + "episode": 130, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36111974287415555, + 0.0903226327003256, + 1.0490738229139036 + ], + "current_z": 1.0490738229139036, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19248725590069327, + "gripper_z": 1.0500001778948327, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3559768732768883, + 0.08542615473715102, + 1.0500001778948327 + ], + "object_minus_gripper": [ + 0.00514286959726723, + 0.004896477963174578, + -0.0009263549809290783 + ], + "object_to_gripper_xy": 0.00710102838596987, + "object_to_gripper_z": -0.0009263549809290783, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36111974287415555, + 0.06584265386311154, + 1.0490738229139036 + ], + "finger_b": [ + 0.349213005415804, + 0.0903226327003256, + 1.0490738229139036 + ], + "finger_midpoint": [ + 0.35516637414497976, + 0.07808264328171857, + 1.0490738229139036 + ], + "object_minus_finger_midpoint": [ + 0.00595336872917579, + 0.01223998941860703, + 0.0 + ], + "finger_gap": 0.027222045492074243, + "fingertip_max_gap": 0.0950580878027861, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013611022746037134, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490738229139036, + "object_top_z": 1.0960791613706355, + "finger_top_clearance": 0.04700533845673194, + "fingertip_min_top_clearance": 0.01410160153701958, + "object_projection_between_fingers": 0.8086871927704518, + "object_to_finger_line_xy": 0.010707376162660999, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05002904390139305, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9472083288952915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36172462933737226, + 0.08688057419845245, + 1.2411424086954443 + ], + "held_position": [ + 0.367275211383277, + 0.09127521203916393, + 1.2400572947123731 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071623512309569185, + "max_held_gripper_dist": 0.007163523355366106, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010851139830712064, + "max_held_gripper_z_dist": 0.0011020489370416886, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08796485810110738, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.367275211383277, + 0.0655704799643669, + 1.2400572947123731 + ], + "held_grasp_finger_b": [ + 0.35782323792837073, + 0.09127521203916393, + 1.2400572947123731 + ], + "held_grasp_midpoint": [ + 0.36254922465582384, + 0.07842284600176541, + 1.2400572947123731 + ], + "held_grasp_object_position": [ + 0.367275211383277, + 0.09127521203916393, + 1.2400572947123731 + ], + "held_grasp_finger_gap": 0.027387461606168468, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025048034466105946, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06289937978580644, + -0.9975812103217163, + 0.029587105901400894 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003927105604367165, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208168446469229, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3216769890286603, + 0.08611358291025516, + 0.756586774492235 + ], + "target_position": [ + 0.33659329222333484, + 0.08689334906793568, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014936670855854095, + "xy_threshold": 0.08, + "gripper_dist": 0.20424551868051286, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586774492235, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542082376226467, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09367439509621149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17572500646032624, + "release_required_pad_clearance": 0.05683719754810575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.14212274061996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 130, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5562d5b599027e6e9505722164e8d7e386ce739b719a07d92b93242034fe326", + "visual_seed": 2949712217976850955, + "episode_index": 130, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_131_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_131_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2eaf7c0193c92702c61a3bb23eafa7357fa659 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_131_success.json @@ -0,0 +1,684 @@ +{ + "episode": 131, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35792644003139207, + 0.08688520251021016, + 1.0473982445086252 + ], + "current_z": 1.0473982445086252, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19081179670470438, + "gripper_z": 1.048408591670766, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35285292074001506, + 0.08206915481454458, + 1.048408591670766 + ], + "object_minus_gripper": [ + 0.005073519291377004, + 0.0048160476956655845, + -0.0010103471621407678 + ], + "object_to_gripper_xy": 0.006995349412781352, + "object_to_gripper_z": -0.0010103471621407678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35792644003139207, + 0.062419464880069775, + 1.0473982445086252 + ], + "finger_b": [ + 0.34618415188939455, + 0.08688520251021016, + 1.0473982445086252 + ], + "finger_midpoint": [ + 0.3520552959603933, + 0.07465233369513996, + 1.0473982445086252 + ], + "object_minus_finger_midpoint": [ + 0.005871144070998757, + 0.0122328688150702, + 0.0 + ], + "finger_gap": 0.027137679499112718, + "fingertip_max_gap": 0.09427729299280505, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013568839749556366, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473982445086252, + "object_top_z": 1.094135656973142, + "finger_top_clearance": 0.04673741246451679, + "fingertip_min_top_clearance": 0.014021223739355037, + "object_projection_between_fingers": 0.8127766342492135, + "object_to_finger_line_xy": 0.010586157186689928, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049638646496402525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6189790993021618, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3582868158463725, + 0.08430055048655714, + 1.239245608820489 + ], + "held_position": [ + 0.3636995486957061, + 0.08869780246182626, + 1.2380866675592233 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007069416289859253, + "max_held_gripper_dist": 0.0070703677437059815, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0011589412612658112, + "max_held_gripper_z_dist": 0.0011690757231646032, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08792579603325541, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3636995486957061, + 0.06315744990429974, + 1.2380866675592233 + ], + "held_grasp_finger_b": [ + 0.3541076105591974, + 0.08869780246182626, + 1.2380866675592233 + ], + "held_grasp_midpoint": [ + 0.3589035796274518, + 0.07592762618306301, + 1.2380866675592233 + ], + "held_grasp_object_position": [ + 0.3636995486957061, + 0.08869780246182626, + 1.2380866675592233 + ], + "held_grasp_finger_gap": 0.02728213492337726, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024972047756792196, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0545205197370596, + -0.9982244822915417, + 0.02398741089372613 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004104281450759038, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321912436349265, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32557195676638434, + 0.09176598452668225, + 0.7565861598112933 + ], + "target_position": [ + 0.33355053897584025, + 0.08309361326472929, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0117842181487867, + "xy_threshold": 0.08, + "gripper_dist": 0.20862194231409992, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861598112933, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552176508849238, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09207391782098322, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18153268080051052, + "release_required_pad_clearance": 0.05603695891049161, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.318570843493701, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 131, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e0f6694afe4debf2ec369c5b3a24a424405f98d8bd7b384c3ca271efa2a1cdd6", + "visual_seed": 8896814342746618026, + "episode_index": 131, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_132_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_132_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b0d08dba935e569100ce7581a5241f893c4aca37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_132_success.json @@ -0,0 +1,684 @@ +{ + "episode": 132, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36154903688026246, + 0.08834767378398015, + 1.047099610471614 + ], + "current_z": 1.047099610471614, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19051310306304836, + "gripper_z": 1.0478548225896818, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3566440994370871, + 0.08360533525288597, + 1.0478548225896818 + ], + "object_minus_gripper": [ + 0.004904937443175383, + 0.004742338531094181, + -0.0007552121180678384 + ], + "object_to_gripper_xy": 0.006822623107351334, + "object_to_gripper_z": -0.0007552121180678384, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36154903688026246, + 0.06400927243956608, + 1.047099610471614 + ], + "finger_b": [ + 0.34990048290472103, + 0.08834767378398015, + 1.047099610471614 + ], + "finger_midpoint": [ + 0.35572475989249175, + 0.07617847311177312, + 1.047099610471614 + ], + "object_minus_finger_midpoint": [ + 0.005824276987770716, + 0.012169200672207031, + 0.0 + ], + "finger_gap": 0.026982338477657537, + "fingertip_max_gap": 0.09121143134713902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013491169238828768, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047099610471614, + "object_top_z": 1.0925140078168276, + "finger_top_clearance": 0.045414397345213686, + "fingertip_min_top_clearance": 0.013624319203564106, + "object_projection_between_fingers": 0.8136261997013813, + "object_to_finger_line_xy": 0.010507139029982633, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04810571567356951, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7388042789922228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3622737795007528, + 0.08542891117481984, + 1.2368445613695198 + ], + "held_position": [ + 0.36754777084313933, + 0.0897237661236605, + 1.2359268726696635 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006863156435707499, + "max_held_gripper_dist": 0.006865252285742731, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009176886998563116, + "max_held_gripper_z_dist": 0.000927400766837172, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08660084688505565, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36754777084313933, + 0.06417969540194353, + 1.2359268726696635 + ], + "held_grasp_finger_b": [ + 0.3582887941806181, + 0.0897237661236605, + 1.2359268726696635 + ], + "held_grasp_midpoint": [ + 0.36291828251187874, + 0.07695173076280201, + 1.2359268726696635 + ], + "held_grasp_object_position": [ + 0.36754777084313933, + 0.0897237661236605, + 1.2359268726696635 + ], + "held_grasp_finger_gap": 0.02717035512968483, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024796912587983742, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0731673896430266, + -0.9972712657535988, + 0.009826270657803724 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036847780522682888, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212431351865652, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33175138387410036, + 0.0768113277336143, + 0.7565891766233886 + ], + "target_position": [ + 0.3372945389219447, + 0.08396651058359728, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009051144099014932, + "xy_threshold": 0.08, + "gripper_dist": 0.21046172948062683, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565891766233886, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540029181012545, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08612383263225108, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17995944834577432, + "release_required_pad_clearance": 0.05306191631612554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1501038760018472, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 132, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c09d77cea1d8c8293a39d7e7e5ba55cdd0c4f40626d3e77ad5c94d28f225d76", + "visual_seed": 6766972647469973216, + "episode_index": 132, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_133_success.json new file mode 100644 index 0000000000000000000000000000000000000000..525408e25308b236f2292125c1223f48f117518c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_133_success.json @@ -0,0 +1,684 @@ +{ + "episode": 133, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3592154422977369, + 0.08853739093776075, + 1.0486164051310254 + ], + "current_z": 1.0486164051310254, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19202989772245982, + "gripper_z": 1.049601405531872, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35415478753729834, + 0.08369725156360376, + 1.049601405531872 + ], + "object_minus_gripper": [ + 0.005060654760438543, + 0.00484013937415699, + -0.0009850004008467028 + ], + "object_to_gripper_xy": 0.00700265490836255, + "object_to_gripper_z": -0.0009850004008467028, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3592154422977369, + 0.06411916724809207, + 1.0486164051310254 + ], + "finger_b": [ + 0.34739084887310234, + 0.08853739093776075, + 1.0486164051310254 + ], + "finger_midpoint": [ + 0.35330314558541964, + 0.07632827909292642, + 1.0486164051310254 + ], + "object_minus_finger_midpoint": [ + 0.005912296712317244, + 0.012209111844834336, + 0.0 + ], + "finger_gap": 0.02713062214208527, + "fingertip_max_gap": 0.09432207619493951, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013565311071042616, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486164051310254, + "object_top_z": 1.0953513641257908, + "finger_top_clearance": 0.04673495899476543, + "fingertip_min_top_clearance": 0.014020487698429661, + "object_projection_between_fingers": 0.8100440383364025, + "object_to_finger_line_xy": 0.010642423375696286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04966103809746976, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6389294041054872, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3596435304521176, + 0.0858223998740839, + 1.2390412315415686 + ], + "held_position": [ + 0.3650556941939936, + 0.09022716292261589, + 1.2378981643040363 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007071071813530787, + "max_held_gripper_dist": 0.007071715391744541, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0011430672375323248, + "max_held_gripper_z_dist": 0.001154138875200994, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08759506919981815, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3650556941939936, + 0.06467079327059824, + 1.2378981643040363 + ], + "held_grasp_finger_b": [ + 0.35549086940551383, + 0.09022716292261589, + 1.2378981643040363 + ], + "held_grasp_midpoint": [ + 0.3602732817997537, + 0.07744897809660706, + 1.2378981643040363 + ], + "held_grasp_object_position": [ + 0.3650556941939936, + 0.09022716292261589, + 1.2378981643040363 + ], + "held_grasp_finger_gap": 0.027287614461965804, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024961573263867744, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057089275948115, + -0.998092551208612, + 0.023496250628655457 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004056480150775082, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217338941213201, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3290381087732425, + 0.08409868843746313, + 0.756587446867578 + ], + "target_position": [ + 0.3348442246467743, + 0.08348224071112081, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005838748953002739, + "xy_threshold": 0.08, + "gripper_dist": 0.21076066188790593, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587446867578, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574781010635946, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09477907196242512, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18121055769298583, + "release_required_pad_clearance": 0.05738953598121256, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.44832008780796, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 133, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c4966227458633f652c5044202c6b55c0c4a62d48435191da5adfc7b65a6c772", + "visual_seed": 7091219603417294564, + "episode_index": 133, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_137_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0c11eb668f2b7e1304be68b3e9044ccddf6eff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_137_success.json @@ -0,0 +1,684 @@ +{ + "episode": 137, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3636742892339552, + 0.08761431888075746, + 1.0481432895698437 + ], + "current_z": 1.0481432895698437, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.19155696097521246, + "gripper_z": 1.048857529599712, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35890352782913715, + 0.08290421952944807, + 1.048857529599712 + ], + "object_minus_gripper": [ + 0.004770761404818025, + 0.004710099351309394, + -0.0007142400298683071 + ], + "object_to_gripper_xy": 0.006704118158334206, + "object_to_gripper_z": -0.0007142400298683071, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3636742892339552, + 0.06342816701328916, + 1.0481432895698437 + ], + "finger_b": [ + 0.352005466567284, + 0.08761431888075746, + 1.0481432895698437 + ], + "finger_midpoint": [ + 0.35783987790061955, + 0.07552124294702331, + 1.0481432895698437 + ], + "object_minus_finger_midpoint": [ + 0.005834411333335621, + 0.012093075933734154, + 0.0 + ], + "finger_gap": 0.026853889189137205, + "fingertip_max_gap": 0.09301368486493852, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013426944594568615, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481432895698437, + "object_top_z": 1.0942918175916514, + "finger_top_clearance": 0.04614852802180769, + "fingertip_min_top_clearance": 0.013844558406542307, + "object_projection_between_fingers": 0.8111836079892911, + "object_to_finger_line_xy": 0.010509610549999214, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049006842432469264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2602102002439388, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36444793862345704, + 0.08504738035256422, + 1.2403180461824495 + ], + "held_position": [ + 0.36959302777789377, + 0.08931930448731967, + 1.2394628594543613 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00674185601745593, + "max_held_gripper_dist": 0.006743882480509025, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008551867280881531, + "max_held_gripper_z_dist": 0.0008659348339674633, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878173645625181, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36959302777789377, + 0.06390307438329325, + 1.2394628594543613 + ], + "held_grasp_finger_b": [ + 0.3602717021593567, + 0.08931930448731967, + 1.2394628594543613 + ], + "held_grasp_midpoint": [ + 0.36493236496862524, + 0.07661118943530645, + 1.2394628594543613 + ], + "held_grasp_object_position": [ + 0.36959302777789377, + 0.08931930448731967, + 1.2394628594543613 + ], + "held_grasp_finger_gap": 0.02707160623213211, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024737211411750327, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06638608776051501, + -0.9976309487491608, + 0.018038221910785857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003813803132452477, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03221281291937907, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31606855843738385, + 0.089311831880527, + 0.7565861424342069 + ], + "target_position": [ + 0.33958438289056614, + 0.08542903186396615, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.023834221944118314, + "xy_threshold": 0.08, + "gripper_dist": 0.2015735525619706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861424342069, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753504929368637, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0908764620899453, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17539616587300214, + "release_required_pad_clearance": 0.055438231044972655, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.008921131378297, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 137, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b0ce876193c173e78721270a8b05f8c6dadd06f6248eb337ad3bcc6b507ad953", + "visual_seed": 6077487514335635655, + "episode_index": 137, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_139_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_139_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7930e0699a1851d59a0e794bb9c66c056bc1dc27 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_139_success.json @@ -0,0 +1,684 @@ +{ + "episode": 139, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3670993880015118, + 0.08910935451813963, + 1.0492099641483934 + ], + "current_z": 1.0492099641483934, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19262345673982784, + "gripper_z": 1.049785152048988, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36235440916038736, + 0.08436112353171257, + 1.049785152048988 + ], + "object_minus_gripper": [ + 0.004744978841124459, + 0.004748230986427057, + -0.0005751879005946314 + ], + "object_to_gripper_xy": 0.0067127134381846565, + "object_to_gripper_z": -0.0005751879005946314, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3670993880015118, + 0.06503791850180031, + 1.0492099641483934 + ], + "finger_b": [ + 0.35524651776401656, + 0.08910935451813963, + 1.0492099641483934 + ], + "finger_midpoint": [ + 0.3611729528827642, + 0.07707363650996997, + 1.0492099641483934 + ], + "object_minus_finger_midpoint": [ + 0.0059264351187476305, + 0.01203571800816966, + 0.0 + ], + "finger_gap": 0.026831410040391444, + "fingertip_max_gap": 0.09139769248990595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013415705020195722, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492099641483934, + "object_top_z": 1.0946312876108066, + "finger_top_clearance": 0.04542132346241323, + "fingertip_min_top_clearance": 0.013626397038723969, + "object_projection_between_fingers": 0.8048538142123389, + "object_to_finger_line_xy": 0.010633641955541324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819884624495298, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9255785705009315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36811393059962244, + 0.08605525065947334, + 1.2394636819938871 + ], + "held_position": [ + 0.3732942140827042, + 0.09030034812189039, + 1.2387288989783516 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006737662466347566, + "max_held_gripper_dist": 0.006738439765985527, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007347830155355339, + "max_held_gripper_z_dist": 0.0007440791704305116, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08781299660718711, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3732942140827042, + 0.06479478905848597, + 1.2387288989783516 + ], + "held_grasp_finger_b": [ + 0.3641465099520461, + 0.09030034812189039, + 1.2387288989783516 + ], + "held_grasp_midpoint": [ + 0.3687203620173751, + 0.07754756859018819, + 1.2387288989783516 + ], + "held_grasp_object_position": [ + 0.3732942140827042, + 0.09030034812189039, + 1.2387288989783516 + ], + "held_grasp_finger_gap": 0.027096384149898487, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024647881591267434, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0837910744666341, + -0.9964250336995316, + 0.01077998407300995 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034919871274895547, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210978821216635, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3302179175175353, + 0.07839524008522185, + 0.7565861434217735 + ], + "target_position": [ + 0.3429754709002534, + 0.08492555967665068, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014331791314385656, + "xy_threshold": 0.08, + "gripper_dist": 0.20784971249935932, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861434217735, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544758444375736, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601716364005078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1779605299463263, + "release_required_pad_clearance": 0.053008581820025394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0482805021305202, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 139, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f5250f048da572286901f5e491daff991e94557ffb1f0053cb1d83ac9b5821cb", + "visual_seed": 6168079033985764157, + "episode_index": 139, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8e353202c7251dda54129dbab977e154a64619c2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36317190945464206, + 0.0850993305926003, + 1.0505056023203008 + ], + "current_z": 1.0505056023203008, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19391903530709043, + "gripper_z": 1.0512819395132278, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35842479660653437, + 0.08037222871504515, + 1.0512819395132278 + ], + "object_minus_gripper": [ + 0.004747112848107693, + 0.004727101877555151, + -0.0007763371929270235 + ], + "object_to_gripper_xy": 0.006699296422271115, + "object_to_gripper_z": -0.0007763371929270235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36317190945464206, + 0.060990942731030603, + 1.0505056023203008 + ], + "finger_b": [ + 0.3513958566532654, + 0.0850993305926003, + 1.0505056023203008 + ], + "finger_midpoint": [ + 0.35728388305395375, + 0.07304513666181545, + 1.0505056023203008 + ], + "object_minus_finger_midpoint": [ + 0.0058880264006883065, + 0.012054193930784857, + 0.0 + ], + "finger_gap": 0.02683076191360753, + "fingertip_max_gap": 0.09235002050625232, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013415380956803759, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505056023203008, + "object_top_z": 1.096381447243488, + "finger_top_clearance": 0.0458758449231873, + "fingertip_min_top_clearance": 0.013762753476956158, + "object_projection_between_fingers": 0.8073657627925973, + "object_to_finger_line_xy": 0.01058119964420127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048675010253126164, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0653139759403936, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36417343526818213, + 0.08224727825841487, + 1.2442363605782567 + ], + "held_position": [ + 0.3693349693225757, + 0.08649112421786459, + 1.2433225969044643 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0067443773896294365, + "max_held_gripper_dist": 0.006745331415981378, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009137636737923671, + "max_held_gripper_z_dist": 0.0009234902144605872, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08670855825948376, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3693349693225757, + 0.06103792628566527, + 1.2433225969044643 + ], + "held_grasp_finger_b": [ + 0.36008998283799015, + 0.08649112421786459, + 1.2433225969044643 + ], + "held_grasp_midpoint": [ + 0.3647124760802829, + 0.07376452525176493, + 1.2433225969044643 + ], + "held_grasp_object_position": [ + 0.3693349693225757, + 0.08649112421786459, + 1.2433225969044643 + ], + "held_grasp_finger_gap": 0.027080159897531722, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024650582411334502, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07803814401108917, + -0.9968116409412942, + 0.016631312733189404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003621602766007178, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215347217347886, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33393856420219115, + 0.08415458465952741, + 0.7565899534097106 + ], + "target_position": [ + 0.3390466674764355, + 0.0820094486563272, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005540246161730716, + "xy_threshold": 0.08, + "gripper_dist": 0.21353377097610243, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565899534097106, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556888673520902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756272476277781, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18463257362560773, + "release_required_pad_clearance": 0.053781362381388906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.552174294524258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f2608fd7af0ada922376f2e95120e140085d06e3effa91d56d62708ed234bec", + "visual_seed": 676444383762683240, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_140_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_140_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb7fb9b37c99746180997ef543e27ea172ad5c95 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_140_success.json @@ -0,0 +1,684 @@ +{ + "episode": 140, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3592288903829063, + 0.08766424851948759, + 1.0482418461877803 + ], + "current_z": 1.0482418461877803, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19165521956992515, + "gripper_z": 1.0500636275670898, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35394134885595135, + 0.08276320641679018, + 1.0500636275670898 + ], + "object_minus_gripper": [ + 0.005287541526954931, + 0.004901042102697414, + -0.0018217813793095505 + ], + "object_to_gripper_xy": 0.0072095984001666535, + "object_to_gripper_z": -0.0018217813793095505, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3592288903829063, + 0.06300611857258248, + 1.0482418461877803 + ], + "finger_b": [ + 0.3474240834689276, + 0.08766424851948759, + 1.0482418461877803 + ], + "finger_midpoint": [ + 0.35332648692591695, + 0.07533518354603504, + 1.0482418461877803 + ], + "object_minus_finger_midpoint": [ + 0.005902403456989336, + 0.012329064973452555, + 0.0 + ], + "finger_gap": 0.02733819377271983, + "fingertip_max_gap": 0.0931283570233171, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013669096886359915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482418461877803, + "object_top_z": 1.093741357339866, + "finger_top_clearance": 0.045499511152085725, + "fingertip_min_top_clearance": 0.013649853345625717, + "object_projection_between_fingers": 0.8135432367579133, + "object_to_finger_line_xy": 0.010647538213496621, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906417851165855, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.37666243866311, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35927050804081695, + 0.0852856712554568, + 1.240084169613125 + ], + "held_position": [ + 0.36484307404904653, + 0.08980417528351473, + 1.2381190338629975 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007438556922151027, + "max_held_gripper_dist": 0.007441193475200301, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001965135750127578, + "max_held_gripper_z_dist": 0.0019770123051632282, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08781652694246317, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36484307404904653, + 0.06423631752274678, + 1.2381190338629975 + ], + "held_grasp_finger_b": [ + 0.35493281156371126, + 0.08980417528351473, + 1.2381190338629975 + ], + "held_grasp_midpoint": [ + 0.3598879428063789, + 0.07702024640313075, + 1.2381190338629975 + ], + "held_grasp_object_position": [ + 0.36484307404904653, + 0.08980417528351473, + 1.2381190338629975 + ], + "held_grasp_finger_gap": 0.027421317492110138, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025295504020453, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.026496612683884136, + -0.9996180613277513, + 0.007852450803941369 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004615763651558664, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228988456891472, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31264483461242637, + 0.08684342756904488, + 0.7565869772396276 + ], + "target_position": [ + 0.33467542996806876, + 0.08388484238519911, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02222836831650321, + "xy_threshold": 0.08, + "gripper_dist": 0.19853429015034663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869772396276, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756294350935307, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08972379437319954, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17151034114565067, + "release_required_pad_clearance": 0.05486189718659977, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.781620199081029, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 140, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd6792c99972b87f1bbd4f684c77651bfabd013a6e56590a2a10bab5aaaeca6b", + "visual_seed": 7616862711021783515, + "episode_index": 140, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_143_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_143_success.json new file mode 100644 index 0000000000000000000000000000000000000000..47f2af5d64b6aba70544f6322cb0cefd9825762c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_143_success.json @@ -0,0 +1,684 @@ +{ + "episode": 143, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3647756651817208, + 0.08954150050152944, + 1.0489720238779057 + ], + "current_z": 1.0489720238779057, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1923855164693401, + "gripper_z": 1.0496058533316281, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3599787939475205, + 0.08478382155188195, + 1.0496058533316281 + ], + "object_minus_gripper": [ + 0.004796871234200251, + 0.004757678949647487, + -0.0006338294537224787 + ], + "object_to_gripper_xy": 0.006756144064880252, + "object_to_gripper_z": -0.0006338294537224787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3647756651817208, + 0.06539609259313671, + 1.0489720238779057 + ], + "finger_b": [ + 0.35295756589931077, + 0.08954150050152944, + 1.0489720238779057 + ], + "finger_midpoint": [ + 0.3588666155405158, + 0.07746879654733307, + 1.0489720238779057 + ], + "object_minus_finger_midpoint": [ + 0.0059090496412049776, + 0.012072703954196365, + 0.0 + ], + "finger_gap": 0.02688248860711326, + "fingertip_max_gap": 0.09134650921042622, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013441244303556617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0489720238779057, + "object_top_z": 1.0944300946268426, + "finger_top_clearance": 0.04545807074893693, + "fingertip_min_top_clearance": 0.013637421224681078, + "object_projection_between_fingers": 0.8067336132069443, + "object_to_finger_line_xy": 0.010614821865865758, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048173254605213114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8179550844742541, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.365724134414508, + 0.08642494750455991, + 1.239761904175385 + ], + "held_position": [ + 0.37094566914683735, + 0.09068477030351976, + 1.2389686547865073 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006785260483755537, + "max_held_gripper_dist": 0.0067863301126487256, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007932493888775927, + "max_held_gripper_z_dist": 0.0008034988959146894, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878328740509954, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37094566914683735, + 0.06515407601507534, + 1.2389686547865073 + ], + "held_grasp_finger_b": [ + 0.3617734266049307, + 0.09068477030351976, + 1.2389686547865073 + ], + "held_grasp_midpoint": [ + 0.36635954787588404, + 0.07791942315929755, + 1.2389686547865073 + ], + "held_grasp_object_position": [ + 0.37094566914683735, + 0.09068477030351976, + 1.2389686547865073 + ], + "held_grasp_finger_gap": 0.02712833176031233, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02467491397356963, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08342048856869624, + -0.996450258667686, + 0.011309468955793767 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035083056823755464, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209761502490953, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33397436555956705, + 0.08571672383972984, + 0.7565867724660096 + ], + "target_position": [ + 0.3405942239218132, + 0.08593000631347901, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006623293300904689, + "xy_threshold": 0.08, + "gripper_dist": 0.21151303003755667, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867724660096, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758432828254132, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09568041025954303, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18166976742160093, + "release_required_pad_clearance": 0.05784020512977152, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.553171757340257, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 143, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f15bcbd4661983cdec94302ab5de39e3efda306e7f4041e43a2b63e5cd6986c6", + "visual_seed": 5573459194074996593, + "episode_index": 143, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_144_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_144_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fad1a4a408229bab00a9ec546e838af648da13d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_144_success.json @@ -0,0 +1,684 @@ +{ + "episode": 144, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35907829507448485, + 0.08665015461579383, + 1.048223117498707 + ], + "current_z": 1.048223117498707, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19163655048549655, + "gripper_z": 1.0492027492910718, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35417644200065607, + 0.08192152539882687, + 1.0492027492910718 + ], + "object_minus_gripper": [ + 0.004901853073828788, + 0.004728629216966956, + -0.0009796317923649323 + ], + "object_to_gripper_xy": 0.006810880840901437, + "object_to_gripper_z": -0.0009796317923649323, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35907829507448485, + 0.062296860797258484, + 1.048223117498707 + ], + "finger_b": [ + 0.34747293138980007, + 0.08665015461579383, + 1.048223117498707 + ], + "finger_midpoint": [ + 0.35327561323214246, + 0.07447350770652615, + 1.048223117498707 + ], + "object_minus_finger_midpoint": [ + 0.005802681842342394, + 0.012176646909267674, + 0.0 + ], + "finger_gap": 0.026977164159075584, + "fingertip_max_gap": 0.09307391070062773, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013488582079537794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048223117498707, + "object_top_z": 1.0945982024663978, + "finger_top_clearance": 0.04637508496769094, + "fingertip_min_top_clearance": 0.013912525490307281, + "object_projection_between_fingers": 0.8149347321238171, + "object_to_finger_line_xy": 0.010476595316598827, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903695535031387, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0887183534020406, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.359692373476564, + 0.08379647614157655, + 1.2392522388655012 + ], + "held_position": [ + 0.3649419130175457, + 0.08809801577742776, + 1.238120127131009 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00688059485876796, + "max_held_gripper_dist": 0.006881459600519758, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001132111734492236, + "max_held_gripper_z_dist": 0.0011424095502605702, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08783563024260893, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3649419130175457, + 0.06259843400722112, + 1.238120127131009 + ], + "held_grasp_finger_b": [ + 0.35561030897845763, + 0.08809801577742776, + 1.238120127131009 + ], + "held_grasp_midpoint": [ + 0.36027611099800166, + 0.07534822489232444, + 1.238120127131009 + ], + "held_grasp_object_position": [ + 0.3649419130175457, + 0.08809801577742776, + 1.238120127131009 + ], + "held_grasp_finger_gap": 0.027153406865396825, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024810964575493248, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06705323232582239, + -0.9975331759683473, + 0.020770817922307065 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038098285844105407, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321690284644586, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3156547489475528, + 0.07650372505352675, + 0.7565892124145324 + ], + "target_position": [ + 0.3348483910977121, + 0.08162320232080293, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019864665778173283, + "xy_threshold": 0.08, + "gripper_dist": 0.20219792647224916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565892124145324, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521707645036442, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854138468222501, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1734603573038497, + "release_required_pad_clearance": 0.05270692341112505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.463081348049775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 144, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff2f93fd1e8f9ec567c639e2397d005d1b9204eec449d2bc4f5a0a23f6793480", + "visual_seed": 7880013618679316139, + "episode_index": 144, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_145_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_145_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8960dc1c0f227c5e2d73d772f642bd17ac5020db --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_145_success.json @@ -0,0 +1,684 @@ +{ + "episode": 145, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36719419718237284, + 0.08699094740141812, + 1.0491877074887808 + ], + "current_z": 1.0491877074887808, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19260125968485997, + "gripper_z": 1.0498778250680258, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.362061370403567, + 0.08214366381152483, + 1.0498778250680258 + ], + "object_minus_gripper": [ + 0.005132826778805832, + 0.004847283589893295, + -0.0006901175792450864 + ], + "object_to_gripper_xy": 0.007059891567302934, + "object_to_gripper_z": -0.0006901175792450864, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36719419718237284, + 0.06248066034886449, + 1.0491877074887808 + ], + "finger_b": [ + 0.3554102684373439, + 0.08699094740141812, + 1.0491877074887808 + ], + "finger_midpoint": [ + 0.3613022328098584, + 0.07473580387514131, + 1.0491877074887808 + ], + "object_minus_finger_midpoint": [ + 0.0058919643725144355, + 0.01225514352627681, + 0.0 + ], + "finger_gap": 0.027195866378302732, + "fingertip_max_gap": 0.09292916306627044, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359793318915135, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491877074887808, + "object_top_z": 1.0953515554944004, + "finger_top_clearance": 0.04616384800561968, + "fingertip_min_top_clearance": 0.013849154401685904, + "object_projection_between_fingers": 0.812252389596225, + "object_to_finger_line_xy": 0.010620271188636508, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048964581533135224, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2208420120270125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3676761080707554, + 0.08400638731093477, + 1.241624836700371 + ], + "held_position": [ + 0.3731677333846686, + 0.08841676240911801, + 1.2407869058995518 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007093058939699325, + "max_held_gripper_dist": 0.007094263207420419, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008379308008192865, + "max_held_gripper_z_dist": 0.0008509203608546567, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08777764376129218, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3731677333846686, + 0.06281902592596977, + 1.2407869058995518 + ], + "held_grasp_finger_b": [ + 0.3635656178934733, + 0.08841676240911801, + 1.2407869058995518 + ], + "held_grasp_midpoint": [ + 0.36836667563907094, + 0.07561789416754389, + 1.2407869058995518 + ], + "held_grasp_object_position": [ + 0.3731677333846686, + 0.08841676240911801, + 1.2407869058995518 + ], + "held_grasp_finger_gap": 0.02733943552758452, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024955718385083175, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0613453845620186, + -0.9979305736394447, + 0.019269509298031392 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004014621569875394, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213332030585289, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32920788693075925, + 0.07763750741670138, + 0.7565899205387092 + ], + "target_position": [ + 0.34275184431653477, + 0.08347229010074987, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01474732079524194, + "xy_threshold": 0.08, + "gripper_dist": 0.20768679264005005, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565899205387092, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515674249645297, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669730701916638, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17855190948208616, + "release_required_pad_clearance": 0.05334865350958319, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.70450341589678, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 145, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "86c758330f9916ef611fe2a2d1f4c354d842a834bbaeb9d9715cfbfe5115b5c5", + "visual_seed": 3058458880954304413, + "episode_index": 145, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_150_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_150_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2198d5375ea20e220eb400c60959147f2a4ad8a5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_150_success.json @@ -0,0 +1,684 @@ +{ + "episode": 150, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3673932264152188, + 0.08611215846153664, + 1.0481094924332541 + ], + "current_z": 1.0481094924332541, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19152304462933334, + "gripper_z": 1.0486857447492266, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3624495524190128, + 0.08134922281749907, + 1.0486857447492266 + ], + "object_minus_gripper": [ + 0.004943673996206044, + 0.004762935644037569, + -0.0005762523159724697 + ], + "object_to_gripper_xy": 0.006864799234501138, + "object_to_gripper_z": -0.0005762523159724697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3673932264152188, + 0.06175460719627484, + 1.0481094924332541 + ], + "finger_b": [ + 0.3557084637467472, + 0.08611215846153664, + 1.0481094924332541 + ], + "finger_midpoint": [ + 0.361550845080983, + 0.07393338282890574, + 1.0481094924332541 + ], + "object_minus_finger_midpoint": [ + 0.005842381334235813, + 0.012178775632630895, + 0.0 + ], + "finger_gap": 0.02701525462138687, + "fingertip_max_gap": 0.09095694423793657, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013507627310693432, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481094924332541, + "object_top_z": 1.0934844715097802, + "finger_top_clearance": 0.0453749790765261, + "fingertip_min_top_clearance": 0.013612493722957864, + "object_projection_between_fingers": 0.8129224553624302, + "object_to_finger_line_xy": 0.010535240541260683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797847211896829, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5471092867144353, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36801730122318893, + 0.08324486091668283, + 1.2389857291658803 + ], + "held_position": [ + 0.3733189821288953, + 0.08757345825774168, + 1.238254441289321 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006883266472057864, + "max_held_gripper_dist": 0.006890090789096663, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007312878765592945, + "max_held_gripper_z_dist": 0.0007410312221849402, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779635983623918, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3733189821288953, + 0.06206106309314488, + 1.238254441289321 + ], + "held_grasp_finger_b": [ + 0.3639123200971636, + 0.08757345825774168, + 1.238254441289321 + ], + "held_grasp_midpoint": [ + 0.36861565111302946, + 0.07481726067544328, + 1.238254441289321 + ], + "held_grasp_object_position": [ + 0.3733189821288953, + 0.08757345825774168, + 1.238254441289321 + ], + "held_grasp_finger_gap": 0.027191314745958216, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02475514185090899, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07310945694643672, + -0.9972743695595567, + 0.009941786790394478 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037603428290339247, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213493808753771, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.339896929188939, + 0.07694568129245186, + 0.7565868651758494 + ], + "target_position": [ + 0.34314028404603303, + 0.08117353925378912, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0053286146107856544, + "xy_threshold": 0.08, + "gripper_dist": 0.21208672207560164, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868651758494, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581767642291873, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0894783157282638, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18115644400796846, + "release_required_pad_clearance": 0.0547391578641319, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.524874445939911, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 150, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4dd20841e2858a9283d883eef01d669f4fa296fa2c1edfee87cd287d5010d1d", + "visual_seed": 5965356025342443173, + "episode_index": 150, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_151_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_151_success.json new file mode 100644 index 0000000000000000000000000000000000000000..54f79054674c297ad1f69ac8d5b2a7615e9ba48b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_151_success.json @@ -0,0 +1,684 @@ +{ + "episode": 151, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3660539389305244, + 0.08782403672062447, + 1.0503024998096888 + ], + "current_z": 1.0503024998096888, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19371593279647847, + "gripper_z": 1.05098541224196, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3612364348611199, + 0.08304395828135293, + 1.05098541224196 + ], + "object_minus_gripper": [ + 0.00481750406940451, + 0.004780078439271543, + -0.0006829124322711433 + ], + "object_to_gripper_xy": 0.006786567272511021, + "object_to_gripper_z": -0.0006829124322711433, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3660539389305244, + 0.06367312216431859, + 1.0503024998096888 + ], + "finger_b": [ + 0.35419473614095887, + 0.08782403672062447, + 1.0503024998096888 + ], + "finger_midpoint": [ + 0.36012433753574163, + 0.07574857944247153, + 1.0503024998096888 + ], + "object_minus_finger_midpoint": [ + 0.005929601394782769, + 0.012075457278152943, + 0.0 + ], + "finger_gap": 0.026905526657362174, + "fingertip_max_gap": 0.09286689259358963, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013452763328681087, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503024998096888, + "object_top_z": 1.0965169324260446, + "finger_top_clearance": 0.04621443261635583, + "fingertip_min_top_clearance": 0.013864329784906714, + "object_projection_between_fingers": 0.8057200442208858, + "object_to_finger_line_xy": 0.010645046905198997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048933446296794816, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1511629250409379, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36698153292987046, + 0.084630440572363, + 1.2403798638030652 + ], + "held_position": [ + 0.3722249459158243, + 0.08890844698194514, + 1.2395328488600565 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00681998188380108, + "max_held_gripper_dist": 0.00682110141661045, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008470149430086504, + "max_held_gripper_z_dist": 0.0008574702827814917, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08817132346512946, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3722249459158243, + 0.06335902617052663, + 1.2395328488600565 + ], + "held_grasp_finger_b": [ + 0.3630367625656423, + 0.08890844698194514, + 1.2395328488600565 + ], + "held_grasp_midpoint": [ + 0.3676308542407333, + 0.07613373657623589, + 1.2395328488600565 + ], + "held_grasp_object_position": [ + 0.3722249459158243, + 0.08890844698194514, + 1.2395328488600565 + ], + "held_grasp_finger_gap": 0.02715134650575374, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024719833173246504, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08068171206235789, + -0.9965451555482221, + 0.01970315436818737 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035576041168509315, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209899001575199, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3385149983664091, + 0.07976855244873812, + 0.7565865455629368 + ], + "target_position": [ + 0.34185595326305274, + 0.08281245622974763, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004519660368816577, + "xy_threshold": 0.08, + "gripper_dist": 0.21290352043000124, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865455629368, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516250640706101, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687402380120855, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18367748557686775, + "release_required_pad_clearance": 0.05343701190060428, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8867213792660544, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 151, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "efa37de5bf3b92fb47042e1e135220dbf65d78423b51266833b475cc6d4dd222", + "visual_seed": 374175715560481656, + "episode_index": 151, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_152_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_152_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ebdec54670afb00c84ea0145011110070ab9bf0e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_152_success.json @@ -0,0 +1,684 @@ +{ + "episode": 152, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3629627936434888, + 0.08830559622023294, + 1.0480678529719978 + ], + "current_z": 1.0480678529719978, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19148122635414266, + "gripper_z": 1.0488179788055885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3581600092577964, + 0.08356997374280349, + 1.0488179788055885 + ], + "object_minus_gripper": [ + 0.004802784385692427, + 0.004735622477429452, + -0.0007501258335906869 + ], + "object_to_gripper_xy": 0.006744839368301223, + "object_to_gripper_z": -0.0007501258335906869, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3629627936434888, + 0.06411852413095138, + 1.0480678529719978 + ], + "finger_b": [ + 0.35122483337908006, + 0.08830559622023294, + 1.0480678529719978 + ], + "finger_midpoint": [ + 0.35709381351128444, + 0.07621206017559216, + 1.0480678529719978 + ], + "object_minus_finger_midpoint": [ + 0.005868980132204382, + 0.01209353604464078, + 0.0 + ], + "finger_gap": 0.02688483154905275, + "fingertip_max_gap": 0.09135234825967711, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013442415774526375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480678529719978, + "object_top_z": 1.0934871877980519, + "finger_top_clearance": 0.04541933482605409, + "fingertip_min_top_clearance": 0.013625800447816194, + "object_projection_between_fingers": 0.8093790495564435, + "object_to_finger_line_xy": 0.01056011418849227, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817617412983856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8589219093496272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3638859738402606, + 0.08543746401825804, + 1.242202271949963 + ], + "held_position": [ + 0.36909675558780597, + 0.08969411999928842, + 1.241315481093966 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006786587108677938, + "max_held_gripper_dist": 0.006788541587793073, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008867908559970772, + "max_held_gripper_z_dist": 0.0008977693436349465, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08672210003787001, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36909675558780597, + 0.06421409289851887, + 1.241315481093966 + ], + "held_grasp_finger_b": [ + 0.35982656793641965, + 0.08969411999928842, + 1.241315481093966 + ], + "held_grasp_midpoint": [ + 0.3644616617621128, + 0.07695410644890364, + 1.241315481093966 + ], + "held_grasp_object_position": [ + 0.36909675558780597, + 0.08969411999928842, + 1.241315481093966 + ], + "held_grasp_finger_gap": 0.02711398458633231, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02467032475295387, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07863359420049737, + -0.9968306872848002, + 0.01205565221896887 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003622299761672186, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213611441539227, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3343455530621788, + 0.07738511147727084, + 0.7565904072000698 + ], + "target_position": [ + 0.33879328850013235, + 0.0833410624633141, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007433417967138519, + "xy_threshold": 0.08, + "gripper_dist": 0.2139757206457123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565904072000698, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590548271830962, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549817291664528, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18268602523245211, + "release_required_pad_clearance": 0.052749086458322644, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5395549449558209, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 152, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "949db2b4d14a33f4c131021079e290604f5bd42e4707c237d417da2c259dd266", + "visual_seed": 2544302781458852228, + "episode_index": 152, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_153_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_153_success.json new file mode 100644 index 0000000000000000000000000000000000000000..deb92372fe182be4354f1aa9fb897e27c7e01fc2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_153_success.json @@ -0,0 +1,684 @@ +{ + "episode": 153, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3598367292309794, + 0.08929535824997537, + 1.0467392076676891 + ], + "current_z": 1.0467392076676891, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19015270025912356, + "gripper_z": 1.0476039593500275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3549458871974219, + 0.08451965599233953, + 1.0476039593500275 + ], + "object_minus_gripper": [ + 0.0048908420335574965, + 0.004775702257635836, + -0.0008647516823383494 + ], + "object_to_gripper_xy": 0.006835763882025245, + "object_to_gripper_z": -0.0008647516823383494, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3598367292309794, + 0.06503563075809667, + 1.0467392076676891 + ], + "finger_b": [ + 0.34805241206598964, + 0.08929535824997537, + 1.0467392076676891 + ], + "finger_midpoint": [ + 0.3539445706484845, + 0.07716549450403601, + 1.0467392076676891 + ], + "object_minus_finger_midpoint": [ + 0.005892158582494922, + 0.012129863745939357, + 0.0 + ], + "finger_gap": 0.02697043768694324, + "fingertip_max_gap": 0.09133222964913904, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013485218843471636, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467392076676891, + "object_top_z": 1.092149894206977, + "finger_top_clearance": 0.045410686539287815, + "fingertip_min_top_clearance": 0.013623205961786311, + "object_projection_between_fingers": 0.8090881630206597, + "object_to_finger_line_xy": 0.010599914114071683, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816611482456952, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8701616930370661, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3605839099321513, + 0.08638816286904266, + 1.2375592486590166 + ], + "held_position": [ + 0.3658700790974784, + 0.09068791817942833, + 1.2365375491609727 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006890235847773844, + "max_held_gripper_dist": 0.006892274006255346, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001021699498043871, + "max_held_gripper_z_dist": 0.0010315309965220898, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08659256553149408, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3658700790974784, + 0.06514519690080837, + 1.2365375491609727 + ], + "held_grasp_finger_b": [ + 0.3565818490509439, + 0.09068791817942833, + 1.2365375491609727 + ], + "held_grasp_midpoint": [ + 0.36122596407421115, + 0.07791655754011835, + 1.2365375491609727 + ], + "held_grasp_object_position": [ + 0.3658700790974784, + 0.09068791817942833, + 1.2365375491609727 + ], + "held_grasp_finger_gap": 0.027179069662418724, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024756866839025806, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07641667184971178, + -0.9970215071748377, + 0.010421443960829113 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036570809219293498, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032112015918767216, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3137571422765945, + 0.08266527993289381, + 0.7565881247038431 + ], + "target_position": [ + 0.3355787426912814, + 0.08437895094379398, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.021888785096296753, + "xy_threshold": 0.08, + "gripper_dist": 0.20046400746313817, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565881247038431, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561375839484158, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09179312505406777, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17222449016461278, + "release_required_pad_clearance": 0.055896562527033886, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.00303158568574, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 153, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d2e37837922f07d96c33bdec3d0348ddd57cbaaf09c5cca589f92ec8fad6c7d6", + "visual_seed": 2953708359491512249, + "episode_index": 153, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_154_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_154_success.json new file mode 100644 index 0000000000000000000000000000000000000000..932ee6a6018f7bbaa16b2662cc792f69187e9011 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_154_success.json @@ -0,0 +1,684 @@ +{ + "episode": 154, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3663146798443229, + 0.09109817500993543, + 1.0483541820951787 + ], + "current_z": 1.0483541820951787, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19176761508196838, + "gripper_z": 1.049908635353312, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3610140315452397, + 0.08616022734611041, + 1.049908635353312 + ], + "object_minus_gripper": [ + 0.0053006482990832215, + 0.004937947663825021, + -0.0015544532581333037 + ], + "object_to_gripper_xy": 0.00724432188139434, + "object_to_gripper_z": -0.0015544532581333037, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3663146798443229, + 0.06636283401810265, + 1.0483541820951787 + ], + "finger_b": [ + 0.35453997035121404, + 0.09109817500993543, + 1.0483541820951787 + ], + "finger_midpoint": [ + 0.3604273250977685, + 0.07873050451401904, + 1.0483541820951787 + ], + "object_minus_finger_midpoint": [ + 0.005887354746554441, + 0.012367670495916389, + 0.0 + ], + "finger_gap": 0.02739490605257392, + "fingertip_max_gap": 0.09330134336697835, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01369745302628696, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483541820951787, + "object_top_z": 1.0939635806629044, + "finger_top_clearance": 0.04560939856772572, + "fingertip_min_top_clearance": 0.013682819570317717, + "object_projection_between_fingers": 0.8152600715356507, + "object_to_finger_line_xy": 0.010631591648201833, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049150671683489175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.564111649871576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.366663606891229, + 0.0878374556806125, + 1.240179510301819 + ], + "held_position": [ + 0.3723043050949234, + 0.0923488756232023, + 1.2384677175060945 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007422979233370665, + "max_held_gripper_dist": 0.007423797995027503, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0017117927957244206, + "max_held_gripper_z_dist": 0.001724104273084004, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779565416459037, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3723043050949234, + 0.06662525418218296, + 1.2384677175060945 + ], + "held_grasp_finger_b": [ + 0.3625960125738775, + 0.0923488756232023, + 1.2384677175060945 + ], + "held_grasp_midpoint": [ + 0.36745015883440046, + 0.07948706490269264, + 1.2384677175060945 + ], + "held_grasp_object_position": [ + 0.3723043050949234, + 0.0923488756232023, + 1.2384677175060945 + ], + "held_grasp_finger_gap": 0.027494647546660162, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02541191729323762, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.030819461858202942, + -0.9995140732128353, + 0.004666714075020617 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004455855286312095, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032195061968131315, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.338136684511816, + 0.08161210452001741, + 0.7565864676474376 + ], + "target_position": [ + 0.3416956530533953, + 0.0868172548085264, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006305540944749792, + "xy_threshold": 0.08, + "gripper_dist": 0.21277151343017706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864676474376, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583143959324429, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09032768211506996, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18197891552750883, + "release_required_pad_clearance": 0.05516384105753498, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.4213001487831765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 154, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c8cf6dc9daa1a00470ef3ed65d974209be6ffc3a73a361bb6e94b512eea51f78", + "visual_seed": 7175969974653602514, + "episode_index": 154, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_155_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_155_success.json new file mode 100644 index 0000000000000000000000000000000000000000..de0635e86b3af4a9a32b60ceb5d631c20da244dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_155_success.json @@ -0,0 +1,684 @@ +{ + "episode": 155, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3647706125839678, + 0.09302568369722977, + 1.049622075872139 + ], + "current_z": 1.049622075872139, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19303562806821828, + "gripper_z": 1.0503267852076104, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35967756735227463, + 0.08818682120732259, + 1.0503267852076104 + ], + "object_minus_gripper": [ + 0.005093045231693183, + 0.004838862489907184, + -0.0007047093354712874 + ], + "object_to_gripper_xy": 0.007025218852698001, + "object_to_gripper_z": -0.0007047093354712874, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3647706125839678, + 0.06856210276842459, + 1.049622075872139 + ], + "finger_b": [ + 0.352973583052732, + 0.09302568369722977, + 1.049622075872139 + ], + "finger_midpoint": [ + 0.35887209781834994, + 0.08079389323282718, + 1.049622075872139 + ], + "object_minus_finger_midpoint": [ + 0.005898514765617868, + 0.012231790464402592, + 0.0 + ], + "finger_gap": 0.027159467918592407, + "fingertip_max_gap": 0.09359203394770241, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013579733959296191, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049622075872139, + "object_top_z": 1.0961739932266408, + "finger_top_clearance": 0.046551917354501704, + "fingertip_min_top_clearance": 0.01396557520635051, + "object_projection_between_fingers": 0.8113300135287659, + "object_to_finger_line_xy": 0.010626039785533796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049296016973851206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3162496189812525, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36530077044939463, + 0.09030778295045559, + 1.2423399993853859 + ], + "held_position": [ + 0.37075653461883895, + 0.09470688553490259, + 1.241490857120285 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007059639424748364, + "max_held_gripper_dist": 0.007060718789054826, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008491422651009106, + "max_held_gripper_z_dist": 0.0008609667219403594, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08796980911299854, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37075653461883895, + 0.06914422213110055, + 1.241490857120285 + ], + "held_grasp_finger_b": [ + 0.36115214168140397, + 0.09470688553490259, + 1.241490857120285 + ], + "held_grasp_midpoint": [ + 0.36595433815012146, + 0.08192555383300157, + 1.241490857120285 + ], + "held_grasp_object_position": [ + 0.37075653461883895, + 0.09470688553490259, + 1.241490857120285 + ], + "held_grasp_finger_gap": 0.027307400535252907, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02489777910297855, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06311739584647731, + -0.9977044633808557, + 0.024535649399962993 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003998506757136881, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321451311434243, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3182574098235979, + 0.08887077522498099, + 0.7565870434866482 + ], + "target_position": [ + 0.34036673633283404, + 0.08909544090943508, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022110467958905415, + "xy_threshold": 0.08, + "gripper_dist": 0.19934371822356467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870434866482, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529792390680519, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08945030161605026, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17208308334515884, + "release_required_pad_clearance": 0.05472515080802513, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.49745479126248, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 155, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "11ababd7a8448be22d969d11b90db5f1250d9ce49187e2705a7fe5c58051c21d", + "visual_seed": 5777045786210425072, + "episode_index": 155, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_156_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_156_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f92ac4307af31941314dacc016b0af5886e46e9c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_156_success.json @@ -0,0 +1,684 @@ +{ + "episode": 156, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36393806188985606, + 0.08806493432666249, + 1.0473842714879715 + ], + "current_z": 1.0473842714879715, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1907977044747612, + "gripper_z": 1.0481108965803394, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3591210444647819, + 0.08331934168805731, + 1.0481108965803394 + ], + "object_minus_gripper": [ + 0.004817017425074177, + 0.0047455926386051756, + -0.0007266250923678719 + ], + "object_to_gripper_xy": 0.006761975034341068, + "object_to_gripper_z": -0.0007266250923678719, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36393806188985606, + 0.06388173389626339, + 1.0473842714879715 + ], + "finger_b": [ + 0.35216912976194314, + 0.08806493432666249, + 1.0473842714879715 + ], + "finger_midpoint": [ + 0.3580535958258996, + 0.07597333411146294, + 1.0473842714879715 + ], + "object_minus_finger_midpoint": [ + 0.005884466063956484, + 0.012091600215199547, + 0.0 + ], + "finger_gap": 0.026894886995268742, + "fingertip_max_gap": 0.09116477289153277, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013447443497634382, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473842714879715, + "object_top_z": 1.0927262489015925, + "finger_top_clearance": 0.045341977413621004, + "fingertip_min_top_clearance": 0.013602593224086268, + "object_projection_between_fingers": 0.8085150398112754, + "object_to_finger_line_xy": 0.010582325352441514, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808238644576639, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8354743976941567, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36467651006847657, + 0.08543917837818375, + 1.2405006461106791 + ], + "held_position": [ + 0.36988182748725007, + 0.0897274903372364, + 1.2396378172990339 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006799222194232655, + "max_held_gripper_dist": 0.006800532357798169, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008628288116452332, + "max_held_gripper_z_dist": 0.0008746400064814086, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779062060886939, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36988182748725007, + 0.06429026003972414, + 1.2396378172990339 + ], + "held_grasp_finger_b": [ + 0.36049873862211473, + 0.0897274903372364, + 1.2396378172990339 + ], + "held_grasp_midpoint": [ + 0.3651902830546824, + 0.07700887518848026, + 1.2396378172990339 + ], + "held_grasp_object_position": [ + 0.36988182748725007, + 0.0897274903372364, + 1.2396378172990339 + ], + "held_grasp_finger_gap": 0.02711263620269527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024663240996006624, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07476984375068997, + -0.9971531014849637, + 0.009755135284308715 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037295645150715317, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216703237946246, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3217650167568105, + 0.08166398321142525, + 0.7565863725472068 + ], + "target_position": [ + 0.3398032115909876, + 0.08447818965138083, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0182564024594776, + "xy_threshold": 0.08, + "gripper_dist": 0.2044125487740013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863725472068, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524828930153524, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567733614830168, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1761987105571858, + "release_required_pad_clearance": 0.052838668074150844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7209039324830724, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 156, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ce71e3dc00c7981a13eb5fc525e0e92e085b8bcd6c3c901aba9c8042da4baa8", + "visual_seed": 846556668555200609, + "episode_index": 156, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_159_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_159_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65fa6d23e841c64a73b488f893a8f3ece60885b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_159_success.json @@ -0,0 +1,684 @@ +{ + "episode": 159, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3580524795793706, + 0.08608502985470388, + 1.0471879929846757 + ], + "current_z": 1.0471879929846757, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1906015451807549, + "gripper_z": 1.0483432045319083, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.353143668341355, + 0.08129754917727192, + 1.0483432045319083 + ], + "object_minus_gripper": [ + 0.004908811238015565, + 0.004787480677431968, + -0.0011552115472326374 + ], + "object_to_gripper_xy": 0.006856850516618571, + "object_to_gripper_z": -0.0011552115472326374, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3580524795793706, + 0.06180770709338478, + 1.0471879929846757 + ], + "finger_b": [ + 0.34626023297621533, + 0.08608502985470388, + 1.0471879929846757 + ], + "finger_midpoint": [ + 0.35215635627779296, + 0.07394636847404433, + 1.0471879929846757 + ], + "object_minus_finger_midpoint": [ + 0.005896123301577627, + 0.012138661380659554, + 0.0 + ], + "finger_gap": 0.02698972916512667, + "fingertip_max_gap": 0.09253518650044043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013494864582563338, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471879929846757, + "object_top_z": 1.0931070224052073, + "finger_top_clearance": 0.04591902942053161, + "fingertip_min_top_clearance": 0.013775708826159482, + "object_projection_between_fingers": 0.8091043411073767, + "object_to_finger_line_xy": 0.010607152636261928, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876759325022022, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1323298625880198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3586077460690307, + 0.08339979361339919, + 1.23885983143527 + ], + "held_position": [ + 0.36388384788649336, + 0.08774003394370287, + 1.2375575887670824 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006954909954835912, + "max_held_gripper_dist": 0.006956319336861713, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0013022426681874588, + "max_held_gripper_z_dist": 0.0013127538554629226, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08760199651307056, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36388384788649336, + 0.062248595752950546, + 1.2375575887670824 + ], + "held_grasp_finger_b": [ + 0.35444184386959265, + 0.08774003394370287, + 1.2375575887670824 + ], + "held_grasp_midpoint": [ + 0.35916284587804304, + 0.0749943148483267, + 1.2375575887670824 + ], + "held_grasp_object_position": [ + 0.36388384788649336, + 0.08774003394370287, + 1.2375575887670824 + ], + "held_grasp_finger_gap": 0.02718390812389042, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02479769559895105, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06711795269217358, + -0.9976456952947678, + 0.014080024368971045 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038591687968084266, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032167649187409594, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31420646033023786, + 0.08698297399442076, + 0.7565875962746069 + ], + "target_position": [ + 0.3338165718478957, + 0.08299386845301111, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02001173247761128, + "xy_threshold": 0.08, + "gripper_dist": 0.2020331663585382, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875962746069, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526027823958663, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09163447529836531, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17533796519041558, + "release_required_pad_clearance": 0.05581723764918266, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.831163407448698, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 159, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "379dd99064514f2b302456d187a5fddf86c40bab8f2d31b52cf40344c1ddcf2d", + "visual_seed": 2503218898550663667, + "episode_index": 159, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dcafa47ec4ef068994c9af6afd8480d8deb0d504 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3604947124581048, + 0.08545761088048415, + 1.0502938333844225 + ], + "current_z": 1.0502938333844225, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19370732597585694, + "gripper_z": 1.051312132326543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35544386955062823, + 0.08062008025476118, + 1.051312132326543 + ], + "object_minus_gripper": [ + 0.005050842907476594, + 0.004837530625722966, + -0.0010182989421205768 + ], + "object_to_gripper_xy": 0.006993762694774126, + "object_to_gripper_z": -0.0010182989421205768, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3604947124581048, + 0.06105383051768649, + 1.0502938333844225 + ], + "finger_b": [ + 0.348662709040981, + 0.08545761088048415, + 1.0502938333844225 + ], + "finger_midpoint": [ + 0.35457871074954295, + 0.07325572069908531, + 1.0502938333844225 + ], + "object_minus_finger_midpoint": [ + 0.00591600170856188, + 0.012201890181398833, + 0.0 + ], + "finger_gap": 0.027120855459562818, + "fingertip_max_gap": 0.09176266515413026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0135604277297814, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502938333844225, + "object_top_z": 1.0960100767279357, + "finger_top_clearance": 0.04571624334351321, + "fingertip_min_top_clearance": 0.013714873003053962, + "object_projection_between_fingers": 0.8096688794157568, + "object_to_finger_line_xy": 0.010646626286323482, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838133257706513, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7224344376470776, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36096932577529045, + 0.08271714214568737, + 1.2414068779106167 + ], + "held_position": [ + 0.36637661971546587, + 0.08712090148561412, + 1.2402352590926473 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0070713941153120385, + "max_held_gripper_dist": 0.007072330464982468, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0011716188179693443, + "max_held_gripper_z_dist": 0.0011808681461167314, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08786111524048576, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36637661971546587, + 0.06155665636646597, + 1.2402352590926473 + ], + "held_grasp_finger_b": [ + 0.3568206621864385, + 0.08712090148561412, + 1.2402352590926473 + ], + "held_grasp_midpoint": [ + 0.3615986409509522, + 0.07433877892604004, + 1.2402352590926473 + ], + "held_grasp_object_position": [ + 0.36637661971546587, + 0.08712090148561412, + 1.2402352590926473 + ], + "held_grasp_finger_gap": 0.02729188437628419, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024823131762922678, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07067432559990922, + -0.9974279505577563, + 0.01194249333899533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038657582474016417, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211329823052405, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3167122351367111, + 0.0837532285567784, + 0.7565867247382314 + ], + "target_position": [ + 0.3360987224036783, + 0.08118242866034428, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019556198522713616, + "xy_threshold": 0.08, + "gripper_dist": 0.20239123754014862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867247382314, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586082386044574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08840443390169538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1742950448621649, + "release_required_pad_clearance": 0.05420221695084769, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4198979886023677, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2d7da45d0836175ad9a001d12053ac6452c8b319d61e36a4ed3fc6452b8d6c14", + "visual_seed": 4994008314449701685, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_160_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_160_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4c6bc58c8efb6628dfe4dcecf8840a3a7a065a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_160_success.json @@ -0,0 +1,684 @@ +{ + "episode": 160, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36257456647587166, + 0.09159517808442554, + 1.0469184012073693 + ], + "current_z": 1.0469184012073693, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.1903318341941589, + "gripper_z": 1.0476951630444349, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35746705163898823, + 0.08675975613601733, + 1.0476951630444349 + ], + "object_minus_gripper": [ + 0.005107514836883431, + 0.004835421948408206, + -0.0007767618370655427 + ], + "object_to_gripper_xy": 0.00703335007149027, + "object_to_gripper_z": -0.0007767618370655427, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36257456647587166, + 0.06710481985337427, + 1.0469184012073693 + ], + "finger_b": [ + 0.3508033170279876, + 0.09159517808442554, + 1.0469184012073693 + ], + "finger_midpoint": [ + 0.35668894175192967, + 0.07934999896889991, + 1.0469184012073693 + ], + "object_minus_finger_midpoint": [ + 0.005885624723941996, + 0.012245179115525626, + 0.0 + ], + "finger_gap": 0.0271724117414986, + "fingertip_max_gap": 0.09403225310469523, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358620587074928, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469184012073693, + "object_top_z": 1.0936930085402974, + "finger_top_clearance": 0.04677460733292804, + "fingertip_min_top_clearance": 0.014032382199878412, + "object_projection_between_fingers": 0.8123326365912138, + "object_to_finger_line_xy": 0.01060936800709047, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04951612655234762, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4116169696095655, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3630089150855049, + 0.08868855073902618, + 1.2380116088805662 + ], + "held_position": [ + 0.3684718111627405, + 0.09308750594988394, + 1.237072991201309 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00707637220937557, + "max_held_gripper_dist": 0.007077119529910712, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000938617679257181, + "max_held_gripper_z_dist": 0.0009481462112104211, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08782683778384454, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3684718111627405, + 0.06748820693933007, + 1.237072991201309 + ], + "held_grasp_finger_b": [ + 0.35894076218958126, + 0.09308750594988394, + 1.237072991201309 + ], + "held_grasp_midpoint": [ + 0.3637062866761609, + 0.08028785644460701, + 1.237072991201309 + ], + "held_grasp_object_position": [ + 0.3684718111627405, + 0.09308750594988394, + 1.237072991201309 + ], + "held_grasp_finger_gap": 0.027316021019916214, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024947540680897416, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06229778393965673, + -0.9977345043712181, + 0.02539379655206553 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003972507707294912, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032132691395713904, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3210538487337675, + 0.09619967903392965, + 0.7565864342230644 + ], + "target_position": [ + 0.3381513289258722, + 0.08879989922756885, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018630098499525877, + "xy_threshold": 0.08, + "gripper_dist": 0.2039129448161438, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864342230644, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756940190988489, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0889668856238539, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1768272263002266, + "release_required_pad_clearance": 0.05448344281192695, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.991725768586596, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 160, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12434e6e0218fc3f505e8b53ec331906fa8c34b680374d684e48596af52e3551", + "visual_seed": 7402484752470252275, + "episode_index": 160, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_161_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_161_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60d6cc706e5ef2a0ae0cb90abdf42dd95c0562b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_161_success.json @@ -0,0 +1,684 @@ +{ + "episode": 161, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3606728087940501, + 0.0892593615157557, + 1.0501117654839047 + ], + "current_z": 1.0501117654839047, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19352519847069438, + "gripper_z": 1.0511455527321536, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3553958867004967, + 0.08432105829972489, + 1.0511455527321536 + ], + "object_minus_gripper": [ + 0.0052769220935534045, + 0.004938303216030809, + -0.0010337872482488741 + ], + "object_to_gripper_xy": 0.007227222525624369, + "object_to_gripper_z": -0.0010337872482488741, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3606728087940501, + 0.0646461365925632, + 1.0501117654839047 + ], + "finger_b": [ + 0.3487518690595661, + 0.0892593615157557, + 1.0501117654839047 + ], + "finger_midpoint": [ + 0.3547123389268081, + 0.07695274905415944, + 1.0501117654839047 + ], + "object_minus_finger_midpoint": [ + 0.005960469867242024, + 0.012306612461596256, + 0.0 + ], + "finger_gap": 0.02734811959299695, + "fingertip_max_gap": 0.09590178603307117, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013674059796498493, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501117654839047, + "object_top_z": 1.0975578148706016, + "finger_top_clearance": 0.04744604938669683, + "fingertip_min_top_clearance": 0.01423381481600905, + "object_projection_between_fingers": 0.809994556164715, + "object_to_finger_line_xy": 0.010728809707845942, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05045089301653559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.230019826146668, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36118733110920953, + 0.08591291578931015, + 1.2411255739155589 + ], + "held_position": [ + 0.36684707721848014, + 0.09036667677295211, + 1.2399220706223242 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007301858194846161, + "max_held_gripper_dist": 0.007303238019329465, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001203503293234709, + "max_held_gripper_z_dist": 0.0012186311160931051, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0880733540790467, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36684707721848014, + 0.06460189673450267, + 1.2399220706223242 + ], + "held_grasp_finger_b": [ + 0.357296621813869, + 0.09036667677295211, + 1.2399220706223242 + ], + "held_grasp_midpoint": [ + 0.36207184951617455, + 0.0774842867537274, + 1.2399220706223242 + ], + "held_grasp_object_position": [ + 0.36684707721848014, + 0.09036667677295211, + 1.2399220706223242 + ], + "held_grasp_finger_gap": 0.027477901827926175, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025173576855305628, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05606230017805983, + -0.9978349248342085, + 0.03438722553295848 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004070184901804597, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03207801604042748, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3272401616597946, + 0.07907447691321079, + 0.7565863545245797 + ], + "target_position": [ + 0.33600990085198523, + 0.08475037071722195, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010446247937582998, + "xy_threshold": 0.08, + "gripper_dist": 0.20767376672139717, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863545245797, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538511944674188, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504855079636785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1778291433038434, + "release_required_pad_clearance": 0.052524275398183926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11869402513060563, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 161, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26235b8edd4b0ffdb61e90638279d9e025d127c731ac0cf71f8b44000d88f5a8", + "visual_seed": 2594451394757799347, + "episode_index": 161, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_162_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_162_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0024606d0f34da4ad14bb798abc7e5ceb763b288 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_162_success.json @@ -0,0 +1,684 @@ +{ + "episode": 162, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3618482307137252, + 0.08745456956653905, + 1.048798707516502 + ], + "current_z": 1.048798707516502, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19221208089864683, + "gripper_z": 1.0496597602390967, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35680106854998184, + 0.08264531593013127, + 1.0496597602390967 + ], + "object_minus_gripper": [ + 0.005047162163743346, + 0.004809253636407773, + -0.0008610527225947351 + ], + "object_to_gripper_xy": 0.006971568435181843, + "object_to_gripper_z": -0.0008610527225947351, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3618482307137252, + 0.06301336871015724, + 1.048798707516502 + ], + "finger_b": [ + 0.3501061561557331, + 0.08745456956653905, + 1.048798707516502 + ], + "finger_midpoint": [ + 0.3559771934347291, + 0.07523396913834815, + 1.048798707516502 + ], + "object_minus_finger_midpoint": [ + 0.005871037278996072, + 0.012220600428190898, + 0.0 + ], + "finger_gap": 0.027115468172750474, + "fingertip_max_gap": 0.09312561427041846, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013557734086375244, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048798707516502, + "object_top_z": 1.0950559863769134, + "finger_top_clearance": 0.04625727886041142, + "fingertip_min_top_clearance": 0.013877183658123427, + "object_projection_between_fingers": 0.812476606881718, + "object_to_finger_line_xy": 0.010584010606569737, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906280713520923, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2348681173766471, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3623918294453765, + 0.08436391153869965, + 1.240482897962032 + ], + "held_position": [ + 0.3678034331164558, + 0.08872770705572172, + 1.2394712863085764 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007025063967297934, + "max_held_gripper_dist": 0.007025903907388051, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010116116534555353, + "max_held_gripper_z_dist": 0.0010224138424970164, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08683875460208434, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3678034331164558, + 0.06314934470830208, + 1.2394712863085764 + ], + "held_grasp_finger_b": [ + 0.3583286182447665, + 0.08872770705572172, + 1.2394712863085764 + ], + "held_grasp_midpoint": [ + 0.36306602568061114, + 0.0759385258820119, + 1.2394712863085764 + ], + "held_grasp_object_position": [ + 0.3678034331164558, + 0.08872770705572172, + 1.2394712863085764 + ], + "held_grasp_finger_gap": 0.02727681684560499, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024911072820047318, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06430419576564818, + -0.9977317086906546, + 0.019909994479149536 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00391369500871011, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213541820543473, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33197865377180624, + 0.07935476529361385, + 0.7565886197549837 + ], + "target_position": [ + 0.33745883332658294, + 0.08322002247964878, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006706159934477199, + "xy_threshold": 0.08, + "gripper_dist": 0.211693603840611, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565886197549837, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552501495649286, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08753467041763856, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18152267554687568, + "release_required_pad_clearance": 0.05376733520881928, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5383635406544203, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 162, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bcdfee06cd0b3c5ee35b626df36b954c0bcdf6b39787b7d9f4260710dcda75a9", + "visual_seed": 5480236250976475017, + "episode_index": 162, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_164_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_164_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b9962a2d170cc53070db40e09c13d5011282a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_164_success.json @@ -0,0 +1,684 @@ +{ + "episode": 164, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36577550480538856, + 0.08207254902142033, + 1.0485312421351856 + ], + "current_z": 1.0485312421351856, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19194473472662, + "gripper_z": 1.0491685004358684, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3609320143028483, + 0.07731283323112567, + 1.0491685004358684 + ], + "object_minus_gripper": [ + 0.0048434905025402375, + 0.004759715790294661, + -0.0006372583006828414 + ], + "object_to_gripper_xy": 0.006790750669298484, + "object_to_gripper_z": -0.0006372583006828414, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36577550480538856, + 0.05786057361875023, + 1.0485312421351856 + ], + "finger_b": [ + 0.35399480953760654, + 0.08207254902142033, + 1.0485312421351856 + ], + "finger_midpoint": [ + 0.35988515717149755, + 0.06996656132008527, + 1.0485312421351856 + ], + "object_minus_finger_midpoint": [ + 0.005890347633891013, + 0.012105987701335058, + 0.0 + ], + "finger_gap": 0.026925908227798813, + "fingertip_max_gap": 0.09105631156202962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013462954113899413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485312421351856, + "object_top_z": 1.093937697675947, + "finger_top_clearance": 0.04540645554076139, + "fingertip_min_top_clearance": 0.013621936662228417, + "object_projection_between_fingers": 0.8085739129832178, + "object_to_finger_line_xy": 0.010593288131146862, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04802815578101481, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6238904551855465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36649398093544955, + 0.0791548362858621, + 1.239771374620656 + ], + "held_position": [ + 0.37172791427127977, + 0.0834558971122098, + 1.2389836332746957 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068200966872906475, + "max_held_gripper_dist": 0.006821408794140091, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007877413459602689, + "max_held_gripper_z_dist": 0.0007985904425062973, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779645153777535, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37172791427127977, + 0.05797091578301199, + 1.2389836332746957 + ], + "held_grasp_finger_b": [ + 0.3623832110494271, + 0.0834558971122098, + 1.2389836332746957 + ], + "held_grasp_midpoint": [ + 0.36705556266035344, + 0.0707134064476109, + 1.2389836332746957 + ], + "held_grasp_object_position": [ + 0.37172791427127977, + 0.0834558971122098, + 1.2389836332746957 + ], + "held_grasp_finger_gap": 0.027144202910641235, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024672256299653087, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07845164404205103, + -0.9968758973107777, + 0.00915340963418898 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003660194238618862, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213098948514484, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31680563811646834, + 0.0839025257271945, + 0.7565900469904232 + ], + "target_position": [ + 0.3415561775228851, + 0.0807994769853933, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.024944300198694338, + "xy_threshold": 0.08, + "gripper_dist": 0.20141411577219503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565900469904232, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754424829293296, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08824663766574235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17490785467056252, + "release_required_pad_clearance": 0.05412331883287118, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2281429855504795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 164, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a79be5ae63cd4f94d6e8fe7f6d83705fba177cd593fa66675665d98ae215a86", + "visual_seed": 6795195789780508517, + "episode_index": 164, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a62bc36aadebaf3c76c4c9ab1ff6860920827eec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_17_success.json @@ -0,0 +1,684 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36723383768260154, + 0.08761361422470407, + 1.0485332944398487 + ], + "current_z": 1.0485332944398487, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1919467870312831, + "gripper_z": 1.0493227735110648, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3620465788423352, + 0.08272045216533745, + 1.0493227735110648 + ], + "object_minus_gripper": [ + 0.005187258840266329, + 0.004893162059366615, + -0.0007894790712161814 + ], + "object_to_gripper_xy": 0.007130966920070946, + "object_to_gripper_z": -0.0007894790712161814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36723383768260154, + 0.06307403946030077, + 1.0485332944398487 + ], + "finger_b": [ + 0.3553745504416075, + 0.08761361422470407, + 1.0485332944398487 + ], + "finger_midpoint": [ + 0.3613041940621045, + 0.07534382684250242, + 1.0485332944398487 + ], + "object_minus_finger_midpoint": [ + 0.005929643620497027, + 0.01226978738220165, + 0.0 + ], + "finger_gap": 0.027254970619726294, + "fingertip_max_gap": 0.09523780731455075, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013627485309863147, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485332944398487, + "object_top_z": 1.0954732491294346, + "finger_top_clearance": 0.046939954689585894, + "fingertip_min_top_clearance": 0.014081986406875734, + "object_projection_between_fingers": 0.8106672513399834, + "object_to_finger_line_xy": 0.010677753792633915, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05011890365727538, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.085177426999003, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3676382248473111, + 0.08453062560405995, + 1.2394706736348684 + ], + "held_position": [ + 0.373181883866787, + 0.08899017990788452, + 1.2385163424718812 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007178476710390939, + "max_held_gripper_dist": 0.007180163031541869, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009543311629871543, + "max_held_gripper_z_dist": 0.000964665966378897, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08781049235741498, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.373181883866787, + 0.06332919880915441, + 1.2385163424718812 + ], + "held_grasp_finger_b": [ + 0.36356440163090187, + 0.08899017990788452, + 1.2385163424718812 + ], + "held_grasp_midpoint": [ + 0.3683731427488445, + 0.07615968935851947, + 1.2385163424718812 + ], + "held_grasp_object_position": [ + 0.373181883866787, + 0.08899017990788452, + 1.2385163424718812 + ], + "held_grasp_finger_gap": 0.027404049253841125, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025153377065119525, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048717528347685723, + -0.998477686024545, + 0.025863351344379226 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004191359250096443, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215499646979091, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3343563709439737, + 0.0867261542217467, + 0.7565865186862758 + ], + "target_position": [ + 0.34272866811268005, + 0.08357772898668177, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008944715833491981, + "xy_threshold": 0.08, + "gripper_dist": 0.20824435098938465, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865186862758, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758475531765066, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09204068237760159, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17935911861584924, + "release_required_pad_clearance": 0.056020341188800796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.283707390305631, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d2704b513e4ca2811c989e766ea42e75d1ad0f02c32259ee54ce92bd90b65e8", + "visual_seed": 3257380104986419385, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5a3774aea72fb6b5c19a213c8ecccefb1e9b27 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36719259309087166, + 0.08874772355834834, + 1.048900665983596 + ], + "current_z": 1.048900665983596, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19231415857503042, + "gripper_z": 1.0495273728422583, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3623766714105984, + 0.08398448459396819, + 1.0495273728422583 + ], + "object_minus_gripper": [ + 0.004815921680273227, + 0.004763238964380148, + -0.0006267068586622848 + ], + "object_to_gripper_xy": 0.006773591887788559, + "object_to_gripper_z": -0.0006267068586622848, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36719259309087166, + 0.06457199789532621, + 1.048900665983596 + ], + "finger_b": [ + 0.35538996203445467, + 0.08874772355834834, + 1.048900665983596 + ], + "finger_midpoint": [ + 0.36129127756266316, + 0.07665986072683728, + 1.048900665983596 + ], + "object_minus_finger_midpoint": [ + 0.005901315528208495, + 0.01208786283151106, + 0.0 + ], + "finger_gap": 0.026902933133537796, + "fingertip_max_gap": 0.09273042683947555, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013451466566768891, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048900665983596, + "object_top_z": 1.0951534783109425, + "finger_top_clearance": 0.04625281232734646, + "fingertip_min_top_clearance": 0.013875843698203938, + "object_projection_between_fingers": 0.8075320597287647, + "object_to_finger_line_xy": 0.010606173278782554, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886521341973778, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0229887201651233, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3680736990194524, + 0.0856560602774066, + 1.2421247939096172 + ], + "held_position": [ + 0.37330982320386047, + 0.08992759665243427, + 1.2413560957051282 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006801023188264543, + "max_held_gripper_dist": 0.006801776806318237, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007686982044889934, + "max_held_gripper_z_dist": 0.0007786107855181079, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08785588490714183, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37330982320386047, + 0.06443274403470994, + 1.2413560957051282 + ], + "held_grasp_finger_b": [ + 0.364014331640406, + 0.08992759665243427, + 1.2413560957051282 + ], + "held_grasp_midpoint": [ + 0.3686620774221332, + 0.07718017034357211, + 1.2413560957051282 + ], + "held_grasp_object_position": [ + 0.37330982320386047, + 0.08992759665243427, + 1.2413560957051282 + ], + "held_grasp_finger_gap": 0.027136574459679666, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024652005190508284, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08091155991281561, + -0.9964410578864282, + 0.023633400742396282 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003614044560531451, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032122109648001114, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3315882829389676, + 0.08338423773452876, + 0.7565867202812473 + ], + "target_position": [ + 0.3430226457599241, + 0.08670624567747143, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011907157086989592, + "xy_threshold": 0.08, + "gripper_dist": 0.2075140346755806, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867202812473, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551564172990369, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08955891662794789, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17811957142412607, + "release_required_pad_clearance": 0.05477945831397395, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.610742477510408, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 210, + "max_placed_release_frames": 210 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6907dd6e2c768d8b7e320285784f2452e6f185a0cb84f0b215cabff1a9a2bf4", + "visual_seed": 1875711571090629132, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6489015e1204b0b2673085f3b1214d77b773050 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.366835825068988, + 0.08247530228497815, + 1.0477926730445684 + ], + "current_z": 1.0477926730445684, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19120610603135801, + "gripper_z": 1.0484981370147126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36166129032190886, + 0.07761184166770824, + 1.0484981370147126 + ], + "object_minus_gripper": [ + 0.005174534747079129, + 0.004863460617269916, + -0.00070546397014426 + ], + "object_to_gripper_xy": 0.00710134205798205, + "object_to_gripper_z": -0.00070546397014426, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.366835825068988, + 0.05790402542747201, + 1.0477926730445684 + ], + "finger_b": [ + 0.35506680919579536, + 0.08247530228497815, + 1.0477926730445684 + ], + "finger_midpoint": [ + 0.3609513171323917, + 0.07018966385622508, + 1.0477926730445684 + ], + "object_minus_finger_midpoint": [ + 0.005884507936596284, + 0.012285638428753076, + 0.0 + ], + "finger_gap": 0.02724440091159424, + "fingertip_max_gap": 0.09356421656826816, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013622200455797111, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477926730445684, + "object_top_z": 1.093979896996701, + "finger_top_clearance": 0.046187223952132594, + "fingertip_min_top_clearance": 0.013856167185639779, + "object_projection_between_fingers": 0.8133939275471499, + "object_to_finger_line_xy": 0.010614281749081734, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04928210828413408, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.711942042651172, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3673362737121595, + 0.07919314587290138, + 1.2417201947556682 + ], + "held_position": [ + 0.3728830415624982, + 0.0836026681284943, + 1.2408673134538701 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007137081099656707, + "max_held_gripper_dist": 0.0071388375534268255, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008528813017980585, + "max_held_gripper_z_dist": 0.0008647917785262749, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08797852581295726, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3728830415624982, + 0.05793460735341631, + 1.2408673134538701 + ], + "held_grasp_finger_b": [ + 0.36332968903446716, + 0.0836026681284943, + 1.2408673134538701 + ], + "held_grasp_midpoint": [ + 0.3681063652984827, + 0.0707686377409553, + 1.2408673134538701 + ], + "held_grasp_object_position": [ + 0.3728830415624982, + 0.0836026681284943, + 1.2408673134538701 + ], + "held_grasp_finger_gap": 0.027388243617982044, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025104072477188117, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05450289601960008, + -0.9983129649413148, + 0.020016452122135764 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004078347902764463, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212750334774286, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.336794257100794, + 0.07939820191222187, + 0.7565867048657309 + ], + "target_position": [ + 0.34231691648228063, + 0.08032858212309181, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005600479799151178, + "xy_threshold": 0.08, + "gripper_dist": 0.21139668528281078, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867048657309, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753764877527943, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09086115721675884, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18196624855013613, + "release_required_pad_clearance": 0.055430578608379424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.993001883842222, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8652c3f28873fe76f4a99ba21422a0c4cc59e045de47518bebb6944659baa116", + "visual_seed": 7559080356497862027, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac776434faaabe26ae1338427c49e9191100503 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3636325371748471, + 0.09025275187047858, + 1.0480365474365678 + ], + "current_z": 1.0480365474365678, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19144998042335748, + "gripper_z": 1.048761076210745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35883572437783934, + 0.08549481454813236, + 1.048761076210745 + ], + "object_minus_gripper": [ + 0.004796812797007777, + 0.004757937322346223, + -0.0007245287741772799 + ], + "object_to_gripper_xy": 0.006756284524271659, + "object_to_gripper_z": -0.0007245287741772799, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3636325371748471, + 0.06610901862757763, + 1.0480365474365678 + ], + "finger_b": [ + 0.3518182190484275, + 0.09025275187047858, + 1.0480365474365678 + ], + "finger_midpoint": [ + 0.3577253781116373, + 0.07818088524902811, + 1.0480365474365678 + ], + "object_minus_finger_midpoint": [ + 0.005907159063209821, + 0.012071866621450475, + 0.0 + ], + "finger_gap": 0.026879322307242177, + "fingertip_max_gap": 0.09314357367942214, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0134396611536211, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480365474365678, + "object_top_z": 1.0941816223380145, + "finger_top_clearance": 0.0461450749014467, + "fingertip_min_top_clearance": 0.01384352247043401, + "object_projection_between_fingers": 0.8068117572188681, + "object_to_finger_line_xy": 0.010611939617770426, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04907178683971107, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3826794802708136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3644054821757405, + 0.08774483371218157, + 1.241243336875147 + ], + "held_position": [ + 0.36960036746183134, + 0.09203957210281696, + 1.2403842873315958 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006794819872367204, + "max_held_gripper_dist": 0.0067970712405118205, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008590495435512047, + "max_held_gripper_z_dist": 0.0008701229631811191, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08780973264199725, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36960036746183134, + 0.06661705925670176, + 1.2403842873315958 + ], + "held_grasp_finger_b": [ + 0.3601941035973271, + 0.09203957210281696, + 1.2403842873315958 + ], + "held_grasp_midpoint": [ + 0.3648972355295792, + 0.07932831567975937, + 1.2403842873315958 + ], + "held_grasp_object_position": [ + 0.36960036746183134, + 0.09203957210281696, + 1.2403842873315958 + ], + "held_grasp_finger_gap": 0.027106861848977835, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024716966267011167, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06822743318630717, + -0.9974911473093997, + 0.01887931143303145 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003832627306301009, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03219997659295695, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3383595264497869, + 0.0833762993865535, + 0.7565969297165582 + ], + "target_position": [ + 0.3395149073194217, + 0.08594073187299182, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0028126889147963557, + "xy_threshold": 0.08, + "gripper_dist": 0.21468771282154883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565969297165582, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519032063144722, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09488192771544655, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18502539384906083, + "release_required_pad_clearance": 0.05744096385772328, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.535628658773472, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "56e961becd1328430e5c8fdab8d6b4d52f4819f8f9de0d93e2e26ad658008bfc", + "visual_seed": 2827621914965532943, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d69f5fdf4c61398e6deb175e2b800652cc61564d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3670115461330875, + 0.09074788411091668, + 1.047937767291 + ], + "current_z": 1.047937767291, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.19135120027778985, + "gripper_z": 1.0484759007560127, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36211092166566533, + 0.08597891731001442, + 1.0484759007560127 + ], + "object_minus_gripper": [ + 0.004900624467422177, + 0.004768966800902261, + -0.0005381334650127467 + ], + "object_to_gripper_xy": 0.006838067308736061, + "object_to_gripper_z": -0.0005381334650127467, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3670115461330875, + 0.06646195130480592, + 1.047937767291 + ], + "finger_b": [ + 0.35526217072622357, + 0.09074788411091668, + 1.047937767291 + ], + "finger_midpoint": [ + 0.36113685842965554, + 0.0786049177078613, + 1.047937767291 + ], + "object_minus_finger_midpoint": [ + 0.005874687703431969, + 0.012142966403055386, + 0.0 + ], + "finger_gap": 0.02697877600474762, + "fingertip_max_gap": 0.0914409577742614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013489388002373816, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047937767291, + "object_top_z": 1.093354424371635, + "finger_top_clearance": 0.04541665708063514, + "fingertip_min_top_clearance": 0.013624997124190541, + "object_projection_between_fingers": 0.8103359256460072, + "object_to_finger_line_xy": 0.010576630370282704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482204788871307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9556086084161081, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3678501128168993, + 0.08784491275220051, + 1.2400039238802432 + ], + "held_position": [ + 0.37314922656819877, + 0.09214516568968052, + 1.2393184451536179 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006858765410784411, + "max_held_gripper_dist": 0.006860989107025733, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006854787266252771, + "max_held_gripper_z_dist": 0.0006960903791968232, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08665337639922782, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37314922656819877, + 0.06661395771940357, + 1.2393184451536179 + ], + "held_grasp_finger_b": [ + 0.36381890648468435, + 0.09214516568968052, + 1.2393184451536179 + ], + "held_grasp_midpoint": [ + 0.36848406652644156, + 0.07937956170454205, + 1.2393184451536179 + ], + "held_grasp_object_position": [ + 0.37314922656819877, + 0.09214516568968052, + 1.2393184451536179 + ], + "held_grasp_finger_gap": 0.027182668251707117, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024773515934414687, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0736077475824264, + -0.9972226856490987, + 0.011349657379886803 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037157593827021494, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212668315303286, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3402805783118591, + 0.0828821870957671, + 0.7565863238032936 + ], + "target_position": [ + 0.3427576579123783, + 0.0888680847473327, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0064781860147981865, + "xy_threshold": 0.08, + "gripper_dist": 0.2143209823864425, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863238032936, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527958700075665, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087454510116706, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18419267095414868, + "release_required_pad_clearance": 0.053727255058353005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4638822345486058, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a0a496faef904715318f237e958ebf98d1241983892f910103c312cf9a80fd89", + "visual_seed": 3396479350632695182, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..db4f4fe7ec3972eec3312faec41f6fd17b16672b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3630885653106791, + 0.08365409376602906, + 1.0477162286587147 + ], + "current_z": 1.0477162286587147, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19112966164550438, + "gripper_z": 1.0484196608025456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35815569062259267, + 0.07887272452711624, + 1.0484196608025456 + ], + "object_minus_gripper": [ + 0.004932874688086453, + 0.004781369238912814, + -0.00070343214383084 + ], + "object_to_gripper_xy": 0.006869843119546888, + "object_to_gripper_z": -0.00070343214383084, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3630885653106791, + 0.05934403085648028, + 1.0477162286587147 + ], + "finger_b": [ + 0.35132531737382733, + 0.08365409376602906, + 1.0477162286587147 + ], + "finger_midpoint": [ + 0.3572069413422532, + 0.07149906231125466, + 1.0477162286587147 + ], + "object_minus_finger_midpoint": [ + 0.0058816239684258975, + 0.012155031454774395, + 0.0 + ], + "finger_gap": 0.027006539220901057, + "fingertip_max_gap": 0.09132089030479498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013503269610450536, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477162286587147, + "object_top_z": 1.0932100777319098, + "finger_top_clearance": 0.04549384907319509, + "fingertip_min_top_clearance": 0.01364815472195856, + "object_projection_between_fingers": 0.8102784638748567, + "object_to_finger_line_xy": 0.010588742786568196, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048160445152397494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.708335449838282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3636871653081112, + 0.08070218140860773, + 1.239098015614158 + ], + "held_position": [ + 0.36900289830487354, + 0.0850300694996331, + 1.2382477217836525 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006907288340550367, + "max_held_gripper_dist": 0.0069091996124904876, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008502938305054997, + "max_held_gripper_z_dist": 0.000861717183527233, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08781174045333788, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36900289830487354, + 0.05950367745106886, + 1.2382477217836525 + ], + "held_grasp_finger_b": [ + 0.35959725517944113, + 0.0850300694996331, + 1.2382477217836525 + ], + "held_grasp_midpoint": [ + 0.36430007674215736, + 0.07226687347535098, + 1.2382477217836525 + ], + "held_grasp_object_position": [ + 0.36900289830487354, + 0.0850300694996331, + 1.2382477217836525 + ], + "held_grasp_finger_gap": 0.02720409553026892, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02475085084074923, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07471364664700463, + -0.9971476066529457, + 0.01070147424464851 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037386570985629983, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212206964847478, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3122711431914395, + 0.08433284851026394, + 0.7565873891031876 + ], + "target_position": [ + 0.33882579145769365, + 0.08165498851098296, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02668932892974687, + "xy_threshold": 0.08, + "gripper_dist": 0.1966831290084201, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873891031876, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557626029021744, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08948744784800221, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17021540736952542, + "release_required_pad_clearance": 0.054743723924001106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.535243819280775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "38fd7d833c295ee3c45aac528b9bcd329025bf5f43f12e9a3361ed38405f8bec", + "visual_seed": 8921507594399835101, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73e79483778a97988740c1eeea852ac1ad9c2356 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3641119615500367, + 0.09366301649083644, + 1.0506439396055631 + ], + "current_z": 1.0506439396055631, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19405743219699756, + "gripper_z": 1.0514075279641786, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35921414836622306, + 0.08888963298823147, + 1.0514075279641786 + ], + "object_minus_gripper": [ + 0.00489781318381366, + 0.004773383502604978, + -0.0007635883586154524 + ], + "object_to_gripper_xy": 0.006839134743992128, + "object_to_gripper_z": -0.0007635883586154524, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3641119615500367, + 0.06938788508311106, + 1.0506439396055631 + ], + "finger_b": [ + 0.3523412434742647, + 0.09366301649083644, + 1.0506439396055631 + ], + "finger_midpoint": [ + 0.3582266025121507, + 0.08152545078697375, + 1.0506439396055631 + ], + "object_minus_finger_midpoint": [ + 0.0058853590378860066, + 0.012137565703862693, + 0.0 + ], + "finger_gap": 0.026978358157635197, + "fingertip_max_gap": 0.09292801768641132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013489179078817599, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506439396055631, + "object_top_z": 1.0970359582358942, + "finger_top_clearance": 0.046392018630331044, + "fingertip_min_top_clearance": 0.013917605589099312, + "object_projection_between_fingers": 0.8096403560154971, + "object_to_finger_line_xy": 0.010591294191555061, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896400884320566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0299158387860659, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.364997789712749, + 0.09064772679098883, + 1.2417186202792958 + ], + "held_position": [ + 0.37029473559177617, + 0.09494337676027684, + 1.2407957682904973 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068819982633837136, + "max_held_gripper_dist": 0.006882645023340679, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009228519887984898, + "max_held_gripper_z_dist": 0.0009312469167304105, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878118078013013, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37029473559177617, + 0.06939059048570204, + 1.2407957682904973 + ], + "held_grasp_finger_b": [ + 0.36102325168807836, + 0.09494337676027684, + 1.2407957682904973 + ], + "held_grasp_midpoint": [ + 0.36565899363992727, + 0.08216698362298944, + 1.2407957682904973 + ], + "held_grasp_object_position": [ + 0.37029473559177617, + 0.09494337676027684, + 1.2407957682904973 + ], + "held_grasp_finger_gap": 0.027182812587563963, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024733439422597692, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0790232827639039, + -0.9966076592633476, + 0.02298900343310528 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036238784690756022, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210084216034903, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3209216920017052, + 0.08666253231665866, + 0.7565866842763733 + ], + "target_position": [ + 0.33984248383063415, + 0.08905354633593639, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019071269267514575, + "xy_threshold": 0.08, + "gripper_dist": 0.2030050908174757, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866842763733, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522915652738629, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09134973715712717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1747530529087539, + "release_required_pad_clearance": 0.05567486857856359, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.522695618161274, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69e81f98e68baccc10cf1d673825e97cde3757131ae1bcfc3cd61881d95fcf12", + "visual_seed": 3068832832078528086, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d45d5206b24454c1b01aae881aa18d1914e068e4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36562021326018973, + 0.08878136312241816, + 1.049373991652366 + ], + "current_z": 1.049373991652366, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1927875438484451, + "gripper_z": 1.050008096819171, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3607441575075143, + 0.08399853482661798, + 1.050008096819171 + ], + "object_minus_gripper": [ + 0.004876055752675412, + 0.004782828295800179, + -0.0006341051668050657 + ], + "object_to_gripper_xy": 0.006830180540095981, + "object_to_gripper_z": -0.0006341051668050657, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36562021326018973, + 0.06455462277171534, + 1.049373991652366 + ], + "finger_b": [ + 0.35379913278030034, + 0.08878136312241816, + 1.049373991652366 + ], + "finger_midpoint": [ + 0.35970967302024504, + 0.07666799294706675, + 1.049373991652366 + ], + "object_minus_finger_midpoint": [ + 0.005910540239944695, + 0.012113370175351412, + 0.0 + ], + "finger_gap": 0.026956870955887932, + "fingertip_max_gap": 0.09133952255580771, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013478435477943966, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049373991652366, + "object_top_z": 1.0947890012603207, + "finger_top_clearance": 0.04541500960795486, + "fingertip_min_top_clearance": 0.01362450288238649, + "object_projection_between_fingers": 0.8077017248037346, + "object_to_finger_line_xy": 0.010623868323578149, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816976127790386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.859512083975385, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3665200783756615, + 0.08584749823744987, + 1.2425754931650366 + ], + "held_position": [ + 0.3718094144952964, + 0.09014470078119806, + 1.2417994961122425 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006858950190402015, + "max_held_gripper_dist": 0.006860922281726489, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007759970527940752, + "max_held_gripper_z_dist": 0.0007875252757578721, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867570140594154, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3718094144952964, + 0.0646242352308139, + 1.2417994961122425 + ], + "held_grasp_finger_b": [ + 0.3624656092699796, + 0.09014470078119806, + 1.2417994961122425 + ], + "held_grasp_midpoint": [ + 0.367137511882638, + 0.07738446800600599, + 1.2417994961122425 + ], + "held_grasp_object_position": [ + 0.3718094144952964, + 0.09014470078119806, + 1.2417994961122425 + ], + "held_grasp_finger_gap": 0.027177212108621486, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02470436683408813, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07868277128413348, + -0.9968299078765153, + 0.011796451413326525 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036565970084080322, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032112845059299615, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33130642732097454, + 0.08246738544586271, + 0.756586402350782 + ], + "target_position": [ + 0.34137784392541337, + 0.08676538404435724, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010950170061365583, + "xy_threshold": 0.08, + "gripper_dist": 0.2084388557775645, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586402350782, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529529471144893, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554111565535798, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17892460517206724, + "release_required_pad_clearance": 0.05277055782767899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5895009240690948, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9e253ef6aa8b6771b8e84db18f8f5632b4003c4e6edc2a3baaeed8c0426e011", + "visual_seed": 6169364175034092925, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33ce951bb9b07083f0aa7ad391180770e7c2c487 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36087305680151954, + 0.08523996896267193, + 1.0491602628605536 + ], + "current_z": 1.0491602628605536, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19257363624269852, + "gripper_z": 1.0501333366872587, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3559592433682487, + 0.08041447854851494, + 1.0501333366872587 + ], + "object_minus_gripper": [ + 0.004913813433270853, + 0.004825490414156988, + -0.0009730738267050842 + ], + "object_to_gripper_xy": 0.006887010976767357, + "object_to_gripper_z": -0.0009730738267050842, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36087305680151954, + 0.06102551541326609, + 1.0491602628605536 + ], + "finger_b": [ + 0.3489369469839365, + 0.08523996896267193, + 1.0491602628605536 + ], + "finger_midpoint": [ + 0.354905001892728, + 0.073132742187969, + 1.0491602628605536 + ], + "object_minus_finger_midpoint": [ + 0.0059680549087915424, + 0.012107226774702926, + 0.0 + ], + "finger_gap": 0.026996490110266832, + "fingertip_max_gap": 0.09251238159911826, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013498245055133435, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491602628605536, + "object_top_z": 1.0953189577101115, + "finger_top_clearance": 0.04615869484955781, + "fingertip_min_top_clearance": 0.013847608454867377, + "object_projection_between_fingers": 0.8045160959885497, + "object_to_finger_line_xy": 0.010706072365627787, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875619079955913, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.950239492833946, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3615898988898331, + 0.08206547254198224, + 1.2398242098774026 + ], + "held_position": [ + 0.3669101319844022, + 0.08640168230841432, + 1.2386967228356762 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00695548864913961, + "max_held_gripper_dist": 0.006956301198480588, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0011274870417263827, + "max_held_gripper_z_dist": 0.0011371039853789178, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08781671858032565, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3669101319844022, + 0.06086435126187846, + 1.2386967228356762 + ], + "held_grasp_finger_b": [ + 0.3575081289306988, + 0.08640168230841432, + 1.2386967228356762 + ], + "held_grasp_midpoint": [ + 0.3622091304575505, + 0.07363301678514639, + 1.2386967228356762 + ], + "held_grasp_object_position": [ + 0.3669101319844022, + 0.08640168230841432, + 1.2386967228356762 + ], + "held_grasp_finger_gap": 0.027213102329617114, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024695879160774276, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08024373059529272, + -0.9965932193342545, + 0.019049904911483506 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003669546935679534, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209783358532614, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31955899720434633, + 0.07606922748572605, + 0.7565917514181739 + ], + "target_position": [ + 0.3365633791371765, + 0.08261877232392095, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01822211685027528, + "xy_threshold": 0.08, + "gripper_dist": 0.2045276876430983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565917514181739, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752248494850369, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08624203730931822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17539764659147383, + "release_required_pad_clearance": 0.05312101865465911, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.263597056775953, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "576517b66ad54b8f632bf02b9decd0cb5eb2223d3807f36569fd792258cda939", + "visual_seed": 3810956352143897724, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ccc6c35b50ba5859c1682cfbae64e5ef6168dff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36571996795434186, + 0.08794801538721737, + 1.0501495695235001 + ], + "current_z": 1.0501495695235001, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19356294290564502, + "gripper_z": 1.0507676108279262, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3608852800532043, + 0.08315697816414595, + 1.0507676108279262 + ], + "object_minus_gripper": [ + 0.004834687901137558, + 0.0047910372230714204, + -0.000618041304426109 + ], + "object_to_gripper_xy": 0.006806485493576093, + "object_to_gripper_z": -0.000618041304426109, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36571996795434186, + 0.06381329085379882, + 1.0501495695235001 + ], + "finger_b": [ + 0.3538049536250595, + 0.08794801538721737, + 1.0501495695235001 + ], + "finger_midpoint": [ + 0.35976246078970064, + 0.0758806531205081, + 1.0501495695235001 + ], + "object_minus_finger_midpoint": [ + 0.005957507164641218, + 0.012067362266709278, + 0.0 + ], + "finger_gap": 0.026915655198620003, + "fingertip_max_gap": 0.09136231327004798, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013457827599310013, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501495695235001, + "object_top_z": 1.0956382041253, + "finger_top_clearance": 0.04548863460179997, + "fingertip_min_top_clearance": 0.01364659038053999, + "object_projection_between_fingers": 0.8040346779233875, + "object_to_finger_line_xy": 0.010683952760091405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048181156635023994, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7936091678783835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36670663845471907, + 0.08490966801538133, + 1.2398516810557698 + ], + "held_position": [ + 0.37197645405182694, + 0.08918858465500941, + 1.2390655915216355 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006833595012296452, + "max_held_gripper_dist": 0.0068346725193355225, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007860895341342822, + "max_held_gripper_z_dist": 0.0007965770666498173, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0882581473077286, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37197645405182694, + 0.06362619578732774, + 1.2390655915216355 + ], + "held_grasp_finger_b": [ + 0.3627864357727043, + 0.08918858465500941, + 1.2390655915216355 + ], + "held_grasp_midpoint": [ + 0.36738144491226565, + 0.07640739022116858, + 1.2390655915216355 + ], + "held_grasp_object_position": [ + 0.37197645405182694, + 0.08918858465500941, + 1.2390655915216355 + ], + "held_grasp_finger_gap": 0.02716417053018891, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02467516641643591, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08604648122899707, + -0.9962267330961764, + 0.011326929532217478 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034812950742714307, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03207187302224415, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3308118084938378, + 0.08500922767787902, + 0.7565866404662844 + ], + "target_position": [ + 0.3414866406119728, + 0.0852737971986679, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010678110215843323, + "xy_threshold": 0.08, + "gripper_dist": 0.20861709704811685, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866404662844, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535144258254704, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08807843276894782, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18005075543878693, + "release_required_pad_clearance": 0.05403921638447391, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.088420118232987, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bca5187e2f181c437dec07dc91d3c30627b5cb4eeacdb2babc597a55b3f3d538", + "visual_seed": 135133351316219111, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..58665ba22d8229793ef662911d6a8c894fa412b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36283349677454607, + 0.08436116336564674, + 1.0486852998540794 + ], + "current_z": 1.0486852998540794, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1920987328408691, + "gripper_z": 1.0494003288525229, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3579778023008474, + 0.07961069675224385, + 1.0494003288525229 + ], + "object_minus_gripper": [ + 0.004855694473698657, + 0.004750466613402893, + -0.0007150289984434455 + ], + "object_to_gripper_xy": 0.006792989170237447, + "object_to_gripper_z": -0.0007150289984434455, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36283349677454607, + 0.06011650905597673, + 1.0486852998540794 + ], + "finger_b": [ + 0.35109747489582316, + 0.08436116336564674, + 1.0486852998540794 + ], + "finger_midpoint": [ + 0.3569654858351846, + 0.07223883621081173, + 1.0486852998540794 + ], + "object_minus_finger_midpoint": [ + 0.005868010939361457, + 0.012122327154835008, + 0.0 + ], + "finger_gap": 0.026935802793554592, + "fingertip_max_gap": 0.09131841044651254, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0134679013967773, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486852998540794, + "object_top_z": 1.0940868306750562, + "finger_top_clearance": 0.045401530820976754, + "fingertip_min_top_clearance": 0.013620459246293059, + "object_projection_between_fingers": 0.8101625142352888, + "object_to_finger_line_xy": 0.010563479232497477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815920522325627, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8686351914128738, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3636954009516656, + 0.0814031970876194, + 1.2393307676133198 + ], + "held_position": [ + 0.3689478986222404, + 0.08567815030547872, + 1.2384523499541669 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006829024408961482, + "max_held_gripper_dist": 0.006831243032946708, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008784176591529747, + "max_held_gripper_z_dist": 0.000888733142021092, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08827196984457274, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3689478986222404, + 0.060125421916646125, + 1.2384523499541669 + ], + "held_grasp_finger_b": [ + 0.35975587629838507, + 0.08567815030547872, + 1.2384523499541669 + ], + "held_grasp_midpoint": [ + 0.3643518874603128, + 0.07290178611106242, + 1.2384523499541669 + ], + "held_grasp_object_position": [ + 0.3689478986222404, + 0.08567815030547872, + 1.2384523499541669 + ], + "held_grasp_finger_gap": 0.027155758183407555, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024766709616101067, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0771029331173641, + -0.9969753957735579, + 0.009756942495315222 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035994536692889236, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321081382753107, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3232337600119244, + 0.08212708261531997, + 0.7565863114847513 + ], + "target_position": [ + 0.33860108597599536, + 0.0821728641961958, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01536739415903547, + "xy_threshold": 0.08, + "gripper_dist": 0.20627856952326976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863114847513, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546389076280187, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08929241931231101, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17815863725506648, + "release_required_pad_clearance": 0.054646209656155506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.3338102265941245, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ca4773b53f4b00b891c88db9b57b3bf99463364919b522cddf40246d47dc05b", + "visual_seed": 7737325551746731716, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..494ae6970be93d2246c37b37af2d38f014411cbe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3583834543581515, + 0.08498646538952308, + 1.0464996836139184 + ], + "current_z": 1.0464996836139184, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18991317620535286, + "gripper_z": 1.047405946443596, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3535758729587176, + 0.08021882578449488, + 1.047405946443596 + ], + "object_minus_gripper": [ + 0.00480758139943388, + 0.004767639605028198, + -0.0009062628296776509 + ], + "object_to_gripper_xy": 0.006770762609604332, + "object_to_gripper_z": -0.0009062628296776509, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3583834543581515, + 0.06084529404292091, + 1.0464996836139184 + ], + "finger_b": [ + 0.34653277346282657, + 0.08498646538952308, + 1.0464996836139184 + ], + "finger_midpoint": [ + 0.35245811391048903, + 0.07291587971622199, + 1.0464996836139184 + ], + "object_minus_finger_midpoint": [ + 0.005925340447662464, + 0.01207058567330109, + 0.0 + ], + "finger_gap": 0.02689302496315401, + "fingertip_max_gap": 0.0912908157493206, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344651248157701, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464996836139184, + "object_top_z": 1.0919277859262235, + "finger_top_clearance": 0.045428102312305096, + "fingertip_min_top_clearance": 0.013628430693691528, + "object_projection_between_fingers": 0.8058187475207537, + "object_to_finger_line_xy": 0.010638049027951065, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048145407874660304, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8259666500011708, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3592185810267047, + 0.08201677722342138, + 1.2395320909096863 + ], + "held_position": [ + 0.3644504134453279, + 0.08628230136903318, + 1.2384819803957938 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006831507797312533, + "max_held_gripper_dist": 0.006832422646139412, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010501105138924771, + "max_held_gripper_z_dist": 0.001059646644556711, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08672951184139155, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3644504134453279, + 0.0607721203658868, + 1.2384819803957938 + ], + "held_grasp_finger_b": [ + 0.35519602159702884, + 0.08628230136903318, + 1.2384819803957938 + ], + "held_grasp_midpoint": [ + 0.3598232175211784, + 0.07352721086745999, + 1.2384819803957938 + ], + "held_grasp_object_position": [ + 0.3644504134453279, + 0.08628230136903318, + 1.2384819803957938 + ], + "held_grasp_finger_gap": 0.027136932459199493, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02464717636721875, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08343775192618776, + -0.9964391085798129, + 0.012134432255855754 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003550282709888434, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032104471130935286, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3289999583303691, + 0.08499802285468838, + 0.7565946647424355 + ], + "target_position": [ + 0.33418918069923526, + 0.08260897159996922, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005712757188189962, + "xy_threshold": 0.08, + "gripper_dist": 0.21140152163997544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565946647424355, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532003647994345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08729035518866961, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1831750648639386, + "release_required_pad_clearance": 0.053645177594334806, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.274514589104608, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d600c99644118dd7ac2f08c288abb7fa31ccc1e7be7707e523a897b2722c4c23", + "visual_seed": 1401556192385486718, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..85513dcb47c383e2acc65f42ae74ceda42cefdd3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35981303735097914, + 0.08877017393844382, + 1.0478936964908556 + ], + "current_z": 1.0478936964908556, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19130718908229005, + "gripper_z": 1.0487159794396568, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.354882737388417, + 0.08397206970379281, + 1.0487159794396568 + ], + "object_minus_gripper": [ + 0.0049302999625621124, + 0.0047981042346510044, + -0.0008222829488011563 + ], + "object_to_gripper_xy": 0.00687965565761949, + "object_to_gripper_z": -0.0008222829488011563, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35981303735097914, + 0.0644860550057044, + 1.0478936964908556 + ], + "finger_b": [ + 0.3479918952555646, + 0.08877017393844382, + 1.0478936964908556 + ], + "finger_midpoint": [ + 0.3539024663032719, + 0.0766281144720741, + 1.0478936964908556 + ], + "object_minus_finger_midpoint": [ + 0.005910571047707258, + 0.012142059466369717, + 0.0 + ], + "finger_gap": 0.02700847705405498, + "fingertip_max_gap": 0.09136373187458516, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013504238527027496, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478936964908556, + "object_top_z": 1.093358802897899, + "finger_top_clearance": 0.04546510640704349, + "fingertip_min_top_clearance": 0.013639531922113013, + "object_projection_between_fingers": 0.8084338886217185, + "object_to_finger_line_xy": 0.01062873778448605, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818186593729258, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8068101212022881, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3605251259166012, + 0.08564357756322259, + 1.2374017690510537 + ], + "held_position": [ + 0.3658534840362711, + 0.08996028641634854, + 1.2364144631099927 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006928213954213786, + "max_held_gripper_dist": 0.006930584247818894, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009873059410610008, + "max_held_gripper_z_dist": 0.0009967528707421902, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878270217708772, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3658534840362711, + 0.06438136321859154, + 1.2364144631099927 + ], + "held_grasp_finger_b": [ + 0.35656337428031737, + 0.08996028641634854, + 1.2364144631099927 + ], + "held_grasp_midpoint": [ + 0.3612084291582942, + 0.07717082481747004, + 1.2364144631099927 + ], + "held_grasp_object_position": [ + 0.3658534840362711, + 0.08996028641634854, + 1.2364144631099927 + ], + "held_grasp_finger_gap": 0.027213736443833243, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024775541881247927, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07794833784158063, + -0.9969024222773549, + 0.010469817824453442 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003636540719668327, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032088305411344366, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32486430247786735, + 0.07926207110530518, + 0.7565898555290136 + ], + "target_position": [ + 0.3355099731040611, + 0.08443554567609846, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011836179375797295, + "xy_threshold": 0.08, + "gripper_dist": 0.20872779566140745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565898555290136, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534797979649731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09152221161137135, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1790424102244792, + "release_required_pad_clearance": 0.055761105805685676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.70994341301303, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "212cc48593fc398ff87f084bab99b1393f764bca5cc58d4fbf57e0822e55b679", + "visual_seed": 1751613379363108539, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf8d4186ad4f402abbdd405afd5b723d2b564dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36617145762422676, + 0.08651737647220059, + 1.0472216675630412 + ], + "current_z": 1.0472216675630412, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.19063498134054135, + "gripper_z": 1.047923760384885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3610537433481201, + 0.08169833761438854, + 1.047923760384885 + ], + "object_minus_gripper": [ + 0.005117714276106633, + 0.004819038857812055, + -0.0007020928218437472 + ], + "object_to_gripper_xy": 0.007029518825991446, + "object_to_gripper_z": -0.0007020928218437472, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36617145762422676, + 0.0619572423517705, + 1.0472216675630412 + ], + "finger_b": [ + 0.35450469644956806, + 0.08651737647220059, + 1.0472216675630412 + ], + "finger_midpoint": [ + 0.3603380770368974, + 0.07423730941198554, + 1.0472216675630412 + ], + "object_minus_finger_midpoint": [ + 0.005833380587329351, + 0.012280067060215047, + 0.0 + ], + "finger_gap": 0.02719032004813548, + "fingertip_max_gap": 0.09447225910417159, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359516002406774, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472216675630412, + "object_top_z": 1.0939773850856482, + "finger_top_clearance": 0.04675571752260699, + "fingertip_min_top_clearance": 0.014026715256782096, + "object_projection_between_fingers": 0.8158922899268425, + "object_to_finger_line_xy": 0.010538206931488216, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0497361295520858, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.722381045389879, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36670101039735253, + 0.08333338254737742, + 1.238559596701724 + ], + "held_position": [ + 0.37217041593490097, + 0.08772167928640023, + 1.237697656994339 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00706501841915863, + "max_held_gripper_dist": 0.007067292366327093, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008619397073850177, + "max_held_gripper_z_dist": 0.0008730939225953804, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08788733259384843, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37217041593490097, + 0.06208217195221239, + 1.237697656994339 + ], + "held_grasp_finger_b": [ + 0.36270514027582046, + 0.08772167928640023, + 1.237697656994339 + ], + "held_grasp_midpoint": [ + 0.3674377781053607, + 0.07490192561930631, + 1.237697656994339 + ], + "held_grasp_object_position": [ + 0.37217041593490097, + 0.08772167928640023, + 1.237697656994339 + ], + "held_grasp_finger_gap": 0.02733085764556711, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025083698016932776, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.053924637340641214, + -0.9982293825143271, + 0.02510444926194199 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004047522579966163, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214796440009927, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3340984608638683, + 0.08621214212885984, + 0.7565873904452608 + ], + "target_position": [ + 0.3417190137669221, + 0.08397686272769433, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007941618257604465, + "xy_threshold": 0.08, + "gripper_dist": 0.21032026838920126, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873904452608, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528959328923453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09041772776914285, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18194669814450717, + "release_required_pad_clearance": 0.05520886388457143, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.516649645885595, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "136232d04d93267430ae8e6a2026995200b6d049bcb717389bb8ddf5edc62950", + "visual_seed": 8805152610111914625, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75a03d6ca58f95298d39a9ebcbf46e86cb88e63a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3608721516204278, + 0.0858997109617978, + 1.0494728881914261 + ], + "current_z": 1.0494728881914261, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19288626157357103, + "gripper_z": 1.050276829179212, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35590134627435893, + 0.0810976002486295, + 1.050276829179212 + ], + "object_minus_gripper": [ + 0.004970805346068863, + 0.0048021107131683005, + -0.0008039409877858006 + ], + "object_to_gripper_xy": 0.006911524657413338, + "object_to_gripper_z": -0.0008039409877858006, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3608721516204278, + 0.061557406881820376, + 1.0494728881914261 + ], + "finger_b": [ + 0.3490835632522215, + 0.0858997109617978, + 1.0494728881914261 + ], + "finger_midpoint": [ + 0.35497785743632465, + 0.07372855892180909, + 1.0494728881914261 + ], + "object_minus_finger_midpoint": [ + 0.005894294184103144, + 0.012171152039988711, + 0.0 + ], + "finger_gap": 0.02704660022326455, + "fingertip_max_gap": 0.09131203490273762, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013523300111632275, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494728881914261, + "object_top_z": 1.0949291736780595, + "finger_top_clearance": 0.045456285486633385, + "fingertip_min_top_clearance": 0.013636885645990015, + "object_projection_between_fingers": 0.8100242169870124, + "object_to_finger_line_xy": 0.010609888132473207, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815601745136881, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7692451272421842, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.361555057009911, + 0.08279880556721575, + 1.2395203342569943 + ], + "held_position": [ + 0.36691299166967134, + 0.08713091153157222, + 1.2385524863783612 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0069578254807697495, + "max_held_gripper_dist": 0.006960081175706051, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009678478786330214, + "max_held_gripper_z_dist": 0.0009772811157666705, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08787361110734765, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36691299166967134, + 0.06153810045182791, + 1.2385524863783612 + ], + "held_grasp_finger_b": [ + 0.35758478683010436, + 0.08713091153157222, + 1.2385524863783612 + ], + "held_grasp_midpoint": [ + 0.36224888924988785, + 0.07433450599170006, + 1.2385524863783612 + ], + "held_grasp_object_position": [ + 0.36691299166967134, + 0.08713091153157222, + 1.2385524863783612 + ], + "held_grasp_finger_gap": 0.027239812490037523, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024809875074934287, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07587852824562874, + -0.9970645838717813, + 0.01023056889273932 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003682076346965503, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032087476973943534, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32519688875795133, + 0.07948889022495277, + 0.7565863859119675 + ], + "target_position": [ + 0.33652940564205713, + 0.0842020614396523, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012273545609464908, + "xy_threshold": 0.08, + "gripper_dist": 0.21030590904527477, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863859119675, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570099058673188, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523456727928701, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18025374744453204, + "release_required_pad_clearance": 0.052617283639643506, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2960749922048111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ef300a634348c1c215db71729c8366af5412687a5d93a684c7bf938af257dd08", + "visual_seed": 1273976097125044586, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87d238d49e5fdf3889f09e44cb54639e64d16d4b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3670814665567092, + 0.08953374994096848, + 1.0499304125929034 + ], + "current_z": 1.0499304125929034, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19334390518433786, + "gripper_z": 1.050484034348476, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36215650502764174, + 0.0847809041339709, + 1.050484034348476 + ], + "object_minus_gripper": [ + 0.004924961529067462, + 0.004752845806997585, + -0.0005536217555726086 + ], + "object_to_gripper_xy": 0.006844325337671277, + "object_to_gripper_z": -0.0005536217555726086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3670814665567092, + 0.06518340407155569, + 1.0499304125929034 + ], + "finger_b": [ + 0.35541545771416244, + 0.08953374994096848, + 1.0499304125929034 + ], + "finger_midpoint": [ + 0.3612484621354358, + 0.07735857700626209, + 1.0499304125929034 + ], + "object_minus_finger_midpoint": [ + 0.00583300442127338, + 0.012175172934706394, + 0.0 + ], + "finger_gap": 0.02700065010836605, + "fingertip_max_gap": 0.09127142849084727, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013500325054183025, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499304125929034, + "object_top_z": 1.095346455701439, + "finger_top_clearance": 0.04541604310853553, + "fingertip_min_top_clearance": 0.013624812932560659, + "object_projection_between_fingers": 0.8133207013721601, + "object_to_finger_line_xy": 0.01052090779635057, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048135714245423636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7902541617865843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36793899747968695, + 0.08659555540889187, + 1.2430598689852739 + ], + "held_position": [ + 0.3732462610198713, + 0.09089674371589118, + 1.2423666548573926 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006866426506148004, + "max_held_gripper_dist": 0.006868633739714529, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006932141278812587, + "max_held_gripper_z_dist": 0.0007047663183306074, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676065799338095, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3732462610198713, + 0.06537013643786167, + 1.2423666548573926 + ], + "held_grasp_finger_b": [ + 0.3638866177172175, + 0.09089674371589118, + 1.2423666548573926 + ], + "held_grasp_midpoint": [ + 0.3685664393685444, + 0.07813344007687642, + 1.2423666548573926 + ], + "held_grasp_object_position": [ + 0.3732462610198713, + 0.09089674371589118, + 1.2423666548573926 + ], + "held_grasp_finger_gap": 0.027188427719889607, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024774624927066276, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0728942042949792, + -0.997268787067075, + 0.01189122878288984 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00374016417308042, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032130648751245855, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3394809926066476, + 0.0850977096053112, + 0.7565864792730531 + ], + "target_position": [ + 0.34280049718992145, + 0.0882555554433121, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004581604633199559, + "xy_threshold": 0.08, + "gripper_dist": 0.21136628057222823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864792730531, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572058172628873, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08631807926707695, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809377492667365, + "release_required_pad_clearance": 0.05315903963353848, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3422945094000764, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69f3b0b0be89101b3bfe3cc38a03aee7821952d60aac7d56d0ab6f30b3ff50dc", + "visual_seed": 8884983017408024021, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..86b33b662198a4a8de53d0e0ce7c7516731286fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_39_success.json @@ -0,0 +1,691 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36695452269137957, + 0.08518136989997029, + 1.049141998972252 + ], + "current_z": 1.049141998972252, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19255543195904157, + "gripper_z": 1.0496748734948083, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36215353334091077, + 0.08042448088406967, + 1.0496748734948083 + ], + "object_minus_gripper": [ + 0.004800989350468798, + 0.004756889015900614, + -0.000532874522556348 + ], + "object_to_gripper_xy": 0.006758512547366523, + "object_to_gripper_z": -0.000532874522556348, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36695452269137957, + 0.06102817728524191, + 1.049141998972252 + ], + "finger_b": [ + 0.3551443169715026, + 0.08518136989997029, + 1.049141998972252 + ], + "finger_midpoint": [ + 0.3610494198314411, + 0.0731047735926061, + 1.049141998972252 + ], + "object_minus_finger_midpoint": [ + 0.005905102859938449, + 0.012076596307364185, + 0.0 + ], + "finger_gap": 0.02688601258331149, + "fingertip_max_gap": 0.09125189678167803, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01344300629165573, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049141998972252, + "object_top_z": 1.094598268266329, + "finger_top_clearance": 0.0454562692940772, + "fingertip_min_top_clearance": 0.01363688078822316, + "object_projection_between_fingers": 0.8070422927955668, + "object_to_finger_line_xy": 0.010609761216463006, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048125948390839016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7313434586711611, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [ + { + "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh", + "b": "/World/beaker_2/mesh", + "a_name": "robot wrist3", + "b_name": "beaker_a" + } + ], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3679225097526294, + 0.08192797112199951, + 1.2413959141793391 + ], + "held_position": [ + 0.3731554080017144, + 0.08618259166700497, + 1.2407133252757327 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006778712833465183, + "max_held_gripper_dist": 0.006779834526702574, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006825889036063959, + "max_held_gripper_z_dist": 0.0006936491569062841, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08790581906439703, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3731554080017144, + 0.06064786634462712, + 1.2407133252757327 + ], + "held_grasp_finger_b": [ + 0.3639681905150184, + 0.08618259166700497, + 1.2407133252757327 + ], + "held_grasp_midpoint": [ + 0.3685617992583664, + 0.07341522900581604, + 1.2407133252757327 + ], + "held_grasp_object_position": [ + 0.3731554080017144, + 0.08618259166700497, + 1.2407133252757327 + ], + "held_grasp_finger_gap": 0.027137191498700395, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02465105092868878, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0857424115019479, + -0.9962427552998657, + 0.012190626824023384 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034855719830344865, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032086965319164204, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3274807030847651, + 0.09064427778183902, + 0.7565873725418439 + ], + "target_position": [ + 0.34276441238534744, + 0.08389154431325326, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01670901491059436, + "xy_threshold": 0.08, + "gripper_dist": 0.203984814926621, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873725418439, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531101582463952, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0927485180688578, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1774668651414527, + "release_required_pad_clearance": 0.0563742590344289, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.076841707026635, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9fc63558196d55ce64e1c527b6d5ed1beaa4df9d1006d78df6a41ab26749c70", + "visual_seed": 3937043264513310026, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..797e526c76a0e208f0dbdde2420618f4f87aadb3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36008582836365344, + 0.08740110802632935, + 1.0458977566039411 + ], + "current_z": 1.0458977566039411, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.189311129986086, + "gripper_z": 1.0476429255385393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3547790362354778, + 0.08245385518938589, + 1.0476429255385393 + ], + "object_minus_gripper": [ + 0.005306792128175641, + 0.004947252836943458, + -0.0017451689345981958 + ], + "object_to_gripper_xy": 0.007255160461651558, + "object_to_gripper_z": -0.0017451689345981958, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36008582836365344, + 0.0626718330161357, + 1.0458977566039411 + ], + "finger_b": [ + 0.34828512310904053, + 0.08740110802632935, + 1.0458977566039411 + ], + "finger_midpoint": [ + 0.35418547573634696, + 0.07503647052123252, + 1.0458977566039411 + ], + "object_minus_finger_midpoint": [ + 0.005900352627306482, + 0.012364637505096823, + 0.0 + ], + "finger_gap": 0.027400614720039344, + "fingertip_max_gap": 0.09324287477718332, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013700307360019683, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458977566039411, + "object_top_z": 1.0914767193262296, + "finger_top_clearance": 0.04557896272228845, + "fingertip_min_top_clearance": 0.013673688816686536, + "object_projection_between_fingers": 0.8145207572855302, + "object_to_finger_line_xy": 0.010650231337406337, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912143738859166, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5153729802894964, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36024854770104353, + 0.084283075754632, + 1.2368692485325168 + ], + "held_position": [ + 0.3658748362729015, + 0.08879950293633085, + 1.2349595572934957 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007463253862076638, + "max_held_gripper_dist": 0.007464804370703228, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0019096912390210719, + "max_held_gripper_z_dist": 0.001920297481301958, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08787613896215205, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3658748362729015, + 0.06306476784288607, + 1.2349595572934957 + ], + "held_grasp_finger_b": [ + 0.3561975086991742, + 0.08879950293633085, + 1.2349595572934957 + ], + "held_grasp_midpoint": [ + 0.36103617248603787, + 0.07593213538960847, + 1.2349595572934957 + ], + "held_grasp_object_position": [ + 0.3658748362729015, + 0.08879950293633085, + 1.2349595572934957 + ], + "held_grasp_finger_gap": 0.027494131361055957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02540999584294528, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03215563463299351, + -0.9994731385123766, + 0.004411411743315718 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004422771898910497, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032184046434653564, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32309468990663825, + 0.08620599238655427, + 0.7565897806558096 + ], + "target_position": [ + 0.3354647736657639, + 0.08335030893214249, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012695428318870728, + "xy_threshold": 0.08, + "gripper_dist": 0.20953523276001404, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565897806558096, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517296102559969, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0934517399796038, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1820343069645591, + "release_required_pad_clearance": 0.056725869989801905, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.874414413962754, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 245, + "max_placed_release_frames": 245 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd1c4a1fd78052fed2e3d13ddaa7f9fc7043a0ac93c24ab6bc35971728636b1e", + "visual_seed": 4395344311770959128, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7dafc9d8c38a4ab61a275fef79079923b2e363af --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3600153074423603, + 0.08809673436249266, + 1.0483806027965794 + ], + "current_z": 1.0483806027965794, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19179403578336907, + "gripper_z": 1.049158091892406, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.355116610535655, + 0.08333042057905403, + 1.049158091892406 + ], + "object_minus_gripper": [ + 0.004898696906705302, + 0.004766313783438628, + -0.0007774890958265335 + ], + "object_to_gripper_xy": 0.006834835657567865, + "object_to_gripper_z": -0.0007774890958265335, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3600153074423603, + 0.0638099139182579, + 1.0483806027965794 + ], + "finger_b": [ + 0.3482705960636553, + 0.08809673436249266, + 1.0483806027965794 + ], + "finger_midpoint": [ + 0.3541429517530078, + 0.07595332414037528, + 1.0483806027965794 + ], + "object_minus_finger_midpoint": [ + 0.005872355689352515, + 0.012143410222117373, + 0.0 + ], + "finger_gap": 0.02697754422959182, + "fingertip_max_gap": 0.09127822069316485, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013488772114795903, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483806027965794, + "object_top_z": 1.0938191402534758, + "finger_top_clearance": 0.04543853745689641, + "fingertip_min_top_clearance": 0.01363156123706889, + "object_projection_between_fingers": 0.8104691672390832, + "object_to_finger_line_xy": 0.010573301038687087, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813911034658243, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7669156048569656, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3607639804968918, + 0.08522025870604774, + 1.2388546680932269 + ], + "held_position": [ + 0.3660458872988641, + 0.0895244355540431, + 1.2379202431747152 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006877327077569918, + "max_held_gripper_dist": 0.006881674241637381, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009344249185117004, + "max_held_gripper_z_dist": 0.0009435680613045783, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0866459978625562, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3660458872988641, + 0.06398961595472778, + 1.2379202431747152 + ], + "held_grasp_finger_b": [ + 0.35674023114207715, + 0.0895244355540431, + 1.2379202431747152 + ], + "held_grasp_midpoint": [ + 0.3613930592204706, + 0.07675702575438545, + 1.2379202431747152 + ], + "held_grasp_object_position": [ + 0.3660458872988641, + 0.0895244355540431, + 1.2379202431747152 + ], + "held_grasp_finger_gap": 0.027177605642843612, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024756934792187036, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0755852876386007, + -0.9970818626870729, + 0.010706231506326769 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003677101333704332, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321183868724406, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31513228444227787, + 0.08664745612287242, + 0.7565879310894374 + ], + "target_position": [ + 0.33575264893206136, + 0.08480183923549217, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020702795303690447, + "xy_threshold": 0.08, + "gripper_dist": 0.20081039293945674, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879310894374, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583070054252629, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09062513369087898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1728504471426608, + "release_required_pad_clearance": 0.05531256684543949, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.736795479427536, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6cc858f168367635725e28ca95ded3eed941d80b3da3df9ae238e3083a219752", + "visual_seed": 1549094166992793086, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5fc419620cebddf2a7f105f0498afc973348c311 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3635896404762396, + 0.08260388003534226, + 1.0497733136710952 + ], + "current_z": 1.0497733136710952, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.19318662744859527, + "gripper_z": 1.0505518607006397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35862638447420825, + 0.07781559751850022, + 1.0505518607006397 + ], + "object_minus_gripper": [ + 0.0049632560020313465, + 0.004788282516842046, + -0.0007785470295444963 + ], + "object_to_gripper_xy": 0.006896488932985783, + "object_to_gripper_z": -0.0007785470295444963, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3635896404762396, + 0.0582570319038244, + 1.0497733136710952 + ], + "finger_b": [ + 0.35183727854513125, + 0.08260388003534226, + 1.0497733136710952 + ], + "finger_midpoint": [ + 0.35771345951068545, + 0.07043045596958333, + 1.0497733136710952 + ], + "object_minus_finger_midpoint": [ + 0.005876180965554145, + 0.012173424065758928, + 0.0 + ], + "finger_gap": 0.027034922320934445, + "fingertip_max_gap": 0.09107537106006738, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013517461160467209, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497733136710952, + "object_top_z": 1.0951492317594904, + "finger_top_clearance": 0.04537591808839525, + "fingertip_min_top_clearance": 0.013612775426518575, + "object_projection_between_fingers": 0.8110268670060758, + "object_to_finger_line_xy": 0.010583828121516758, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048037685530033694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6594901370123291, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3642133468547363, + 0.07969653215569704, + 1.243195587793096 + ], + "held_position": [ + 0.36955161044836765, + 0.08403708487795557, + 1.2422846691046128 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006940261449457372, + "max_held_gripper_dist": 0.006941581098930844, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009109186884832532, + "max_held_gripper_z_dist": 0.000924149069036373, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08777622687375124, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36955161044836765, + 0.05852833607886251, + 1.2422846691046128 + ], + "held_grasp_finger_b": [ + 0.36005423748231535, + 0.08403708487795557, + 1.2422846691046128 + ], + "held_grasp_midpoint": [ + 0.36480292396534153, + 0.07128271047840903, + 1.2422846691046128 + ], + "held_grasp_object_position": [ + 0.36955161044836765, + 0.08403708487795557, + 1.2422846691046128 + ], + "held_grasp_finger_gap": 0.027219411429190248, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024739770361217682, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0735415368743443, + -0.9972351825548751, + 0.010659879403854489 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038003511080201948, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032131888381009596, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3203065314239025, + 0.09111404660983237, + 0.7565870428141471 + ], + "target_position": [ + 0.3392954739104317, + 0.08101545723655426, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.021507241666164443, + "xy_threshold": 0.08, + "gripper_dist": 0.20387399385560917, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870428141471, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528241181455027, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08829558482097698, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17852494345157252, + "release_required_pad_clearance": 0.05414779241048849, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3093877948865242, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0daa68102953ed38393a23a72b0b823f09f6dc9d65d9170a839545f8a788fb94", + "visual_seed": 3612573466611606174, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6dcab8124039df71bc243fc66f7ee9b2c6d308d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.365847076707354, + 0.09228025617685169, + 1.0505690325736692 + ], + "current_z": 1.0505690325736692, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19398264437439316, + "gripper_z": 1.0512487120087455, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3607902061364315, + 0.08745959028681105, + 1.0512487120087455 + ], + "object_minus_gripper": [ + 0.005056870570922523, + 0.00482066589004064, + -0.0006796794350762969 + ], + "object_to_gripper_xy": 0.0069864697519178886, + "object_to_gripper_z": -0.0006796794350762969, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.365847076707354, + 0.06784308329314587, + 1.0505690325736692 + ], + "finger_b": [ + 0.35407498747510174, + 0.09228025617685169, + 1.0505690325736692 + ], + "finger_midpoint": [ + 0.3599610320912279, + 0.08006166973499879, + 1.0505690325736692 + ], + "object_minus_finger_midpoint": [ + 0.005886044616126129, + 0.012218586441852905, + 0.0 + ], + "finger_gap": 0.027124850293416124, + "fingertip_max_gap": 0.09284270268678244, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013562425146708055, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505690325736692, + "object_top_z": 1.096645677459327, + "finger_top_clearance": 0.04607664488565777, + "fingertip_min_top_clearance": 0.013822993465697363, + "object_projection_between_fingers": 0.8116470654473371, + "object_to_finger_line_xy": 0.010605646728335569, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892135134339122, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2241442885999931, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3664882933173849, + 0.08925276820990334, + 1.2429900073631635 + ], + "held_position": [ + 0.3719191448938908, + 0.09362277428309797, + 1.2421627678241063 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0070196458016607635, + "max_held_gripper_dist": 0.007020455040831557, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008272395390571674, + "max_held_gripper_z_dist": 0.000838425448131952, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08772778334491413, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3719191448938908, + 0.06804625002874083, + 1.2421627678241063 + ], + "held_grasp_finger_b": [ + 0.3624129605300868, + 0.09362277428309797, + 1.2421627678241063 + ], + "held_grasp_midpoint": [ + 0.36716605271198877, + 0.0808345121559194, + 1.2421627678241063 + ], + "held_grasp_object_position": [ + 0.3719191448938908, + 0.09362277428309797, + 1.2421627678241063 + ], + "held_grasp_finger_gap": 0.027286006195343975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024906199101286334, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06445605836705466, + -0.9977481702245112, + 0.01854738130903133 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003926270621441797, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213439424096628, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3226843790961959, + 0.08945867776210849, + 0.7565873761406319 + ], + "target_position": [ + 0.34145306087636706, + 0.08720674954918015, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018903295914774, + "xy_threshold": 0.08, + "gripper_dist": 0.20229639656174692, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873761406319, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575896485939879, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08678952778397946, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17464337426170892, + "release_required_pad_clearance": 0.05339476389198973, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7987937956676652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f75cfef248f278f4d914f67472cbcc2706701e916d68497926ebcc0a6385a72", + "visual_seed": 9143353344030927246, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1031d9e41fd13684304a99b4bec4223ddb4cb105 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_47_success.json @@ -0,0 +1,691 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3644502283728579, + 0.08566392576578731, + 1.0474624126406704 + ], + "current_z": 1.0474624126406704, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19087584562745996, + "gripper_z": 1.0481493793242547, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35971406238950826, + 0.08091862969303625, + 1.0481493793242547 + ], + "object_minus_gripper": [ + 0.004736165983349638, + 0.004745296072751065, + -0.0006869666835842558 + ], + "object_to_gripper_xy": 0.0067044092237798945, + "object_to_gripper_z": -0.0006869666835842558, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3644502283728579, + 0.061597683726360486, + 1.0474624126406704 + ], + "finger_b": [ + 0.352605817759168, + 0.08566392576578731, + 1.0474624126406704 + ], + "finger_midpoint": [ + 0.35852802306601295, + 0.07363080474607389, + 1.0474624126406704 + ], + "object_minus_finger_midpoint": [ + 0.005922205306844952, + 0.01203312101971342, + 0.0 + ], + "finger_gap": 0.02682301378827452, + "fingertip_max_gap": 0.09152161623842028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013411506894137268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474624126406704, + "object_top_z": 1.0929046104699343, + "finger_top_clearance": 0.04544219782926384, + "fingertip_min_top_clearance": 0.013632659348779151, + "object_projection_between_fingers": 0.8050102583378531, + "object_to_finger_line_xy": 0.010627085192344248, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048260808119210144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0012667226256164, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [ + { + "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh", + "b": "/World/beaker_2/mesh", + "a_name": "robot wrist3", + "b_name": "beaker_a" + } + ], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3654117037280094, + 0.08257651532988193, + 1.2391805611044122 + ], + "held_position": [ + 0.3705829043329436, + 0.08681495121060351, + 1.2383403913115076 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006738808477199011, + "max_held_gripper_dist": 0.006739885796245108, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000840169792904577, + "max_held_gripper_z_dist": 0.0008498512408037229, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08786058193580537, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3705829043329436, + 0.061313541218528375, + 1.2383403913115076 + ], + "held_grasp_finger_b": [ + 0.3614374764276055, + 0.08681495121060351, + 1.2383403913115076 + ], + "held_grasp_midpoint": [ + 0.36601019038027455, + 0.07406424621456595, + 1.2383403913115076 + ], + "held_grasp_object_position": [ + 0.3705829043329436, + 0.08681495121060351, + 1.2383403913115076 + ], + "held_grasp_finger_gap": 0.02709171022943451, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02465256506823429, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08301952526123084, + -0.9964866318820528, + 0.01105219008895064 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003501293059146235, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032114693348681646, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32807910407298796, + 0.07746996694455452, + 0.756586400222841 + ], + "target_position": [ + 0.3403309200981138, + 0.08166450260491487, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012949946923426535, + "xy_threshold": 0.08, + "gripper_dist": 0.2090505710368342, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586400222841, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515496029431962, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09014610149711531, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18018112205634815, + "release_required_pad_clearance": 0.05507305074855766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.215032102755265, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7fb6257cbc9b72687076c9f14b90414e71efcb5a8081ef81ba2f4e5238b58185", + "visual_seed": 4028925874674339106, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53c4dcbc84e064773ccebb7d9e587a73464772f8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3626997348514992, + 0.0874085918532265, + 1.0487335706110825 + ], + "current_z": 1.0487335706110825, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19214700359787218, + "gripper_z": 1.0494943508596104, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3579115212744256, + 0.08266470521477397, + 1.0494943508596104 + ], + "object_minus_gripper": [ + 0.004788213577073597, + 0.00474388663845253, + -0.0007607802485278814 + ], + "object_to_gripper_xy": 0.006740285579866803, + "object_to_gripper_z": -0.0007607802485278814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3626997348514992, + 0.06325132350603248, + 1.0487335706110825 + ], + "finger_b": [ + 0.3509255196919172, + 0.0874085918532265, + 1.0487335706110825 + ], + "finger_midpoint": [ + 0.3568126272717082, + 0.0753299576796295, + 1.0487335706110825 + ], + "object_minus_finger_midpoint": [ + 0.0058871075797909955, + 0.012078634173597003, + 0.0 + ], + "finger_gap": 0.026873886146638198, + "fingertip_max_gap": 0.0923237596021472, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013436943073319092, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487335706110825, + "object_top_z": 1.0947390815079103, + "finger_top_clearance": 0.046005510896827806, + "fingertip_min_top_clearance": 0.013801653269048341, + "object_projection_between_fingers": 0.8080434261941237, + "object_to_finger_line_xy": 0.010583987505030186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486618798010736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9197757301191298, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3635866517469632, + 0.08434742931080495, + 1.2426713210023248 + ], + "held_position": [ + 0.3688034311786878, + 0.08858866546484086, + 1.2417692964001283 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006783547754422744, + "max_held_gripper_dist": 0.006784427810399739, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009020246021964606, + "max_held_gripper_z_dist": 0.0009127775328927612, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08791069405088742, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3688034311786878, + 0.06306737616732087, + 1.2417692964001283 + ], + "held_grasp_finger_b": [ + 0.35962339532255105, + 0.08858866546484086, + 1.2417692964001283 + ], + "held_grasp_midpoint": [ + 0.3642134132506194, + 0.07582802081608087, + 1.2417692964001283 + ], + "held_grasp_object_position": [ + 0.3688034311786878, + 0.08858866546484086, + 1.2417692964001283 + ], + "held_grasp_finger_gap": 0.027122117648289642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024651920072716427, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08427970921293879, + -0.9962510329643379, + 0.01951435196137008 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003507344528467385, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032100574176933, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32700429655528596, + 0.07822227382392224, + 0.7565929662262736 + ], + "target_position": [ + 0.3385597452615417, + 0.08369787448598257, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01278712623748053, + "xy_threshold": 0.08, + "gripper_dist": 0.20778766942746102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565929662262736, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526143924157197, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700275108836479, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17862846484847916, + "release_required_pad_clearance": 0.0535013755441824, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9515444528063481, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8762a36179cc00a2084ba0b2db24978b672d4fc36e0524f8fba3a00b77ad4ddb", + "visual_seed": 1042308323640816801, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c299083b5a79cf7db33b55ae98ac265b7d86c11 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_4_success.json @@ -0,0 +1,684 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3659467240787992, + 0.08872406145578642, + 1.0496163896642845 + ], + "current_z": 1.0496163896642845, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19302976304642938, + "gripper_z": 1.0502014059157232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3609390303358032, + 0.08395766082053109, + 1.0502014059157232 + ], + "object_minus_gripper": [ + 0.005007693742995978, + 0.0047664006352553245, + -0.000585016251438697 + ], + "object_to_gripper_xy": 0.006913434142262688, + "object_to_gripper_z": -0.000585016251438697, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3659467240787992, + 0.0642392760120036, + 1.0496163896642845 + ], + "finger_b": [ + 0.35435927381254756, + 0.08872406145578642, + 1.0496163896642845 + ], + "finger_midpoint": [ + 0.3601529989456734, + 0.076481668733895, + 1.0496163896642845 + ], + "object_minus_finger_midpoint": [ + 0.0057937251331258155, + 0.012242392721891412, + 0.0 + ], + "finger_gap": 0.027088258007870007, + "fingertip_max_gap": 0.09229755040579926, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01354412900393501, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496163896642845, + "object_top_z": 1.0953925417202268, + "finger_top_clearance": 0.04577615205594232, + "fingertip_min_top_clearance": 0.01373284561678273, + "object_projection_between_fingers": 0.8170157915644428, + "object_to_finger_line_xy": 0.010473771828636824, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864877520289963, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0998972871754529, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3666736799338112, + 0.08562149559376094, + 1.2422037223695221 + ], + "held_position": [ + 0.3720449556034043, + 0.08995238637565221, + 1.2414681924418773 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006938891954620302, + "max_held_gripper_dist": 0.006943118861002274, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007355299276448068, + "max_held_gripper_z_dist": 0.0007482133951421943, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08789975576392081, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3720449556034043, + 0.06435975063480366, + 1.2414681924418773 + ], + "held_grasp_finger_b": [ + 0.36268924213911163, + 0.08995238637565221, + 1.2414681924418773 + ], + "held_grasp_midpoint": [ + 0.36736709887125796, + 0.07715606850522794, + 1.2414681924418773 + ], + "held_grasp_object_position": [ + 0.3720449556034043, + 0.08995238637565221, + 1.2414681924418773 + ], + "held_grasp_finger_gap": 0.027249080325576228, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02494223922243888, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0636752197426047, + -0.9978638617657215, + 0.014600677132655334 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038581875788524685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213337824390365, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3355811888865718, + 0.0885724189931417, + 0.7565866509618018 + ], + "target_position": [ + 0.34158822381268794, + 0.08692691916467365, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006228333508175972, + "xy_threshold": 0.08, + "gripper_dist": 0.21096693196816788, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866509618018, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519950252380957, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08834356949631648, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18265746065880117, + "release_required_pad_clearance": 0.054171784748158244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3589263843631105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 202, + "max_placed_release_frames": 202 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e63f1772fd281684e7c0936820f7957008a503782dd98e4430aa15f0f3a439ae", + "visual_seed": 8909002363060290463, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88df71ce913d12df730812151a1f30435175a3bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36283748142546235, + 0.08676088000067793, + 1.0500301269235996 + ], + "current_z": 1.0500301269235996, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19344361951503408, + "gripper_z": 1.0508136832479051, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3577125743352009, + 0.08190727280971571, + 1.0508136832479051 + ], + "object_minus_gripper": [ + 0.005124907090261477, + 0.004853607190962214, + -0.0007835563243054899 + ], + "object_to_gripper_xy": 0.00705848251736678, + "object_to_gripper_z": -0.0007835563243054899, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36283748142546235, + 0.062237344337629855, + 1.0500301269235996 + ], + "finger_b": [ + 0.35107118033041074, + 0.08676088000067793, + 1.0500301269235996 + ], + "finger_midpoint": [ + 0.35695433087793654, + 0.07449911216915389, + 1.0500301269235996 + ], + "object_minus_finger_midpoint": [ + 0.005883150547525806, + 0.012261767831524037, + 0.0 + ], + "finger_gap": 0.027200177258176157, + "fingertip_max_gap": 0.09350213923106451, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013600088629088078, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0500301269235996, + "object_top_z": 1.0961700178026197, + "finger_top_clearance": 0.04613989087902004, + "fingertip_min_top_clearance": 0.013841967263706012, + "object_projection_between_fingers": 0.8128730035994917, + "object_to_finger_line_xy": 0.010608434709370276, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04925106961553226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6157728221043244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3632654840286653, + 0.08393275602544066, + 1.241642209382892 + ], + "held_position": [ + 0.3687380785213314, + 0.08836083355483619, + 1.240713020864246 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007100743087218419, + "max_held_gripper_dist": 0.007102964914000478, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009291885186459847, + "max_held_gripper_z_dist": 0.0009400704878370636, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08802547440759935, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3687380785213314, + 0.06277760156666148, + 1.240713020864246 + ], + "held_grasp_finger_b": [ + 0.3590990533935242, + 0.08836083355483619, + 1.240713020864246 + ], + "held_grasp_midpoint": [ + 0.3639185659574278, + 0.07556921756074883, + 1.240713020864246 + ], + "held_grasp_object_position": [ + 0.3687380785213314, + 0.08836083355483619, + 1.240713020864246 + ], + "held_grasp_finger_gap": 0.02733884716617114, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025054485665439018, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.051001647601104934, + -0.9985482616126751, + 0.017326314445879846 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004166858760028362, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032181375970304654, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32786537653204434, + 0.0877271107125464, + 0.7565874315985428 + ], + "target_position": [ + 0.33840122506781023, + 0.08420458752632076, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011109107703416032, + "xy_threshold": 0.08, + "gripper_dist": 0.2072897834341049, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874315985428, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519142746858441, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017675989613204, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1798094062434974, + "release_required_pad_clearance": 0.05508837994806602, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.25616278572916, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "311e968ccb56c9825650549db5504c83055fe09b69c1ce3a2c2ae207e83f8e4e", + "visual_seed": 2326029815410724117, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da197f70025ffcc0d0963b08887ecf6665bf8847 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_52_success.json @@ -0,0 +1,684 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36331985965441016, + 0.08575602328633743, + 1.049765277459641 + ], + "current_z": 1.049765277459641, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19317877005107553, + "gripper_z": 1.050540988848796, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3585622572591516, + 0.08100107906498369, + 1.050540988848796 + ], + "object_minus_gripper": [ + 0.0047576023952585755, + 0.004754944221353738, + -0.0007757113891548872 + ], + "object_to_gripper_xy": 0.006726386481578013, + "object_to_gripper_z": -0.0007757113891548872, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36331985965441016, + 0.06167517428836829, + 1.049765277459641 + ], + "finger_b": [ + 0.35145674457291054, + 0.08575602328633743, + 1.049765277459641 + ], + "finger_midpoint": [ + 0.35738830211366035, + 0.07371559878735286, + 1.049765277459641 + ], + "object_minus_finger_midpoint": [ + 0.00593155754074981, + 0.01204042449898457, + 0.0 + ], + "finger_gap": 0.02684438093716998, + "fingertip_max_gap": 0.09246347157780924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01342219046858499, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049765277459641, + "object_top_z": 1.0958338791644997, + "finger_top_clearance": 0.0460686017048586, + "fingertip_min_top_clearance": 0.01382058051145758, + "object_projection_between_fingers": 0.8047051905801339, + "object_to_finger_line_xy": 0.010641850284860381, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873173578890462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0035053076532625, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36434928334890426, + 0.08278718693549159, + 1.2411577945245484 + ], + "held_position": [ + 0.36954073253870506, + 0.08703286811355203, + 1.2402243773460528 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006771131440544541, + "max_held_gripper_dist": 0.0067720248328114, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009334171784955991, + "max_held_gripper_z_dist": 0.0009428221968073025, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08827495849206399, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36954073253870506, + 0.06151519614764922, + 1.2402243773460528 + ], + "held_grasp_finger_b": [ + 0.3603924693885725, + 0.08703286811355203, + 1.2402243773460528 + ], + "held_grasp_midpoint": [ + 0.36496660096363875, + 0.07427403213060063, + 1.2402243773460528 + ], + "held_grasp_object_position": [ + 0.36954073253870506, + 0.08703286811355203, + 1.2402243773460528 + ], + "held_grasp_finger_gap": 0.027107974863930642, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024639131181790213, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08535287471957477, + -0.9961708800987727, + 0.018933156639638567 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034770959194919447, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0320998288163607, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3154068920436002, + 0.08620473726363768, + 0.756586978089575 + ], + "target_position": [ + 0.33916298633898434, + 0.0831556935133276, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02395096415517524, + "xy_threshold": 0.08, + "gripper_dist": 0.2009799753984954, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586978089575, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753796128082881, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603466021786842, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17454406722386917, + "release_required_pad_clearance": 0.05301733010893421, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0653149473625678, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9002a6338f6d9856d60a8552b11b70757cb0cf9071efefac2467f77dfcf1caa9", + "visual_seed": 8329510546378477130, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f26cb45d51755e91c1e401a12b6fe596a5f23950 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3674843051970598, + 0.09156215273412578, + 1.0487890895944776 + ], + "current_z": 1.0487890895944776, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1922026417905568, + "gripper_z": 1.0493252689819292, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3624263798446813, + 0.08670321026532082, + 1.0493252689819292 + ], + "object_minus_gripper": [ + 0.005057925352378534, + 0.004858942468804958, + -0.0005361793874516518 + ], + "object_to_gripper_xy": 0.007013695943323316, + "object_to_gripper_z": -0.0005361793874516518, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3674843051970598, + 0.06713936671624196, + 1.0487890895944776 + ], + "finger_b": [ + 0.3556423318109866, + 0.09156215273412578, + 1.0487890895944776 + ], + "finger_midpoint": [ + 0.36156331850402323, + 0.07935075972518388, + 1.0487890895944776 + ], + "object_minus_finger_midpoint": [ + 0.0059209866930365895, + 0.012211393008941904, + 0.0 + ], + "finger_gap": 0.02714230665495857, + "fingertip_max_gap": 0.09223457360261747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013571153327479267, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487890895944776, + "object_top_z": 1.0945737202286774, + "finger_top_clearance": 0.0457846306341998, + "fingertip_min_top_clearance": 0.013735389190259939, + "object_projection_between_fingers": 0.8096492222286025, + "object_to_finger_line_xy": 0.010655468074770476, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861728680130874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9932001894484029, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3680438020659841, + 0.08865769237640077, + 1.2392232790485531 + ], + "held_position": [ + 0.3734816551867131, + 0.09306528794946524, + 1.238527614270867 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007034279976034012, + "max_held_gripper_dist": 0.007035329364681383, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006956647776861224, + "max_held_gripper_z_dist": 0.0007076083455732629, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08780606332267682, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3734816551867131, + 0.06746706916500128, + 1.238527614270867 + ], + "held_grasp_finger_b": [ + 0.3639595416977355, + 0.09306528794946524, + 1.238527614270867 + ], + "held_grasp_midpoint": [ + 0.36872059844222427, + 0.08026617855723325, + 1.238527614270867 + ], + "held_grasp_object_position": [ + 0.3734816551867131, + 0.09306528794946524, + 1.238527614270867 + ], + "held_grasp_finger_gap": 0.02731189210278653, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024890898397015363, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06787381313647814, + -0.9976163093085827, + 0.012443668745056313 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038847019377448873, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210847361568789, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33057042682706167, + 0.08787899277965228, + 0.7565863183469196 + ], + "target_position": [ + 0.3431075024735006, + 0.09015009543359508, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012741121341125265, + "xy_threshold": 0.08, + "gripper_dist": 0.207704903852857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863183469196, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561759319154213, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685753898056718, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1787385227054184, + "release_required_pad_clearance": 0.05342876949028359, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8717271794947696, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd61f37e662c9bf38c240e820fc9e1787836fc1d6128c190e45cbbe0cc1b0128", + "visual_seed": 2992687769765694735, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..df1bb51da6d54065a8f8d3a555fd0afc6d501aca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36271073053646036, + 0.08803358531056256, + 1.0494658298440505 + ], + "current_z": 1.0494658298440505, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1928793224354849, + "gripper_z": 1.0503209587105826, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3575761960107372, + 0.0831784047000622, + 1.0503209587105826 + ], + "object_minus_gripper": [ + 0.005134534525723156, + 0.004855180610500359, + -0.0008551288665321621 + ], + "object_to_gripper_xy": 0.00706655669731884, + "object_to_gripper_z": -0.0008551288665321621, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36271073053646036, + 0.06351338515075308, + 1.0494658298440505 + ], + "finger_b": [ + 0.3509275083424641, + 0.08803358531056256, + 1.0494658298440505 + ], + "finger_midpoint": [ + 0.3568191194394622, + 0.07577348523065783, + 1.0494658298440505 + ], + "object_minus_finger_midpoint": [ + 0.0058916110969981506, + 0.012260100079904732, + 0.0 + ], + "finger_gap": 0.02720449487033726, + "fingertip_max_gap": 0.09391721405925327, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013602247435168637, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494658298440505, + "object_top_z": 1.0960339306849107, + "finger_top_clearance": 0.04656810084086027, + "fingertip_min_top_clearance": 0.013970430252258081, + "object_projection_between_fingers": 0.8123939664280786, + "object_to_finger_line_xy": 0.010620559878115296, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049458607029626636, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.471170190203941, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36311027313235333, + 0.08530285794850477, + 1.2405943339504546 + ], + "held_position": [ + 0.36858816667062083, + 0.0897377400162157, + 1.2395881722446276 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007119540571509481, + "max_held_gripper_dist": 0.007120907670919764, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010061617058270134, + "max_held_gripper_z_dist": 0.0010174232736721578, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08786455795289388, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36858816667062083, + 0.06415286074646966, + 1.2395881722446276 + ], + "held_grasp_finger_b": [ + 0.358943666776598, + 0.0897377400162157, + 1.2395881722446276 + ], + "held_grasp_midpoint": [ + 0.3637659167236094, + 0.07694530038134267, + 1.2395881722446276 + ], + "held_grasp_object_position": [ + 0.36858816667062083, + 0.0897377400162157, + 1.2395881722446276 + ], + "held_grasp_finger_gap": 0.027342319313717472, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025000765932998582, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055800033145950334, + -0.9982040203316803, + 0.02179656153114939 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004110585682488773, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216167858554889, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33096412756117416, + 0.0897230570782768, + 0.7565864524629368 + ], + "target_position": [ + 0.33827175159599504, + 0.08555215016094556, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008414144849438558, + "xy_threshold": 0.08, + "gripper_dist": 0.21148462023047085, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864524629368, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561886392123786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09205557428294502, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1830142692369829, + "release_required_pad_clearance": 0.05602778714147251, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.300462659792566, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb7972940d671a83eecf6bd8926360cd197182922d71cd431d493dd7c2aea75f", + "visual_seed": 8652890514161280680, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cf44197083ef9b10fcb4024d57014fe105cf7497 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_59_success.json @@ -0,0 +1,684 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36296676000271455, + 0.09245205619912439, + 1.0501976067832368 + ], + "current_z": 1.0501976067832368, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.19361103977002636, + "gripper_z": 1.0509504462193207, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.357892739670867, + 0.0876335018933221, + 1.0509504462193207 + ], + "object_minus_gripper": [ + 0.005074020331847562, + 0.004818554305802289, + -0.0007528394360838409 + ], + "object_to_gripper_xy": 0.006997438668967969, + "object_to_gripper_z": -0.0007528394360838409, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36296676000271455, + 0.06798244018178533, + 1.0501976067832368 + ], + "finger_b": [ + 0.3512261351366862, + 0.09245205619912439, + 1.0501976067832368 + ], + "finger_midpoint": [ + 0.3570964475697004, + 0.08021724819045487, + 1.0501976067832368 + ], + "object_minus_finger_midpoint": [ + 0.005870312433014169, + 0.012234808008669523, + 0.0 + ], + "finger_gap": 0.027140456523073064, + "fingertip_max_gap": 0.09375377816003419, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013570228261536525, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501976067832368, + "object_top_z": 1.096794912357515, + "finger_top_clearance": 0.0465973055742781, + "fingertip_min_top_clearance": 0.01397919167228343, + "object_projection_between_fingers": 0.8128679710100928, + "object_to_finger_line_xy": 0.01058525238995529, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0493768890800171, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3427349443358099, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.363460390926218, + 0.08989109175173192, + 1.2415211624722196 + ], + "held_position": [ + 0.36887725038991764, + 0.09429348079384417, + 1.2406147950150737 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007038813656785878, + "max_held_gripper_dist": 0.007042793487850421, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009063674571458957, + "max_held_gripper_z_dist": 0.0009176455630737212, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878776982702115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36887725038991764, + 0.06875472547314626, + 1.2406147950150737 + ], + "held_grasp_finger_b": [ + 0.35928144191574574, + 0.09429348079384417, + 1.2406147950150737 + ], + "held_grasp_midpoint": [ + 0.36407934615283166, + 0.08152410313349522, + 1.2406147950150737 + ], + "held_grasp_object_position": [ + 0.36887725038991764, + 0.09429348079384417, + 1.2406147950150737 + ], + "held_grasp_finger_gap": 0.02728200072581674, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024924036521509985, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05875082879987239, + -0.9980047148858431, + 0.02312853607462262 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004050425569294178, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217444500419334, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32260840146896763, + 0.10095340712678234, + 0.7565870671785694 + ], + "target_position": [ + 0.33859265786985304, + 0.08923130584093575, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019821808980133287, + "xy_threshold": 0.08, + "gripper_dist": 0.2064230903735745, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870671785694, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07596407168583727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08967904671132364, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809961338449002, + "release_required_pad_clearance": 0.05483952335566182, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.734395703594877, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d221be91afa277303fe9533c0a9a8af61fb63145d2d0f258b99467bdc10b3f5f", + "visual_seed": 3674575692185694690, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb41cd1f2211403cc63c18bb0e5d72831c019de --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_60_success.json @@ -0,0 +1,684 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36458585050275, + 0.0930053052859815, + 1.050170053882569 + ], + "current_z": 1.050170053882569, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19358366568329288, + "gripper_z": 1.050794018984111, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35971422270241227, + 0.08823950143408264, + 1.050794018984111 + ], + "object_minus_gripper": [ + 0.00487162780033773, + 0.004765803851898856, + -0.0006239651015420566 + ], + "object_to_gripper_xy": 0.0068151040916333335, + "object_to_gripper_z": -0.0006239651015420566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36458585050275, + 0.06876913211393906, + 1.050170053882569 + ], + "finger_b": [ + 0.352806239968941, + 0.0930053052859815, + 1.050170053882569 + ], + "finger_midpoint": [ + 0.35869604523584553, + 0.08088721869996028, + 1.050170053882569 + ], + "object_minus_finger_midpoint": [ + 0.005889805266904469, + 0.012118086586021218, + 0.0 + ], + "finger_gap": 0.026947194925510398, + "fingertip_max_gap": 0.09119259521558729, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013473597462755187, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050170053882569, + "object_top_z": 1.0955742942806563, + "finger_top_clearance": 0.045404240398087437, + "fingertip_min_top_clearance": 0.013621272119426231, + "object_projection_between_fingers": 0.8089114188937722, + "object_to_finger_line_xy": 0.01059452316227318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048096297607793645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7195458437068983, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3653112093256407, + 0.0901729539468635, + 1.2437197533713924 + ], + "held_position": [ + 0.37057076144022205, + 0.09448421165608402, + 1.2429653202171522 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006842441148123029, + "max_held_gripper_dist": 0.006843886228135826, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000754433154240175, + "max_held_gripper_z_dist": 0.000767183912733671, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08776965980290075, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37057076144022205, + 0.06903246801166046, + 1.2429653202171522 + ], + "held_grasp_finger_b": [ + 0.36111305918263703, + 0.09448421165608402, + 1.2429653202171522 + ], + "held_grasp_midpoint": [ + 0.36584191031142954, + 0.08175833983387223, + 1.2429653202171522 + ], + "held_grasp_object_position": [ + 0.37057076144022205, + 0.09448421165608402, + 1.2429653202171522 + ], + "held_grasp_finger_gap": 0.0271521525212014, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024664189793082655, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07543133173012766, + -0.997086770321904, + 0.011317536942915261 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003758287496682054, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032154722992872774, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3185778579027201, + 0.08558566584031226, + 0.7565879272021507 + ], + "target_position": [ + 0.34039816990681926, + 0.0880983463642517, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02196450726448511, + "xy_threshold": 0.08, + "gripper_dist": 0.20047115883522185, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879272021507, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523448056074016, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08973178503440858, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17284184323804846, + "release_required_pad_clearance": 0.05486589251720429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.788982280336244, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9d3e9101a985ce66f22090d7cafad961c109c90424e8ac3a6ddc4b4f0f160f49", + "visual_seed": 3116983635296181903, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9035e564aa82448b8144a844ca3e4ae6c9511d3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36022942391178153, + 0.0891503762281453, + 1.0476206105005377 + ], + "current_z": 1.0476206105005377, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19103404348732733, + "gripper_z": 1.0484497550048244, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3554986479333814, + 0.08446215270272724, + 1.0484497550048244 + ], + "object_minus_gripper": [ + 0.004730775978400159, + 0.0046882235254180615, + -0.0008291445042867274 + ], + "object_to_gripper_xy": 0.006660306388004334, + "object_to_gripper_z": -0.0008291445042867274, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36022942391178153, + 0.06499411317197527, + 1.0476206105005377 + ], + "finger_b": [ + 0.34858853670841783, + 0.0891503762281453, + 1.0476206105005377 + ], + "finger_midpoint": [ + 0.3544089803100997, + 0.07707224470006029, + 1.0476206105005377 + ], + "object_minus_finger_midpoint": [ + 0.005820443601681824, + 0.012078131528085012, + 0.0 + ], + "finger_gap": 0.026814833576218996, + "fingertip_max_gap": 0.09317654489098162, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013407416788109486, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476206105005377, + "object_top_z": 1.093737745590916, + "finger_top_clearance": 0.0461171350903784, + "fingertip_min_top_clearance": 0.01383514052711352, + "object_projection_between_fingers": 0.8115388007596492, + "object_to_finger_line_xy": 0.010486745431119977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908827244549081, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.436032955176069, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36100384534677227, + 0.08666635849116335, + 1.2394927883426294 + ], + "held_position": [ + 0.3661081939452428, + 0.09091386266266352, + 1.23852537965526 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006710554810894352, + "max_held_gripper_dist": 0.006712223336909354, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009674086873694421, + "max_held_gripper_z_dist": 0.0009801246608414083, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08783487540983259, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3661081939452428, + 0.0655207115451422, + 1.23852537965526 + ], + "held_grasp_finger_b": [ + 0.3568277320968417, + 0.09091386266266352, + 1.23852537965526 + ], + "held_grasp_midpoint": [ + 0.3614679630210422, + 0.07821728710390285, + 1.23852537965526 + ], + "held_grasp_object_position": [ + 0.3661081939452428, + 0.09091386266266352, + 1.23852537965526 + ], + "held_grasp_finger_gap": 0.027035885334068536, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024747022563519676, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06364778551187435, + -0.9978164305577178, + 0.01764455464129222 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038294250802260424, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032236032838872775, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3178822495400454, + 0.0935617293751792, + 0.7565867127968628 + ], + "target_position": [ + 0.3361837005704666, + 0.08523547338031998, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.020106457885734973, + "xy_threshold": 0.08, + "gripper_dist": 0.20463911777621055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867127968628, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538772879059588, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867668523481092, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.178605829189326, + "release_required_pad_clearance": 0.0533834261740546, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7817469108282213, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c59465538c2b22c03836dc7e227cd20075809cf99e25eac996655f4d3befc2a8", + "visual_seed": 5735503974668646318, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a5b14fb88e69e1634746af44cee2d9162accee --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3599800574896875, + 0.09204798847600569, + 1.0486553655061865 + ], + "current_z": 1.0486553655061865, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19206885809762098, + "gripper_z": 1.049537812643138, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35479732727222785, + 0.08716175544131063, + 1.049537812643138 + ], + "object_minus_gripper": [ + 0.00518273021745963, + 0.004886233034695056, + -0.0008824471369515141 + ], + "object_to_gripper_xy": 0.007122918346879627, + "object_to_gripper_z": -0.0008824471369515141, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3599800574896875, + 0.0675228690962916, + 1.0486553655061865 + ], + "finger_b": [ + 0.34810962131693224, + 0.09204798847600569, + 1.0486553655061865 + ], + "finger_midpoint": [ + 0.3540448394033099, + 0.07978542878614864, + 1.0486553655061865 + ], + "object_minus_finger_midpoint": [ + 0.005935218086377592, + 0.012262559689857053, + 0.0 + ], + "finger_gap": 0.027246811474385103, + "fingertip_max_gap": 0.09348480411652135, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013623405737192545, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486553655061865, + "object_top_z": 1.0952195153836022, + "finger_top_clearance": 0.04656414987741564, + "fingertip_min_top_clearance": 0.013969244963224724, + "object_projection_between_fingers": 0.8101974771578007, + "object_to_finger_line_xy": 0.010684694776113028, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924240205826068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.244453914507465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3604215278782045, + 0.08896728071145489, + 1.242194207737342 + ], + "held_position": [ + 0.36598312745138617, + 0.09338693191522421, + 1.2411690318403668 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007177443290973008, + "max_held_gripper_dist": 0.007178435859528463, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010251758969752611, + "max_held_gripper_z_dist": 0.0010362658860281204, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08777546528081731, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36598312745138617, + 0.0677482276253849, + 1.2411690318403668 + ], + "held_grasp_finger_b": [ + 0.3563542702396293, + 0.09338693191522421, + 1.2411690318403668 + ], + "held_grasp_midpoint": [ + 0.36116869884550773, + 0.08056757977030456, + 1.2411690318403668 + ], + "held_grasp_object_position": [ + 0.36598312745138617, + 0.09338693191522421, + 1.2411690318403668 + ], + "held_grasp_finger_gap": 0.027387187677200935, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024913010056563538, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06826300258347766, + -0.997332176861185, + 0.02585906950410565 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003942431835710598, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208642523280691, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32614674547397093, + 0.08246486752291954, + 0.7565947901662982 + ], + "target_position": [ + 0.33545403070968605, + 0.08809526219685018, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010877816998055588, + "xy_threshold": 0.08, + "gripper_dist": 0.20729684831679032, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565947901662982, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565598840447947, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08699971367955726, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17689636060477335, + "release_required_pad_clearance": 0.053499856839778634, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9781405210709575, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64ba87e63b0f423edfebc15aebb1b9b9dd9e90691bfbbeeeb6d282785086d098", + "visual_seed": 6762142024138994189, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f606c1f274c868083b1e2a02318968fa33517fa2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_64_success.json @@ -0,0 +1,684 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35781663305680195, + 0.08679232701159702, + 1.0505185642735362 + ], + "current_z": 1.0505185642735362, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1939320568649705, + "gripper_z": 1.051456806718935, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35293104158399347, + 0.08199283886437247, + 1.051456806718935 + ], + "object_minus_gripper": [ + 0.0048855914728084815, + 0.004799488147224543, + -0.0009382424453987515 + ], + "object_to_gripper_xy": 0.006848656110108597, + "object_to_gripper_z": -0.0009382424453987515, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35781663305680195, + 0.06258010164900712, + 1.0505185642735362 + ], + "finger_b": [ + 0.3459434021502328, + 0.08679232701159702, + 1.0505185642735362 + ], + "finger_midpoint": [ + 0.3518800176035174, + 0.07468621433030206, + 1.0505185642735362 + ], + "object_minus_finger_midpoint": [ + 0.005936615453284555, + 0.012106112681294953, + 0.0 + ], + "finger_gap": 0.026966747471090215, + "fingertip_max_gap": 0.0915888962033227, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013483373735545102, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505185642735362, + "object_top_z": 1.0959747894062568, + "finger_top_clearance": 0.04545622513272063, + "fingertip_min_top_clearance": 0.013636867539816189, + "object_projection_between_fingers": 0.8061433554374977, + "object_to_finger_line_xy": 0.010660438111793452, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829444810166135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0363209175813428, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3586693293591048, + 0.0838267751255113, + 1.2444312646791365 + ], + "held_position": [ + 0.3639734718356609, + 0.08812645994514323, + 1.243355988369896 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00691212240205527, + "max_held_gripper_dist": 0.0069144843036390595, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001075276309240536, + "max_held_gripper_z_dist": 0.0010857281476295277, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08677807747956966, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3639734718356609, + 0.06260222680446548, + 1.243355988369896 + ], + "held_grasp_finger_b": [ + 0.35460786365486274, + 0.08812645994514323, + 1.243355988369896 + ], + "held_grasp_midpoint": [ + 0.35929066774526186, + 0.07536434337480435, + 1.243355988369896 + ], + "held_grasp_object_position": [ + 0.3639734718356609, + 0.08812645994514323, + 1.243355988369896 + ], + "held_grasp_finger_gap": 0.027188252868029353, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02472028198268785, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0774409734813614, + -0.9969178567367607, + 0.012557171084391805 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036840173030693673, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032114802159700834, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32486001500238765, + 0.08330746234955493, + 0.7565865464936498 + ], + "target_position": [ + 0.3335369355643012, + 0.08246749881709967, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008717481813781595, + "xy_threshold": 0.08, + "gripper_dist": 0.21065733193343938, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865464936498, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521216058155215, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572521261442866, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18234152820347976, + "release_required_pad_clearance": 0.05286260630721433, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7671890404449604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29b85d5eca28bf7f7172408d4903878f92f5ba1b9922f149817091400827857e", + "visual_seed": 890630001115134956, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c65cc8c7d47afd96e12e0c6f63ad821cb34b93af --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3655855855175187, + 0.08977628180589102, + 1.0479296075496929 + ], + "current_z": 1.0479296075496929, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19134310014112732, + "gripper_z": 1.048505339787965, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36066185776529647, + 0.08501945037856758, + 1.048505339787965 + ], + "object_minus_gripper": [ + 0.004923727752222218, + 0.0047568314273234436, + -0.0005757322382720087 + ], + "object_to_gripper_xy": 0.006846206263762088, + "object_to_gripper_z": -0.0005757322382720087, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3655855855175187, + 0.06544358854380107, + 1.0479296075496929 + ], + "finger_b": [ + 0.35389389275567323, + 0.08977628180589102, + 1.0479296075496929 + ], + "finger_midpoint": [ + 0.35973973913659596, + 0.07760993517484605, + 1.0479296075496929 + ], + "object_minus_finger_midpoint": [ + 0.005845846380922726, + 0.012166346631044975, + 0.0 + ], + "finger_gap": 0.026995844884432622, + "fingertip_max_gap": 0.09131650180061537, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013497922442216311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479296075496929, + "object_top_z": 1.0933838390255488, + "finger_top_clearance": 0.04545423147585592, + "fingertip_min_top_clearance": 0.013636269442756742, + "object_projection_between_fingers": 0.8124310529297416, + "object_to_finger_line_xy": 0.010538302279719983, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815825090030769, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7571895644942888, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36622240368219705, + 0.08715230461341883, + 1.2399241809302735 + ], + "held_position": [ + 0.3715160926453974, + 0.09147959663757704, + 1.2392056448383386 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006874946779202419, + "max_held_gripper_dist": 0.006875951265706993, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007185360919348405, + "max_held_gripper_z_dist": 0.0007305749899593206, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08798823387755916, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3715160926453974, + 0.06598999006657918, + 1.2392056448383386 + ], + "held_grasp_finger_b": [ + 0.3620763706004517, + 0.09147959663757704, + 1.2392056448383386 + ], + "held_grasp_midpoint": [ + 0.3667962316229246, + 0.07873479335207811, + 1.2392056448383386 + ], + "held_grasp_object_position": [ + 0.3715160926453974, + 0.09147959663757704, + 1.2392056448383386 + ], + "held_grasp_finger_gap": 0.02718139796680978, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024764759890031688, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07002141263953279, + -0.9974945078780777, + 0.010085064453725255 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038180872809836872, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215686234828329, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3371012897457714, + 0.09019926706048403, + 0.7565863486051292 + ], + "target_position": [ + 0.3413547575977452, + 0.08843783986323321, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004603760912448574, + "xy_threshold": 0.08, + "gripper_dist": 0.21224000866138354, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863486051292, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524593279905804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08536258832879888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1836715581507175, + "release_required_pad_clearance": 0.05268129416439944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4187134517023559, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8912b7eb01e6adb4613ac115ed0b3f19768706ff4b488357d30a03ece03bc618", + "visual_seed": 2147249853125564676, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..152febffe009807a02ec856e6ab85bec1f164c9c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3616230197722961, + 0.08869762404669757, + 1.049127023201007 + ], + "current_z": 1.049127023201007, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1925404561877967, + "gripper_z": 1.0508189033413335, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35632966693506196, + 0.08374645050996292, + 1.0508189033413335 + ], + "object_minus_gripper": [ + 0.005293352837234144, + 0.004951173536734646, + -0.0016918801403265071 + ], + "object_to_gripper_xy": 0.00724801377277363, + "object_to_gripper_z": -0.0016918801403265071, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3616230197722961, + 0.06399339040196425, + 1.049127023201007 + ], + "finger_b": [ + 0.3497968808489762, + 0.08869762404669757, + 1.049127023201007 + ], + "finger_midpoint": [ + 0.3557099503106361, + 0.07634550722433091, + 1.049127023201007 + ], + "object_minus_finger_midpoint": [ + 0.005913069461659981, + 0.012352116822366657, + 0.0 + ], + "finger_gap": 0.027388989061431886, + "fingertip_max_gap": 0.09328700363194928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013694494530715955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049127023201007, + "object_top_z": 1.0947004476870275, + "finger_top_clearance": 0.04557342448602042, + "fingertip_min_top_clearance": 0.013672027345806092, + "object_projection_between_fingers": 0.8135622093784282, + "object_to_finger_line_xy": 0.01066690334650477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04914350181597464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.55440851057371, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36192156213807625, + 0.08552458431794441, + 1.2418400739228117 + ], + "held_position": [ + 0.3675485773186501, + 0.09003353153101643, + 1.2399916483073423 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074438284550761786, + "max_held_gripper_dist": 0.0074446232108014735, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0018484256154693846, + "max_held_gripper_z_dist": 0.0018597937416353627, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08782098519181769, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3675485773186501, + 0.06430891158554686, + 1.2399916483073423 + ], + "held_grasp_finger_b": [ + 0.3578578896301935, + 0.09003353153101643, + 1.2399916483073423 + ], + "held_grasp_midpoint": [ + 0.3627032334744218, + 0.07717122155828164, + 1.2399916483073423 + ], + "held_grasp_object_position": [ + 0.3675485773186501, + 0.09003353153101643, + 1.2399916483073423 + ], + "held_grasp_finger_gap": 0.027489370658748357, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0253865274349083, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.033370039539899705, + -0.9994280234553574, + 0.005483283069784739 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004414000086914903, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218358261702401, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3190606889961214, + 0.08880307559253016, + 0.7565867845448042 + ], + "target_position": [ + 0.3370014455762879, + 0.08471460951451452, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01840071470187702, + "xy_threshold": 0.08, + "gripper_dist": 0.20466604871978344, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867845448042, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516185365187665, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09020053527919052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17830805608475986, + "release_required_pad_clearance": 0.05510026763959526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.285427354101351, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2e0ba9e1ff44678efe13fc63b82f35945d2e23ed220237320906c9dc4d1d2fec", + "visual_seed": 2908295600522427414, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8317a1b028a2d20e237af2cafc05ed6046a51b79 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3640072604314319, + 0.08693862556508583, + 1.0501257435897131 + ], + "current_z": 1.0501257435897131, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.193539116971858, + "gripper_z": 1.0509153447139392, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35894784542539127, + 0.08211166894575059, + 1.0509153447139392 + ], + "object_minus_gripper": [ + 0.005059415006040624, + 0.004826956619335243, + -0.0007896011242261025 + ], + "object_to_gripper_xy": 0.00699265260171656, + "object_to_gripper_z": -0.0007896011242261025, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3640072604314319, + 0.0625102093644106, + 1.0501257435897131 + ], + "finger_b": [ + 0.3522132244313483, + 0.08693862556508583, + 1.0501257435897131 + ], + "finger_midpoint": [ + 0.3581102424313901, + 0.07472441746474821, + 1.0501257435897131 + ], + "object_minus_finger_midpoint": [ + 0.005897018000041776, + 0.012214208100337617, + 0.0 + ], + "finger_gap": 0.027126496331901773, + "fingertip_max_gap": 0.09300821813097274, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013563248165950875, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501257435897131, + "object_top_z": 1.0963328987549787, + "finger_top_clearance": 0.046207155165265634, + "fingertip_min_top_clearance": 0.013862146549579723, + "object_projection_between_fingers": 0.810967059233095, + "object_to_finger_line_xy": 0.010620966916282554, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900410906548637, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.196836974158816, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.364596438958257, + 0.08389682125413983, + 1.2439145647196457 + ], + "held_position": [ + 0.3700303492653471, + 0.08827006519060936, + 1.2429841683583533 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007036922704028636, + "max_held_gripper_dist": 0.007037707655484765, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009303963612923294, + "max_held_gripper_z_dist": 0.0009416732062339506, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08776004346448285, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3700303492653471, + 0.06270352831071185, + 1.2429841683583533 + ], + "held_grasp_finger_b": [ + 0.36048601019174387, + 0.08827006519060936, + 1.2429841683583533 + ], + "held_grasp_midpoint": [ + 0.36525817972854546, + 0.07548679675066061, + 1.2429841683583533 + ], + "held_grasp_object_position": [ + 0.3700303492653471, + 0.08827006519060936, + 1.2429841683583533 + ], + "held_grasp_finger_gap": 0.02728996548885815, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024877588753381516, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0658191225340826, + -0.9976239213074092, + 0.02035570544274457 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003929276199813163, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213323056612769, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.38450361492118407, + 0.08914701669370823, + 0.7433659823525862 + ], + "target_position": [ + 0.3396087712756627, + 0.08328950595429394, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.045275351108723216, + "xy_threshold": 0.08, + "gripper_dist": 0.25590764096893315, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7433659823525862, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550204196092876, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.11396151590968177, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.22467241249660566, + "release_required_pad_clearance": 0.06698075795484089, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5065847933887349, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f810955d71a5631b486e0950a0ae42a107b171df17a3957cd8a0c01bb051c5cc", + "visual_seed": 4735836548408470737, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1773a60964e815f639609e07819277fa6a9264b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36296496287507546, + 0.09260725231946981, + 1.0482831058539148 + ], + "current_z": 1.0482831058539148, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19169665804999403, + "gripper_z": 1.0500092566131562, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3575849122364847, + 0.08772808020103398, + 1.0500092566131562 + ], + "object_minus_gripper": [ + 0.005380050638590761, + 0.004879172118435832, + -0.0017261507592414294 + ], + "object_to_gripper_xy": 0.007263006638791022, + "object_to_gripper_z": -0.0017261507592414294, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36296496287507546, + 0.06782464837659402, + 1.0482831058539148 + ], + "finger_b": [ + 0.3512805860986433, + 0.09260725231946981, + 1.0482831058539148 + ], + "finger_midpoint": [ + 0.35712277448685936, + 0.08021595034803192, + 1.0482831058539148 + ], + "object_minus_finger_midpoint": [ + 0.005842188388216096, + 0.012391301971437896, + 0.0 + ], + "finger_gap": 0.027398943754149894, + "fingertip_max_gap": 0.09513487537281498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013699471877074957, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482831058539148, + "object_top_z": 1.0947353024585085, + "finger_top_clearance": 0.046452196604593654, + "fingertip_min_top_clearance": 0.01393565898137813, + "object_projection_between_fingers": 0.8181373713663828, + "object_to_finger_line_xy": 0.010568629381043018, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05006743768640749, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.616772056193157, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3625067004687781, + 0.09116840117095347, + 1.2399711418155965 + ], + "held_position": [ + 0.3680683005561182, + 0.09579554582131429, + 1.238125505133566 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007466474262255326, + "max_held_gripper_dist": 0.007470634256641572, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001845636682030527, + "max_held_gripper_z_dist": 0.0018657048564911793, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676324902660472, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3680683005561182, + 0.07041895346181691, + 1.238125505133566 + ], + "held_grasp_finger_b": [ + 0.35767672999346845, + 0.09579554582131429, + 1.238125505133566 + ], + "held_grasp_midpoint": [ + 0.36287251527479336, + 0.0831072496415656, + 1.238125505133566 + ], + "held_grasp_object_position": [ + 0.3680683005561182, + 0.09579554582131429, + 1.238125505133566 + ], + "held_grasp_finger_gap": 0.027421819387827465, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025375430176210616, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00020545794436024198, + -0.9998700686850887, + 0.0161184222152595 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0052024132133549365, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03251464490843194, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3315078882781914, + 0.08931280843491085, + 0.7565867131318764 + ], + "target_position": [ + 0.338471367239726, + 0.0890489694839649, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006968475460225946, + "xy_threshold": 0.08, + "gripper_dist": 0.2127919175411181, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867131318764, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527329486591196, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08842331782596884, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18403686829235197, + "release_required_pad_clearance": 0.05421165891298442, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.440209453495526, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6886e8c078f7dc35b6f71c7ec33f39460d12fa41aeb81fcf7e1f505af6c8f207", + "visual_seed": 204314884267423856, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..69e1167530b4b6d02a51132039ee5933ac3fe4a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3583250673363395, + 0.08798085733838701, + 1.0501360297019644 + ], + "current_z": 1.0501360297019644, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19354964150268839, + "gripper_z": 1.0510569181444094, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35349011047999407, + 0.08320325625852064, + 1.0510569181444094 + ], + "object_minus_gripper": [ + 0.00483495685634544, + 0.00477760107986637, + -0.0009208884424449781 + ], + "object_to_gripper_xy": 0.006797225895985956, + "object_to_gripper_z": -0.0009208884424449781, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3583250673363395, + 0.06382656519989313, + 1.0501360297019644 + ], + "finger_b": [ + 0.3464576819166695, + 0.08798085733838701, + 1.0501360297019644 + ], + "finger_midpoint": [ + 0.3523913746265045, + 0.07590371126914007, + 1.0501360297019644 + ], + "object_minus_finger_midpoint": [ + 0.0059336927098350145, + 0.012077146069246938, + 0.0 + ], + "finger_gap": 0.026912165751026132, + "fingertip_max_gap": 0.09263098917781251, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013456082875513066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501360297019644, + "object_top_z": 1.0960853391594254, + "finger_top_clearance": 0.04594930945746101, + "fingertip_min_top_clearance": 0.013784792837238335, + "object_projection_between_fingers": 0.805547828818717, + "object_to_finger_line_xy": 0.01065125330301162, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881549458890626, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.21023355276383, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35906012979242646, + 0.08520530302312891, + 1.2412096181104928 + ], + "held_position": [ + 0.3642947432875723, + 0.08950612820778198, + 1.240137537160215 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068591277343739, + "max_held_gripper_dist": 0.006860029836849855, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010720809502777762, + "max_held_gripper_z_dist": 0.0010815187376835844, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08784265802028043, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3642947432875723, + 0.06402971121010353, + 1.240137537160215 + ], + "held_grasp_finger_b": [ + 0.3549406516387697, + 0.08950612820778198, + 1.240137537160215 + ], + "held_grasp_midpoint": [ + 0.35961769746317096, + 0.07676791970894276, + 1.240137537160215 + ], + "held_grasp_object_position": [ + 0.3642947432875723, + 0.08950612820778198, + 1.240137537160215 + ], + "held_grasp_finger_gap": 0.02713939670688715, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024728263928036825, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0724778636006463, + -0.9972449622323989, + 0.015793814928235502 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037470563347368167, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321581284231625, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31310289476764175, + 0.08198137216479394, + 0.7565906252899297 + ], + "target_position": [ + 0.33413937667755217, + 0.0839883261396709, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.021132000269810304, + "xy_threshold": 0.08, + "gripper_dist": 0.20067448412505412, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565906252899297, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516623100997995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557916881236126, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1732437244709874, + "release_required_pad_clearance": 0.05278958440618063, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.606365644573574, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7af0cee4d09854f21fef60a3e10230303b7ca7c480f457d250d7b45c7a3c800d", + "visual_seed": 3634106737086127863, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..01cb2e431fbff72cb9434eac4434e98758ededb2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_75_success.json @@ -0,0 +1,684 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36462937990874944, + 0.08285620870861558, + 1.046967810145205 + ], + "current_z": 1.046967810145205, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1903813623412841, + "gripper_z": 1.0477187243536092, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3598247267597345, + 0.0781817640427075, + 1.0477187243536092 + ], + "object_minus_gripper": [ + 0.004804653149014959, + 0.0046744446659080785, + -0.0007509142084043408 + ], + "object_to_gripper_xy": 0.006703366677795259, + "object_to_gripper_z": -0.0007509142084043408, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36462937990874944, + 0.05856181664463167, + 1.046967810145205 + ], + "finger_b": [ + 0.3531132314823252, + 0.08285620870861558, + 1.046967810145205 + ], + "finger_midpoint": [ + 0.3588713056955373, + 0.07070901267662363, + 1.046967810145205 + ], + "object_minus_finger_midpoint": [ + 0.0057580742132121165, + 0.01214719603199195, + 0.0 + ], + "finger_gap": 0.026885668307445845, + "fingertip_max_gap": 0.0937609788321829, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013442834153722915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046967810145205, + "object_top_z": 1.0937616408755293, + "finger_top_clearance": 0.04679383073032439, + "fingertip_min_top_clearance": 0.014038149219097283, + "object_projection_between_fingers": 0.8165267159606852, + "object_to_finger_line_xy": 0.010406206821390363, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938048941609145, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2303003170891589, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36541611680161135, + 0.07991632189337339, + 1.2376465402968433 + ], + "held_position": [ + 0.37057904134993025, + 0.0841604678198552, + 1.2367378443208301 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006744945730969868, + "max_held_gripper_dist": 0.006747756946235532, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009086959760131741, + "max_held_gripper_z_dist": 0.000917306023495934, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08784164480302403, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37057904134993025, + 0.0586635126107113, + 1.2367378443208301 + ], + "held_grasp_finger_b": [ + 0.36143065877455643, + 0.0841604678198552, + 1.2367378443208301 + ], + "held_grasp_midpoint": [ + 0.36600485006224337, + 0.07141199021528324, + 1.2367378443208301 + ], + "held_grasp_object_position": [ + 0.37057904134993025, + 0.0841604678198552, + 1.2367378443208301 + ], + "held_grasp_finger_gap": 0.027088514700560704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024772860177272787, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07117631252054454, + -0.9971389958514482, + 0.025451041007065404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036699402140521085, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216264673993207, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3306896471677426, + 0.08682887770207906, + 0.7565872087676895 + ], + "target_position": [ + 0.34048103236282995, + 0.08162894691934432, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011086500989212449, + "xy_threshold": 0.08, + "gripper_dist": 0.20947251447898, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872087676895, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528181230577126, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09272910652314147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18227622476499106, + "release_required_pad_clearance": 0.056364553261570735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.05596310532933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e6480df54a137ac49aaa55ca86fead95ad2a4a329ba4f8de12d9fa90e77d17a6", + "visual_seed": 1984649070853238717, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..908b62bf8c4731a9d3bbda25195a5614eadad1e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36190918941220707, + 0.08525281734352114, + 1.0474607466727859 + ], + "current_z": 1.0474607466727859, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1908742988688651, + "gripper_z": 1.048262400179352, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35717408464151934, + 0.08053121920783339, + 1.048262400179352 + ], + "object_minus_gripper": [ + 0.004735104770687726, + 0.004721598135687746, + -0.0008016535065660246 + ], + "object_to_gripper_xy": 0.006686905573157113, + "object_to_gripper_z": -0.0008016535065660246, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36190918941220707, + 0.06114694658234712, + 1.0474607466727859 + ], + "finger_b": [ + 0.3501485049249101, + 0.08525281734352114, + 1.0474607466727859 + ], + "finger_midpoint": [ + 0.3560288471685586, + 0.07319988196293413, + 1.0474607466727859 + ], + "object_minus_finger_midpoint": [ + 0.005880342243648473, + 0.012052935380587007, + 0.0 + ], + "finger_gap": 0.02682175804760328, + "fingertip_max_gap": 0.09229251904880806, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01341087902380164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474607466727859, + "object_top_z": 1.0934037855121694, + "finger_top_clearance": 0.045943038839383554, + "fingertip_min_top_clearance": 0.013782911651815066, + "object_projection_between_fingers": 0.807739212473579, + "object_to_finger_line_xy": 0.010569834378886157, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864625952440403, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9839207637964945, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3627605496271912, + 0.08216558127216021, + 1.2375351872279468 + ], + "held_position": [ + 0.3678994222679376, + 0.08641122776692259, + 1.2365766937200677 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006734406876700154, + "max_held_gripper_dist": 0.006735371458352299, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009584935078790213, + "max_held_gripper_z_dist": 0.0009686869329759151, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08667596506181632, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3678994222679376, + 0.06093876886860049, + 1.2365766937200677 + ], + "held_grasp_finger_b": [ + 0.35873035854798074, + 0.08641122776692259, + 1.2365766937200677 + ], + "held_grasp_midpoint": [ + 0.36331489040795917, + 0.07367499831776153, + 1.2365766937200677 + ], + "held_grasp_object_position": [ + 0.3678994222679376, + 0.08641122776692259, + 1.2365766937200677 + ], + "held_grasp_finger_gap": 0.027072456331617523, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024663479311356536, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07916444735289165, + -0.9967370356680718, + 0.015756649483195665 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035676972024620435, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032142621447998676, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32640335708704177, + 0.07741861626347171, + 0.7565888783759127 + ], + "target_position": [ + 0.3377914737459701, + 0.08173064957617801, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012177143849328923, + "xy_threshold": 0.08, + "gripper_dist": 0.20739907040079905, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565888783759127, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517208746253724, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09250619610203896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.178188830226156, + "release_required_pad_clearance": 0.05625309805101948, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.7958445413432065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9984284a20772b6b385b275ca6646d18e1ca255abaaa66ba45d71017b17f165b", + "visual_seed": 8230635368563829647, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f94c24950d5e489c354f23d78d947c8516d0de2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_77_success.json @@ -0,0 +1,684 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36325059917023633, + 0.08847048940093952, + 1.0495561547818102 + ], + "current_z": 1.0495561547818102, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.19296976658253417, + "gripper_z": 1.0502723822925641, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3583375626596889, + 0.08369142570755748, + 1.0502723822925641 + ], + "object_minus_gripper": [ + 0.004913036510547419, + 0.004779063693382032, + -0.0007162275107539529 + ], + "object_to_gripper_xy": 0.006854004489302169, + "object_to_gripper_z": -0.0007162275107539529, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36325059917023633, + 0.06418452843881474, + 1.0495561547818102 + ], + "finger_b": [ + 0.3514786394800885, + 0.08847048940093952, + 1.0495561547818102 + ], + "finger_midpoint": [ + 0.3573646193251624, + 0.07632750891987714, + 1.0495561547818102 + ], + "object_minus_finger_midpoint": [ + 0.005885979845073941, + 0.012142980481062382, + 0.0 + ], + "finger_gap": 0.026988644552854334, + "fingertip_max_gap": 0.09140021042959731, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013494322276427174, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495561547818102, + "object_top_z": 1.0949915580003022, + "finger_top_clearance": 0.04543540321849204, + "fingertip_min_top_clearance": 0.013630620965547647, + "object_projection_between_fingers": 0.809745303868669, + "object_to_finger_line_xy": 0.010593097883176243, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820010521479866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.882296748432321, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36394080907651727, + 0.08561261658849889, + 1.2408182293998407 + ], + "held_position": [ + 0.3692341712161637, + 0.08993959555501828, + 1.2399494278205407 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006891824569904361, + "max_held_gripper_dist": 0.006893204528332667, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000868801579299916, + "max_held_gripper_z_dist": 0.0008797318916806685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08780165230119122, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3692341712161637, + 0.06442608886697967, + 1.2399494278205407 + ], + "held_grasp_finger_b": [ + 0.3598433400127791, + 0.08993959555501828, + 1.2399494278205407 + ], + "held_grasp_midpoint": [ + 0.3645387556144714, + 0.07718284221099897, + 1.2399494278205407 + ], + "held_grasp_object_position": [ + 0.3692341712161637, + 0.08993959555501828, + 1.2399494278205407 + ], + "held_grasp_finger_gap": 0.02718688533486416, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02477338741193558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07169253335300863, + -0.9973791608633222, + 0.009746288370610425 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037708737968391083, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032140278780581864, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.314741278785335, + 0.08675003021725217, + 0.7565909934008128 + ], + "target_position": [ + 0.3390063909608626, + 0.08494396885780188, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.02433223225528308, + "xy_threshold": 0.08, + "gripper_dist": 0.19958077314993602, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565909934008128, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534791428063678, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08794438302597639, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1729720635242996, + "release_required_pad_clearance": 0.053972191512988196, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.945186062653081, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb48eebb4cd66ca530a61e470385e54cd45eaa51354becd2e0d250f65554d196", + "visual_seed": 3036851463952057322, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d879e8886ee4269120b01a96ee1405fd86e84776 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3638667667649176, + 0.09055211439082218, + 1.050369981421292 + ], + "current_z": 1.050369981421292, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19378335480343678, + "gripper_z": 1.0510888255208597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35902970457234484, + 0.08575133033557061, + 1.0510888255208597 + ], + "object_minus_gripper": [ + 0.004837062192572739, + 0.00480078405525157, + -0.0007188440995677947 + ], + "object_to_gripper_xy": 0.006815034717444534, + "object_to_gripper_z": -0.0007188440995677947, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3638667667649176, + 0.06640801279416515, + 1.050369981421292 + ], + "finger_b": [ + 0.35195214770987043, + 0.09055211439082218, + 1.050369981421292 + ], + "finger_midpoint": [ + 0.357909457237394, + 0.07848006359249367, + 1.050369981421292 + ], + "object_minus_finger_midpoint": [ + 0.005957309527523602, + 0.012072050798328515, + 0.0 + ], + "finger_gap": 0.026923888818976154, + "fingertip_max_gap": 0.09269056974691478, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01346194440948809, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050369981421292, + "object_top_z": 1.0965462926888683, + "finger_top_clearance": 0.046176311267576375, + "fingertip_min_top_clearance": 0.013852893380272945, + "object_projection_between_fingers": 0.8041675102072582, + "object_to_finger_line_xy": 0.01068448079267709, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04884528487345739, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0458651209326266, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36478696381536924, + 0.08738241193771615, + 1.2442028490616148 + ], + "held_position": [ + 0.3700624234520278, + 0.09167703383474436, + 1.2433467644974956 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006856174764208603, + "max_held_gripper_dist": 0.006859266467408807, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008560845641192305, + "max_held_gripper_z_dist": 0.0008676488614240974, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08782355733792312, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3700624234520278, + 0.06616016749363055, + 1.2433467644974956 + ], + "held_grasp_finger_b": [ + 0.360728446396133, + 0.09167703383474436, + 1.2433467644974956 + ], + "held_grasp_midpoint": [ + 0.3653954349240804, + 0.07891860066418746, + 1.2433467644974956 + ], + "held_grasp_object_position": [ + 0.3700624234520278, + 0.09167703383474436, + 1.2433467644974956 + ], + "held_grasp_finger_gap": 0.027170454459766354, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024641449103282576, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0836024903299273, + -0.9962740914183946, + 0.021179196847065037 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035944970242848848, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032099156687614275, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32179910774447307, + 0.09306213410634039, + 0.7565866490221314 + ], + "target_position": [ + 0.3396471310557867, + 0.08609233345685169, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01916063822566482, + "xy_threshold": 0.08, + "gripper_dist": 0.20540782830430102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866490221314, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548873579245977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09368140153659386, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1789294794697542, + "release_required_pad_clearance": 0.056840700768296934, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.149832816611905, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "376b7581e9438b0ac2813dcc2048abaa39907f266153caf8ac91ff72faede938", + "visual_seed": 292744530632037840, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd870813fa1a58de2211aeb5b16b39a1f3f7a9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36141978007078734, + 0.08972361310096534, + 1.0469366295048224 + ], + "current_z": 1.0469366295048224, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19035006249161202, + "gripper_z": 1.047783079038359, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3565759361197729, + 0.08497437569544247, + 1.047783079038359 + ], + "object_minus_gripper": [ + 0.004843843951014448, + 0.004749237405522869, + -0.0008464495335367417 + ], + "object_to_gripper_xy": 0.006783662738948396, + "object_to_gripper_z": -0.0008464495335367417, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36141978007078734, + 0.06547491084916832, + 1.0469366295048224 + ], + "finger_b": [ + 0.3496963059088373, + 0.08972361310096534, + 1.0469366295048224 + ], + "finger_midpoint": [ + 0.3555580429898123, + 0.07759926197506684, + 1.0469366295048224 + ], + "object_minus_finger_midpoint": [ + 0.005861737080975038, + 0.012124351125898505, + 0.0 + ], + "finger_gap": 0.026933982388837634, + "fingertip_max_gap": 0.09293659387980716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013466991194418822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469366295048224, + "object_top_z": 1.0934940275146219, + "finger_top_clearance": 0.04655739800979952, + "fingertip_min_top_clearance": 0.013967219402939856, + "object_projection_between_fingers": 0.8105426241824446, + "object_to_finger_line_xy": 0.010554660287725446, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896829693990358, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.05209482462596, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3622292688244042, + 0.08687186052993762, + 1.2383608619835802 + ], + "held_position": [ + 0.3674641798102246, + 0.09115248398160879, + 1.237363916009287 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006835344281023425, + "max_held_gripper_dist": 0.0068362840954672545, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009969459742931175, + "max_held_gripper_z_dist": 0.0010056987637574455, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656582484947234, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3674641798102246, + 0.06563868211808536, + 1.237363916009287 + ], + "held_grasp_finger_b": [ + 0.35819845243103177, + 0.09115248398160879, + 1.237363916009287 + ], + "held_grasp_midpoint": [ + 0.3628313161206282, + 0.07839558304984708, + 1.237363916009287 + ], + "held_grasp_object_position": [ + 0.3674641798102246, + 0.09115248398160879, + 1.237363916009287 + ], + "held_grasp_finger_gap": 0.027144203605865013, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02466776325604847, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08126143595647897, + -0.9963512966057179, + 0.02608970636852559 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035967877080786996, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211339702577207, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3311277678676475, + 0.08909222848953524, + 0.7565877287964459 + ], + "target_position": [ + 0.3372207789067524, + 0.0850812995253492, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007294678517823821, + "xy_threshold": 0.08, + "gripper_dist": 0.2123177435286291, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565877287964459, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516860388951219, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08839150195139321, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18470990426400943, + "release_required_pad_clearance": 0.05419575097569661, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4072855649272746, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "870aff63cec5ad7d3ee5a94759670eb987ceaad42201cab45ca5950c480f981c", + "visual_seed": 2712906147276440837, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..98ee2a94a32a38ff269a74c8dec1ecff7b1cd205 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3627678472095112, + 0.08593095607392141, + 1.046906096713623 + ], + "current_z": 1.046906096713623, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19031958930505743, + "gripper_z": 1.0477432559676, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35782387641322366, + 0.08115054674542098, + 1.0477432559676 + ], + "object_minus_gripper": [ + 0.004943970796287556, + 0.0047804093285004345, + -0.0008371592539770933 + ], + "object_to_gripper_xy": 0.006877147706902781, + "object_to_gripper_z": -0.0008371592539770933, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3627678472095112, + 0.061602958794023895, + 1.046906096713623 + ], + "finger_b": [ + 0.3510166097936908, + 0.08593095607392141, + 1.046906096713623 + ], + "finger_midpoint": [ + 0.356892228501601, + 0.07376695743397266, + 1.046906096713623 + ], + "object_minus_finger_midpoint": [ + 0.005875618707910202, + 0.012163998639948756, + 0.0 + ], + "finger_gap": 0.02701745791990206, + "fingertip_max_gap": 0.09319159297416843, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013508728959951026, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046906096713623, + "object_top_z": 1.0931906591616567, + "finger_top_clearance": 0.046284562448033695, + "fingertip_min_top_clearance": 0.013885368734410108, + "object_projection_between_fingers": 0.8108186876737665, + "object_to_finger_line_xy": 0.010581457098408787, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909579648708422, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.265317005424692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36343857228338294, + 0.08310208415043102, + 1.2382478314025522 + ], + "held_position": [ + 0.3687611287291641, + 0.08742460975137953, + 1.2372593532969214 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006927548170506898, + "max_held_gripper_dist": 0.006928446700957143, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009884781056308523, + "max_held_gripper_z_dist": 0.0009982233271532692, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08659601457799568, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3687611287291641, + 0.06188932559719801, + 1.2372593532969214 + ], + "held_grasp_finger_b": [ + 0.35937614339621055, + 0.08742460975137953, + 1.2372593532969214 + ], + "held_grasp_midpoint": [ + 0.36406863606268736, + 0.07465696767428877, + 1.2372593532969214 + ], + "held_grasp_object_position": [ + 0.3687611287291641, + 0.08742460975137953, + 1.2372593532969214 + ], + "held_grasp_finger_gap": 0.027205306220194386, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024837671511325928, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06756271728666241, + -0.997511775013658, + 0.02013797263738648 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00382801378603524, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032147314099358, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3104768001084263, + 0.08931237487157388, + 0.7565897842811857 + ], + "target_position": [ + 0.33847617849723427, + 0.08431286266398903, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.028442227628535634, + "xy_threshold": 0.08, + "gripper_dist": 0.19753284663001316, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565897842811857, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523894425451018, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0893778647644247, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17230466777328135, + "release_required_pad_clearance": 0.054688932382212355, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.417895444336003, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1fb9b82ee74498f26d66beb47a338b259863b74a0c6e17d14bd3999b1362ae3", + "visual_seed": 7324596740037483909, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b3ea6d3930eb4582f568e6ef687f68b1a7559c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_81_success.json @@ -0,0 +1,684 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3579616495170412, + 0.09123765884469352, + 1.0486677678820695 + ], + "current_z": 1.0486677678820695, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.19208137968279337, + "gripper_z": 1.049623600080272, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3530336785554254, + 0.08639686753018629, + 1.049623600080272 + ], + "object_minus_gripper": [ + 0.004927970961615791, + 0.004840791314507237, + -0.0009558321982023887 + ], + "object_to_gripper_xy": 0.006907833115321849, + "object_to_gripper_z": -0.0009558321982023887, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3579616495170412, + 0.06702893517651105, + 1.0486677678820695 + ], + "finger_b": [ + 0.3459838256956953, + 0.09123765884469352, + 1.0486677678820695 + ], + "finger_midpoint": [ + 0.35197273760636827, + 0.07913329701060229, + 1.0486677678820695 + ], + "object_minus_finger_midpoint": [ + 0.005988911910672912, + 0.012104361834091235, + 0.0 + ], + "finger_gap": 0.027009823493270347, + "fingertip_max_gap": 0.09186232756750032, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013504911746635161, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486677678820695, + "object_top_z": 1.0943718100652362, + "finger_top_clearance": 0.045704042183166704, + "fingertip_min_top_clearance": 0.013711212654950011, + "object_projection_between_fingers": 0.8033416688056972, + "object_to_finger_line_xy": 0.010735643167360287, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843116378375016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9408834862036484, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3586840806985879, + 0.0880833108390822, + 1.2420392481128737 + ], + "held_position": [ + 0.3640443375241749, + 0.09240709150501195, + 1.2409400561343253 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006973926834217925, + "max_held_gripper_dist": 0.0069747955344066715, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010991919785483528, + "max_held_gripper_z_dist": 0.0011099395261058298, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08774692233009954, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3640443375241749, + 0.06685001349933853, + 1.2409400561343253 + ], + "held_grasp_finger_b": [ + 0.354642908400401, + 0.09240709150501195, + 1.2409400561343253 + ], + "held_grasp_midpoint": [ + 0.35934362296228795, + 0.07962855250217524, + 1.2409400561343253 + ], + "held_grasp_object_position": [ + 0.3640443375241749, + 0.09240709150501195, + 1.2409400561343253 + ], + "held_grasp_finger_gap": 0.02723143598412357, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02469434740653567, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08221052930730015, + -0.9964849606591456, + 0.016098200245818647 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036402658188554606, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03208015479803242, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3125733324388504, + 0.0878510176050476, + 0.7566058911960928 + ], + "target_position": [ + 0.3336526592429532, + 0.08692645678230683, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.021099593153165622, + "xy_threshold": 0.08, + "gripper_dist": 0.20364286885082783, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566058911960928, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564858867098104, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08985581178059647, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17576321496904482, + "release_required_pad_clearance": 0.05492790589029824, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.901583788626285, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4181b57368191b4b738038e79f71d7503337225c737a643d150ed4ba8bfe2e7d", + "visual_seed": 342123635533639233, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1e571594c8f9f014554a71b0998fc2c537451f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_83_success.json @@ -0,0 +1,684 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3655144339956141, + 0.08934946655994813, + 1.0478917409224868 + ], + "current_z": 1.0478917409224868, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.19130529311856603, + "gripper_z": 1.0486242633322471, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36037440981017543, + 0.08451101521572972, + 1.0486242633322471 + ], + "object_minus_gripper": [ + 0.005140024185438685, + 0.004838451344218411, + -0.0007325224097602945 + ], + "object_to_gripper_xy": 0.007059069346398544, + "object_to_gripper_z": -0.0007325224097602945, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3655144339956141, + 0.06479249690382426, + 1.0478917409224868 + ], + "finger_b": [ + 0.3537941966862259, + 0.08934946655994813, + 1.0478917409224868 + ], + "finger_midpoint": [ + 0.35965431534092, + 0.0770709817318862, + 1.0478917409224868 + ], + "object_minus_finger_midpoint": [ + 0.005860118654694102, + 0.01227848482806193, + 0.0 + ], + "finger_gap": 0.02721045242696571, + "fingertip_max_gap": 0.09459321130333873, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013605226213482847, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478917409224868, + "object_top_z": 1.0945768027499443, + "finger_top_clearance": 0.046685061827457464, + "fingertip_min_top_clearance": 0.014005518548237238, + "object_projection_between_fingers": 0.8144754935478429, + "object_to_finger_line_xy": 0.010577314461849702, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049796605651669365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9498777032144423, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3660137316479463, + 0.08621909657612994, + 1.2384700695395465 + ], + "held_position": [ + 0.37150946313218164, + 0.0906190475502265, + 1.237568704012136 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007097541330296906, + "max_held_gripper_dist": 0.00709870372814681, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009013655274106025, + "max_held_gripper_z_dist": 0.0009138198326028579, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08810191406927144, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37150946313218164, + 0.06495951981147713, + 1.237568704012136 + ], + "held_grasp_finger_b": [ + 0.362045507406691, + 0.0906190475502265, + 1.237568704012136 + ], + "held_grasp_midpoint": [ + 0.3667774852694363, + 0.0777892836808518, + 1.237568704012136 + ], + "held_grasp_object_position": [ + 0.37150946313218164, + 0.0906190475502265, + 1.237568704012136 + ], + "held_grasp_finger_gap": 0.02734918320077759, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025145199127324543, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05016136492519287, + -0.9984565703996643, + 0.023839347612339183 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040941151446344465, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321529004653663, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3325752958163746, + 0.0925931249388135, + 0.7565878047973666 + ], + "target_position": [ + 0.34104066696587115, + 0.08735475867609686, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009955048457998382, + "xy_threshold": 0.08, + "gripper_dist": 0.2112289989422899, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878047973666, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755340890348475, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09191398085186213, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18330748980632458, + "release_required_pad_clearance": 0.055956990425931066, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.139482683691714, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "595f7e81acdad914adb53457152b716e31c951c3b7812b2281b9bce392b17421", + "visual_seed": 317099466068439135, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f42626f1cf9d51b4835239373e5e335bb8964706 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35994869779448785, + 0.08416339440548036, + 1.0487919895901807 + ], + "current_z": 1.0487919895901807, + "required_z": 0.8565863881992758, + "initial_z": 0.7565863881992758, + "lift_margin": 0.19220560139090492, + "gripper_z": 1.049722176493488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3548297178992097, + 0.07930130536483783, + 1.049722176493488 + ], + "object_minus_gripper": [ + 0.005118979895278153, + 0.004862089040642531, + -0.0009301869033073729 + ], + "object_to_gripper_xy": 0.007060018768204383, + "object_to_gripper_z": -0.0009301869033073729, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35994869779448785, + 0.059697298159916846, + 1.0487919895901807 + ], + "finger_b": [ + 0.3480974670110165, + 0.08416339440548036, + 1.0487919895901807 + ], + "finger_midpoint": [ + 0.35402308240275215, + 0.0719303462826986, + 1.0487919895901807 + ], + "object_minus_finger_midpoint": [ + 0.005925615391735695, + 0.012233048122781753, + 0.0 + ], + "finger_gap": 0.02718531840130396, + "fingertip_max_gap": 0.09370525821207684, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013592659200651988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487919895901807, + "object_top_z": 1.095433512047589, + "finger_top_clearance": 0.04664152245740838, + "fingertip_min_top_clearance": 0.01399245673722248, + "object_projection_between_fingers": 0.8099542933229402, + "object_to_finger_line_xy": 0.010665806767335381, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04935262910603842, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.299577255594339, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36039126770137697, + 0.08105562942632005, + 1.2417994802222536 + ], + "held_position": [ + 0.36588468301299093, + 0.08545753248022775, + 1.2407233662945447 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007121262771958753, + "max_held_gripper_dist": 0.007122019568965693, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010761139277088994, + "max_held_gripper_z_dist": 0.0010868396249363865, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779537145755424, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36588468301299093, + 0.059847790342132105, + 1.2407233662945447 + ], + "held_grasp_finger_b": [ + 0.35630523695285543, + 0.08545753248022775, + 1.2407233662945447 + ], + "held_grasp_midpoint": [ + 0.3610949599829232, + 0.07265266141117993, + 1.2407233662945447 + ], + "held_grasp_object_position": [ + 0.36588468301299093, + 0.08545753248022775, + 1.2407233662945447 + ], + "held_grasp_finger_gap": 0.02734272625761369, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024897408666824973, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06743039884407132, + -0.9974077207660864, + 0.025119312648439477 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003928906449407984, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032105574763858086, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.31627816481617776, + 0.09409781263803026, + 0.7565875928290215 + ], + "target_position": [ + 0.33548502372584454, + 0.08156811660104951, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.022932437985416578, + "xy_threshold": 0.08, + "gripper_dist": 0.2036233437277111, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875928290215, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07698458560923224, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08951095509530942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17859404874617577, + "release_required_pad_clearance": 0.05475547754765471, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.5598621131578145, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8142a6457216b82ff6e1da84ce64d2a492d4b1da8120af8b1000197ef0451970", + "visual_seed": 3918080336336126505, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b975ec00f6e0269105924d39082565be2c604ea0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3655772194497375, + 0.09451298611538633, + 1.0469740857365573 + ], + "current_z": 1.0469740857365573, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.19038739951405736, + "gripper_z": 1.047586991856828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36080930459364213, + 0.08976800297953007, + 1.047586991856828 + ], + "object_minus_gripper": [ + 0.0047679148560953455, + 0.004744983135856265, + -0.0006129061202706509 + ], + "object_to_gripper_xy": 0.006726654222905698, + "object_to_gripper_z": -0.0006129061202706509, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3655772194497375, + 0.07037769155929854, + 1.0469740857365573 + ], + "finger_b": [ + 0.35379798774130977, + 0.09451298611538633, + 1.0469740857365573 + ], + "finger_midpoint": [ + 0.35968760359552365, + 0.08244533883734244, + 1.0469740857365573 + ], + "object_minus_finger_midpoint": [ + 0.0058896158542138255, + 0.012067647278043894, + 0.0 + ], + "finger_gap": 0.02685633524794382, + "fingertip_max_gap": 0.09267852340094793, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013428167623971898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469740857365573, + "object_top_z": 1.0928449573590904, + "finger_top_clearance": 0.045870871622533116, + "fingertip_min_top_clearance": 0.013761261486759935, + "object_projection_between_fingers": 0.8076286332587443, + "object_to_finger_line_xy": 0.010585778897330297, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048839261700473965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3152092115617264, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3662947706988271, + 0.09186946607514426, + 1.2370609153346641 + ], + "held_position": [ + 0.3714540693276122, + 0.0961614476781455, + 1.2362962937039452 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006754562506902145, + "max_held_gripper_dist": 0.00675543070341352, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007646216307188869, + "max_held_gripper_z_dist": 0.0007754062817804108, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878814558245998, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3714540693276122, + 0.07073167261788711, + 1.2362962937039452 + ], + "held_grasp_finger_b": [ + 0.36213023778497044, + 0.0961614476781455, + 1.2362962937039452 + ], + "held_grasp_midpoint": [ + 0.36679215355629136, + 0.0834465601480163, + 1.2362962937039452 + ], + "held_grasp_object_position": [ + 0.3714540693276122, + 0.0961614476781455, + 1.2362962937039452 + ], + "held_grasp_finger_gap": 0.02708518588178602, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024741434774577784, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0673725326805923, + -0.9976338705229185, + 0.013696796182438908 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003798782236117399, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03220133743320691, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32792468474738073, + 0.09281257158036167, + 0.7565884492399375 + ], + "target_position": [ + 0.34150859515539433, + 0.09012650405354863, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013846933983071477, + "xy_threshold": 0.08, + "gripper_dist": 0.20565078276552085, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565884492399375, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577623135665626, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08883201090894287, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17726070696013965, + "release_required_pad_clearance": 0.054416005454471436, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8456883685341383, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ba53df7661d417daa8d13a084935e31bbd7acf5d8a3c831799f43953dc19c4c", + "visual_seed": 8461810229619460367, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc56c00ca7b03ccaf23916fbdfecc7f99569d146 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36541115209373515, + 0.09041276531690622, + 1.0476486817759667 + ], + "current_z": 1.0476486817759667, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19106217436740114, + "gripper_z": 1.048306834701217, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3607241147105661, + 0.08576650912611956, + 1.048306834701217 + ], + "object_minus_gripper": [ + 0.004687037383169057, + 0.004646256190786652, + -0.0006581529252502882 + ], + "object_to_gripper_xy": 0.006599698176556828, + "object_to_gripper_z": -0.0006581529252502882, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36541115209373515, + 0.06626861945765061, + 1.0476486817759667 + ], + "finger_b": [ + 0.35385133638443944, + 0.09041276531690622, + 1.0476486817759667 + ], + "finger_midpoint": [ + 0.3596312442390873, + 0.07834069238727842, + 1.0476486817759667 + ], + "object_minus_finger_midpoint": [ + 0.0057799078546478255, + 0.012072072929627795, + 0.0 + ], + "finger_gap": 0.026768808686713896, + "fingertip_max_gap": 0.09262747246126649, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013384404343356929, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476486817759667, + "object_top_z": 1.0936954468165836, + "finger_top_clearance": 0.04604676504061689, + "fingertip_min_top_clearance": 0.0138140295121851, + "object_projection_between_fingers": 0.813515073728674, + "object_to_finger_line_xy": 0.010426383925328556, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048813736230633245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0654559392156662, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3663701198798446, + 0.08761511778576696, + 1.2411436634365611 + ], + "held_position": [ + 0.371444842235849, + 0.09181183836267853, + 1.2403517289434884 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066326790087054876, + "max_held_gripper_dist": 0.006633601828662493, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007919344930726879, + "max_held_gripper_z_dist": 0.0008017283590293633, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08770244091167809, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.371444842235849, + 0.06641053653225297, + 1.2403517289434884 + ], + "held_grasp_finger_b": [ + 0.36228320589527674, + 0.09181183836267853, + 1.2403517289434884 + ], + "held_grasp_midpoint": [ + 0.36686402406556284, + 0.07911118744746576, + 1.2403517289434884 + ], + "held_grasp_object_position": [ + 0.371444842235849, + 0.09181183836267853, + 1.2403517289434884 + ], + "held_grasp_finger_gap": 0.027002994558331404, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024656715464311623, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07331579578499449, + -0.9971303160917191, + 0.018866022878212815 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036454243383565337, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032200174574653184, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.34124668379029127, + 0.08074387641579485, + 0.7565887675313774 + ], + "target_position": [ + 0.3413864660934773, + 0.08652866351624759, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0057864756881757, + "xy_threshold": 0.08, + "gripper_dist": 0.21328375658128831, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565887675313774, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756892529695713, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861527285469688, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18213495503346255, + "release_required_pad_clearance": 0.0530763642734844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1776747435263142, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 196, + "max_placed_release_frames": 196 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7b912c09e0059af6ec9f6410b730830514cdd1ae4311b6343c483144336f239", + "visual_seed": 8306181457747725721, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b0f456ec7fa5fd99b72a365126d732578f9b02e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_8_success.json @@ -0,0 +1,684 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36541405491993945, + 0.08614343126341319, + 1.047601211160859 + ], + "current_z": 1.047601211160859, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19101470375229346, + "gripper_z": 1.0482507057502157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36056804690250055, + 0.08141713830512966, + 1.0482507057502157 + ], + "object_minus_gripper": [ + 0.004846008017438896, + 0.004726292958283529, + -0.0006494945893567028 + ], + "object_to_gripper_xy": 0.006769168252643934, + "object_to_gripper_z": -0.0006494945893567028, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36541405491993945, + 0.06187178624327183, + 1.047601211160859 + ], + "finger_b": [ + 0.35375633864404143, + 0.08614343126341319, + 1.047601211160859 + ], + "finger_midpoint": [ + 0.3595851967819904, + 0.0740076087533425, + 1.047601211160859 + ], + "object_minus_finger_midpoint": [ + 0.005828858137949033, + 0.012135822510070685, + 0.0 + ], + "finger_gap": 0.026926104448157556, + "fingertip_max_gap": 0.09101052489048458, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013463052224078795, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047601211160859, + "object_top_z": 1.0929784359429955, + "finger_top_clearance": 0.04537722478213646, + "fingertip_min_top_clearance": 0.013613167434640938, + "object_projection_between_fingers": 0.8125523887320795, + "object_to_finger_line_xy": 0.010508462215130493, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048005262445242294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6028961101601673, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3662804160949856, + 0.08320502067078002, + 1.24106946959071 + ], + "held_position": [ + 0.3715140186359663, + 0.08747730653699408, + 1.2402844967024504 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0068014119500964506, + "max_held_gripper_dist": 0.006802746812175427, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007849728882596274, + "max_held_gripper_z_dist": 0.0007960661243657796, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867277153673861, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3715140186359663, + 0.06198988862064254, + 1.2402844967024504 + ], + "held_grasp_finger_b": [ + 0.3622045654962751, + 0.08747730653699408, + 1.2402844967024504 + ], + "held_grasp_midpoint": [ + 0.36685929206612067, + 0.07473359757881831, + 1.2402844967024504 + ], + "held_grasp_object_position": [ + 0.3715140186359663, + 0.08747730653699408, + 1.2402844967024504 + ], + "held_grasp_finger_gap": 0.027134376532414805, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02468201748490094, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07800161426923226, + -0.996890698820453, + 0.011166144216460226 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036493695122914254, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03213306385050062, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3234204553353951, + 0.07671052591281179, + 0.7565866977766638 + ], + "target_position": [ + 0.3412170497056246, + 0.08175824840809619, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018498601935494612, + "xy_threshold": 0.08, + "gripper_dist": 0.20212275418143916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866977766638, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574299589700952, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0934378605255206, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17278972448378688, + "release_required_pad_clearance": 0.0567189302627603, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.866908218060116, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d9ea6633ea11d06afaac3db089807f6e5e89f5815deb8182af7d5b60022abba", + "visual_seed": 7588304947898726007, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6bda14a92135193cd55193e3ec8fdeb386b5a923 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.359829470292355, + 0.09337134187833888, + 1.047793943834083 + ], + "current_z": 1.047793943834083, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.19120761523945184, + "gripper_z": 1.0486825802461452, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35474238833457516, + 0.08851398447519954, + 1.0486825802461452 + ], + "object_minus_gripper": [ + 0.005087081957779849, + 0.004857357403139348, + -0.0008886364120621604 + ], + "object_to_gripper_xy": 0.007033656501920028, + "object_to_gripper_z": -0.0008886364120621604, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.359829470292355, + 0.06894443242307655, + 1.047793943834083 + ], + "finger_b": [ + 0.347966110905005, + 0.09337134187833888, + 1.047793943834083 + ], + "finger_midpoint": [ + 0.35389779059868, + 0.08115788715070771, + 1.047793943834083 + ], + "object_minus_finger_midpoint": [ + 0.005931679693675029, + 0.012213454727631176, + 0.0 + ], + "finger_gap": 0.027155353090855035, + "fingertip_max_gap": 0.09410764768107974, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013577676545427537, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047793943834083, + "object_top_z": 1.0944447265039825, + "finger_top_clearance": 0.046650782669899415, + "fingertip_min_top_clearance": 0.013995234800969857, + "object_projection_between_fingers": 0.8091445940088409, + "object_to_finger_line_xy": 0.010671384187879518, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04955382384053987, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5725292539974702, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3602163389175112, + 0.09071890335802521, + 1.2413638269727851 + ], + "held_position": [ + 0.3656718422961194, + 0.09513069525975366, + 1.2403422424426942 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00709013821094364, + "max_held_gripper_dist": 0.007091458477629317, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010215845300909354, + "max_held_gripper_z_dist": 0.0010333441436811697, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08813064309420554, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3656718422961194, + 0.06959764612407483, + 1.2403422424426942 + ], + "held_grasp_finger_b": [ + 0.35598475682525604, + 0.09513069525975366, + 1.2403422424426942 + ], + "held_grasp_midpoint": [ + 0.36082829956068774, + 0.08236417069191425, + 1.2403422424426942 + ], + "held_grasp_object_position": [ + 0.3656718422961194, + 0.09513069525975366, + 1.2403422424426942 + ], + "held_grasp_finger_gap": 0.027308903732753555, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024907749366183084, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0591138180376114, + -0.997937607789163, + 0.025021740088553616 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004093159555446444, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217370967487983, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3236833315216524, + 0.08536086165253542, + 0.7565910978734706 + ], + "target_position": [ + 0.335441378953214, + 0.08873850098474635, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012233565582500914, + "xy_threshold": 0.08, + "gripper_dist": 0.20729622461672606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565910978734706, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519711365746339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.089108297835352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17855741229397704, + "release_required_pad_clearance": 0.054554148917676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.141874665119301, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46977bc9e4eed1e245933d238e2e6f4d9836c22c576f53e7d8cad12e249db83d", + "visual_seed": 1392523413499607583, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..95aacbd0cb7a4a2a083940bd4dbb62a085377480 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_91_success.json @@ -0,0 +1,684 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.35853107977604004, + 0.08562870585233444, + 1.047061495418877 + ], + "current_z": 1.047061495418877, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19047498801031149, + "gripper_z": 1.0480075123275565, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3536726259985883, + 0.08089447691534228, + 1.0480075123275565 + ], + "object_minus_gripper": [ + 0.0048584537774517544, + 0.0047342289369921575, + -0.000946016908679459 + ], + "object_to_gripper_xy": 0.006783619736946428, + "object_to_gripper_z": -0.000946016908679459, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35853107977604004, + 0.06134533265535405, + 1.047061495418877 + ], + "finger_b": [ + 0.34686815473961263, + 0.08562870585233444, + 1.047061495418877 + ], + "finger_midpoint": [ + 0.35269961725782634, + 0.07348701925384424, + 1.047061495418877 + ], + "object_minus_finger_midpoint": [ + 0.005831462518213704, + 0.0121416865984902, + 0.0 + ], + "finger_gap": 0.026938931571781958, + "fingertip_max_gap": 0.09232643842513158, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013469465785890986, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047061495418877, + "object_top_z": 1.0929423631604371, + "finger_top_clearance": 0.04588086774156008, + "fingertip_min_top_clearance": 0.013764260322467992, + "object_projection_between_fingers": 0.8125634706209788, + "object_to_finger_line_xy": 0.010513229170700893, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866321921256579, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0082956257319846, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35914179039052707, + 0.08300332176244589, + 1.240038697146031 + ], + "held_position": [ + 0.36436181483370733, + 0.08730248737291216, + 1.2389545008252216 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006848865730591598, + "max_held_gripper_dist": 0.006849754072666927, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010841963208094718, + "max_held_gripper_z_dist": 0.001093636387549557, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08784019988447034, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36436181483370733, + 0.061848800841993866, + 1.2389545008252216 + ], + "held_grasp_finger_b": [ + 0.3549692295709125, + 0.08730248737291216, + 1.2389545008252216 + ], + "held_grasp_midpoint": [ + 0.3596655222023099, + 0.07457564410745302, + 1.2389545008252216 + ], + "held_grasp_object_position": [ + 0.36436181483370733, + 0.08730248737291216, + 1.2389545008252216 + ], + "held_grasp_finger_gap": 0.02713136222037372, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024759054226149955, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06744605617892845, + -0.9975980111409704, + 0.015787263014507055 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038326251915014823, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032187205019435956, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.3233364344617443, + 0.07526858550718993, + 0.7565860077949254 + ], + "target_position": [ + 0.3343525707013093, + 0.08075124051529188, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012305070645328393, + "xy_threshold": 0.08, + "gripper_dist": 0.20739664098034902, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565860077949254, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756257607994083, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09062338634720694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17745487946005492, + "release_required_pad_clearance": 0.055311693173603474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.735430551903314, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 206, + "max_placed_release_frames": 206 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2acba45a05f3f173e350e8fbd6cf24118c17e7b6832376ded0f2af1b329201cf", + "visual_seed": 5575874832829561436, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..373f22cd6a60c52d60143d6158c57cb98c35b671 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.36124590013526064, + 0.09066074410238398, + 1.0493117701425037 + ], + "current_z": 1.0493117701425037, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1927252031292933, + "gripper_z": 1.0501068652664922, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3563345709229664, + 0.08586833622009667, + 1.0501068652664922 + ], + "object_minus_gripper": [ + 0.0049113292122942576, + 0.004792407882287311, + -0.0007950951239885651 + ], + "object_to_gripper_xy": 0.006862093553846703, + "object_to_gripper_z": -0.0007950951239885651, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36124590013526064, + 0.06639631060579315, + 1.0493117701425037 + ], + "finger_b": [ + 0.34942606821075956, + 0.09066074410238398, + 1.0493117701425037 + ], + "finger_midpoint": [ + 0.3553359841730101, + 0.07852852735408856, + 1.0493117701425037 + ], + "object_minus_finger_midpoint": [ + 0.005909915962250545, + 0.012132216748295413, + 0.0 + ], + "finger_gap": 0.026990204883141106, + "fingertip_max_gap": 0.09130250359737876, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013495102441570553, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493117701425037, + "object_top_z": 1.0947265141264175, + "finger_top_clearance": 0.045414743983913874, + "fingertip_min_top_clearance": 0.013624423195174129, + "object_projection_between_fingers": 0.8082169419120718, + "object_to_finger_line_xy": 0.010626133699788369, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048151251798689385, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8243265985136297, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36204242078117865, + 0.0877610819899262, + 1.2400723921660441 + ], + "held_position": [ + 0.367349491903049, + 0.0920775067305918, + 1.2391152921269426 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006907428386836044, + "max_held_gripper_dist": 0.006909930809810577, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009571000391015438, + "max_held_gripper_z_dist": 0.0009678001445445616, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08661745133176679, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.367349491903049, + 0.06652685291984854, + 1.2391152921269426 + ], + "held_grasp_finger_b": [ + 0.3580344176682343, + 0.0920775067305918, + 1.2391152921269426 + ], + "held_grasp_midpoint": [ + 0.36269195478564165, + 0.07930217982522017, + 1.2391152921269426 + ], + "held_grasp_object_position": [ + 0.367349491903049, + 0.0920775067305918, + 1.2391152921269426 + ], + "held_grasp_finger_gap": 0.02719570771567744, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02475729009117102, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07691093591788054, + -0.996989014739194, + 0.009879900080819293 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036634151919458084, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03210514884268113, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.322432785965875, + 0.08402022807811305, + 0.756587534446851 + ], + "target_position": [ + 0.336964585699239, + 0.08643852767712984, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014731645408480433, + "xy_threshold": 0.08, + "gripper_dist": 0.20506630889068675, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587534446851, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590969747656676, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08755540598963656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1755240964258156, + "release_required_pad_clearance": 0.05377770299481828, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5598588297569593, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7cbe76e720dd11636d683e8a8748ab63674cc602a036d319b5056410f71d4935", + "visual_seed": 2367644693967026905, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00834f912e8490134b326051a32fab273104b5bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3604345474825503, + 0.08370700883205287, + 1.0473747683278969 + ], + "current_z": 1.0473747683278969, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19078826091933132, + "gripper_z": 1.0481984136627924, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3554242588347234, + 0.07888998071137954, + 1.0481984136627924 + ], + "object_minus_gripper": [ + 0.005010288647826933, + 0.004817028120673333, + -0.0008236453348955397 + ], + "object_to_gripper_xy": 0.006950305910526608, + "object_to_gripper_z": -0.0008236453348955397, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3604345474825503, + 0.05933063665662152, + 1.0473747683278969 + ], + "finger_b": [ + 0.3486299509108907, + 0.08370700883205287, + 1.0473747683278969 + ], + "finger_midpoint": [ + 0.35453224919672055, + 0.0715188227443372, + 1.0473747683278969 + ], + "object_minus_finger_midpoint": [ + 0.005902298285829777, + 0.012188186087715672, + 0.0 + ], + "finger_gap": 0.027084239340523883, + "fingertip_max_gap": 0.09127795921752693, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013542119670261926, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473747683278969, + "object_top_z": 1.0928444286149013, + "finger_top_clearance": 0.04546966028700439, + "fingertip_min_top_clearance": 0.013640898086101316, + "object_projection_between_fingers": 0.8100370029063991, + "object_to_finger_line_xy": 0.010624379580823415, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813897960876347, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.721524181346797, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3610437082365279, + 0.08069099477780452, + 1.2392847883307303 + ], + "held_position": [ + 0.36643936993362425, + 0.08504328308414771, + 1.2383100270783218 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007000409855875656, + "max_held_gripper_dist": 0.007001748042694884, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009747612524084737, + "max_held_gripper_z_dist": 0.0009857822928960314, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08668592522851773, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.36643936993362425, + 0.059458631011441165, + 1.2383100270783218 + ], + "held_grasp_finger_b": [ + 0.35700724036275955, + 0.08504328308414771, + 1.2383100270783218 + ], + "held_grasp_midpoint": [ + 0.3617233051481919, + 0.07225095704779444, + 1.2383100270783218 + ], + "held_grasp_object_position": [ + 0.36643936993362425, + 0.08504328308414771, + 1.2383100270783218 + ], + "held_grasp_finger_gap": 0.027267920528031245, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024801673507449367, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07516817461848849, + -0.9971083209402273, + 0.011168788487808556 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003743949603100624, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209039224947913, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.33215668425861444, + 0.0743873292401854, + 0.7565883696570812 + ], + "target_position": [ + 0.336063626436868, + 0.08187701327189745, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008447459030921605, + "xy_threshold": 0.08, + "gripper_dist": 0.21350447176933163, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565883696570812, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529863630223553, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857036393636965, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18288451573737322, + "release_required_pad_clearance": 0.05285181968184825, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7422945677002275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7b621c26e3404637be1bd76329bb7632f15dd4c569e65467abacd60e6d1ebf5", + "visual_seed": 4162821204512374610, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed26e027118bbbfde5a6010ea28d5978f48711e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/episode_95_success.json @@ -0,0 +1,684 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.3616482471220779, + 0.0929359130856189, + 1.0472528862877348 + ], + "current_z": 1.0472528862877348, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19066637887916926, + "gripper_z": 1.0483320856930438, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.35643322177516623, + 0.08802631671214836, + 1.0483320856930438 + ], + "object_minus_gripper": [ + 0.00521502534691165, + 0.0049095963734705345, + -0.0010791994053089837 + ], + "object_to_gripper_xy": 0.007162445526447374, + "object_to_gripper_z": -0.0010791994053089837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3616482471220779, + 0.06837829591281697, + 1.0472528862877348 + ], + "finger_b": [ + 0.3497615949078021, + 0.0929359130856189, + 1.0472528862877348 + ], + "finger_midpoint": [ + 0.35570492101494, + 0.08065710449921792, + 1.0472528862877348 + ], + "object_minus_finger_midpoint": [ + 0.005943326107137881, + 0.012278808586400972, + 0.0 + ], + "finger_gap": 0.027283127791165058, + "fingertip_max_gap": 0.09392348666915226, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013641563895582534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472528862877348, + "object_top_z": 1.0935091801418744, + "finger_top_clearance": 0.04625629385413954, + "fingertip_min_top_clearance": 0.013876888156241829, + "object_projection_between_fingers": 0.8101848826569831, + "object_to_finger_line_xy": 0.010699207831990172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04946174333457613, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.881332353855303, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3619563699295646, + 0.09000720594846857, + 1.237000524396013 + ], + "held_position": [ + 0.3675214592615821, + 0.09447652748512962, + 1.235749139262605 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007246448718062634, + "max_held_gripper_dist": 0.0072487197854219435, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001251385133407945, + "max_held_gripper_z_dist": 0.001262069489911255, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0878666540711198, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3675214592615821, + 0.068806415841451, + 1.235749139262605 + ], + "held_grasp_finger_b": [ + 0.35789506527527515, + 0.09447652748512962, + 1.235749139262605 + ], + "held_grasp_midpoint": [ + 0.3627082622684286, + 0.0816414716632903, + 1.235749139262605 + ], + "held_grasp_object_position": [ + 0.3675214592615821, + 0.09447652748512962, + 1.235749139262605 + ], + "held_grasp_finger_gap": 0.027415727110155788, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025161372633848923, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04918880318423687, + -0.9986276565076023, + 0.017979580068422926 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041825184875716355, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214602784971994, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.32921444500824404, + 0.09712391769419805, + 0.7565864320320268 + ], + "target_position": [ + 0.3371125378531058, + 0.09016629782315123, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01052560425135023, + "xy_threshold": 0.08, + "gripper_dist": 0.2088193350423887, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864320320268, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565153487528767, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0937008918781007, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18106629958817916, + "release_required_pad_clearance": 0.05685044593905035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.17309509416308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 5991770722474229261, + "physical_seed": 1018468742626781814, + "layout_id": "layout_00020", + "step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "workflow_spec_digest": "e2f3c9d870b72c1130271dac79598e74a73fa371804f3f46eed924bbfa10a2d4", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d268b6977ca699de8af3b42fbb1c10ff4944f9b823ed1cda5c0629d542c30732", + "visual_seed": 5950836450128397097, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3028738977928516977, + 5597848014300184368, + 589239366799290088 + ], + "runtime_workflow_digest": "ca93529881560d1f66e13caee246e045a46cc3bb91abc616885447b0a9c8bc37" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4094dac3c250a08c05baadf976b042cde63eb669 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00020/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_poo_00020", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c1428ab441b3e8ecfcd734120fa027a6d5d1f2d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:955bd2b2a3a1b985bf2659bd87a471667328f308ffaae1c69ba1b067431e38a0 +size 4919639 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8fcb07826c99265306b1b697d2abc10b40606f6a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0d1b4ef02a613740d907db018ff2b37444c1b430b8d063a46664b90a10385c3 +size 6277687 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0878d1900c299f38d400865bcf07e7f52b5a2090 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:feb331f97a073c0929a05719ebdfe7e3adec487f59be44407338ef2d54fe08d9 +size 4237560 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..231a978e271c681dd74c9ba531718132c9520fdd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c9e1f233fa39629e68674074acd8dbad184d3a018522dcb94a13e323f99d9f2 +size 5079506 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bdbba190e24f2857225df7ebd2c347d0e26d4324 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:418685c1c8ac0a3fb7150c5b6fc8b71526d5d829063e4c3eed3598bb66a43950 +size 4832063 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2162c24cb24c410537be7e8414532c005abda4f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c41451af3224d9a84438802be04d07d55aabd226b59c8281465c713f6bb12c8b +size 4757601 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..35e1c20a9eef6b13356f127fbf91c94fdd536b62 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a43135e4171523b1fe1b10115f18829b04d80c501b31f36db92613684bec2e6 +size 5315171 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5b7ee22bd855274131e081901d4329352c7e7f82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6aaf26a4febc34335378e6d630c6585286a9ce6d4728f4452c7e91930b5ed4b +size 4705547 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6327dc2d93c180374937acd0f81917a1b4444fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8cbab86c2a92f0023d20e18324cb521d836da20f6a875377c435f245f085df7 +size 5297550 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..121e09777cb5541ae0c18265fd45bd40907af6f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e0f8c68ea4f5db70b31e2c878115d551e7892dfcbb6067a7a7951c818af7bce +size 5040025 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d05c811d3a27e85a9103214a333a76087abf0632 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e32b131c3b059582b97d1fe859e9313dfbf6b317e831fecbeb112c9b89b9084c +size 4587031 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..112c4e325b9c183e0542e6cbc0714d70b7ee0ad6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9b1091542467c75a1c88f9adf01c0700119445e5ea8975c4899c88156abdb4f +size 4596313 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..405468ffac0bed93681ec92d3160c8139ba06d32 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fa5ffac35c3db339f1721282be75667b28dce55123f8ddd92b1b57bcbe1943c +size 5701041 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ae81128f71d1985ce4648b5a34431be093d81ce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3af6e95177c99eb36bcec557fb1d4c2912a0c5beaec7a75edb9568e2c84d609 +size 5500028 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abf727c8949b6bdd878087839d734517e8df04ac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa323bf03e5132df2e088142f07ebb26fe006208d55c61a4213c995368b7d52d +size 3899914 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..48f90ab6b8999efbb1deb9c47b33dbb7dc0dbc13 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0ffb8ef5c7778b3ff0b6e02db1c1ddba1008a3fa295384c53375363c77f0878 +size 4020509 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e860feddf5efeafd184711966266874273b5869 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7b355f03eda0d7c6c0d26e0274c03d3598059b0daa95612ddbd46b60a8ad9aa +size 4960490 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c82d99745ba4f1c70a041ff774c235667676b3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34d014027d51b5d7c23d460be8cf050ea45b9689c05aecb0a4b8f231e6450e07 +size 5112275 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eca78c55e721a449f303b0dc245ba5d7b3236a3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:939b8a4f26d4dd8aa7ea5b4ef012856cb5f464c3f70ce64b3d4910b83c0467d2 +size 5385315 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..97f4d564f3f0b9728d0a5ecc93a31303daafa8aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa87d716d022b058d259c19cae4ee56336710ba863e22929b455f5332f012e37 +size 4098261 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d6ce32a57856b4bf0d294e8766558f3a4b552c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59710ef0459ca242bb8f4cc35cd488c72534ed65dbb0f507ffb95858e9b044c9 +size 5054744 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..513cc63906ce3b2a3958af32fcf2e1c7b4b9ec7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:213060f8b0c029e599323c5388063a693d3b72af6df14fcea73374b8a9d29fd7 +size 4160797 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..332285121ef9d075870d8075a217de459a4b6e41 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d29d5fc77db134273534858cacf86b35a551ad2cd2bc0c5ac9597da0c82a923 +size 4798351 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b3c664e7cd61f25ce5d0e30924d85e5b2356a9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd3bf02bb488dc7e59c0490c5f3eab1fde24df474374b6cc1f7e6b57f36497d0 +size 4507987 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8dbd167c012a92d5196f7928986004406e9df408 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f3c8c094f0db0210d7a80d32f20143056ac1ea24c683b6129689cefe1308e4e +size 5361733 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1031dbe9f0cfe8f8f38c58ef1789e01004426cb4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cb2179a192eaeb007c3a6718c953d1cadfda630f8317203ecc1e4356098b618 +size 4521306 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..104b4b4d3a5555c6d406edb928d20d2cd55eb19e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fc8f7801568dd641930c53b883700d6f4612f430e456a6a6b1145135a4a2e7f +size 4356844 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..874ee39cffbfbb85dd30f78a98064637e17799ec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcf4fd9f46e4c8dc45b74bebafca4c8336bf8c3cd429f0c4a7b95e901121d49d +size 5879598 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c0764baed45be71c95aa2d567caddb7b4d11c461 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38b5ca6fe44d0b1fb9488b2686375fe65ae184e79d7c4a96b79c8669da8d4545 +size 6287535 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9d2733b80033f53c47b3b63e6d2c1c2e82214a1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af1394d47a7e8d26a29239709c82f2fc84c6062b532376e57357f6590974b848 +size 4767785 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..607d7a7bc1abd5885316497883043c2ab2d22154 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9afd5e0d5475859b9fb58a502a76c12e90addc31c6491dec795017b94d608e5 +size 4176880 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26a24f39ce5510737912a0ccc47253b649f9562c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e19fd00d7f0c8e7848dc82e5f3365c40a979eef3b162245c79a76373ed2a4444 +size 4492143 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69cef37fcbc5a3150827df6e835608a4ef05b9aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcb565f1354ce39dabecf85b8074733b80897d147a0f94b8df12dbd584884132 +size 5584946 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8ebbe6d1d98956c09c6a67e03cbb765de325f20c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db60caea69237fffdf7f0d72dcfd56917464ccb067875cf9b7b6acf8e69564ec +size 4960948 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..98824a2dae3f0e67e260d7c756277c084462bd3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84a1e3086945d7596f4d6605b98c3f0df8d647000e9b2f6a7a2f6994964d7cb0 +size 4104398 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8a0982b36694242a220b01eef97a2d3f565c8c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09c7f3df9a0b74ecbd8c0ef06422339b4f78a2a00a10edf095cbf3c9f96624f6 +size 4595646 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..45bd740b575124394a87d53103810a04c8d7dbfa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b88e77644fcec50211b09c27d0ecf562663a4b8850deca2960671f87ef3f956 +size 4994345 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7992ab00ca574c5614efbf3cfddddce96319d74 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afe60c1e7a39c325730df4d389c37ea5aed1a9d5025a0cbe94f3427adddbcf15 +size 3820436 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a249db03bf10a0f93c21e66d2f3b4c7d0e0b217 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b710e71b6ce8e93df3d57f7e90d125ee3dd13e794d7b7daccff5aef17a4112a6 +size 4975701 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..906eda95d1eee8aac340df861465bdd8d8dbf5b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:237d255125bd91ed9ffee5978daa7abf12c02d46397e1333b4a8797ecc0d69e8 +size 4568380 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d3cc5f0b50f8ef94b212b9b6c5919f82133e6d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acb2d9a0925f03302adbacc4b808b725201b01e9fad4e2b1b5c67a5443c3a9a6 +size 5886512 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2936f53f56752ce0a8bc303e2bfb169aa292adc3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f8d9945a4d4be59465932bf1ffebe82b5bcc368c9ac32bf58efaded90adb729 +size 6224895 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae362e291bd3fd2ebbae695674a8ea22a237875f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd15f3daa690ae37039138a650b66a018f610413d23a3ddc079463637603795d +size 4929528 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..86ab187c3d7a41f52e12560318bd69153bf28413 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a00ab5ae48fdb57e7f8d21f49346fe3b5a30afd4fb4549b83162ec6ba91db560 +size 3798307 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0f29829574bc9ad1ede82c1ac11b2012e280c33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87fab0a9d3210c8d373d74b8297248f9356bcab352a1dbfcfcffc2e2492849e3 +size 4265875 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..201fcbdcff16743e61f5e80115ee3e4d3bc4cf7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02959a28831a4ac3990e49176023a665c78a400183099fe9575ae5cfbc2c31d1 +size 4392553 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bc49bec61394bfca9a2b05721cf77526f32a1aa9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2a9a967208c1a271a05591d3b85e9110226a6408ccc04183faec0f4633f618b +size 4282608 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3246cb5f04334592613550f7a127856b390e9852 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baea221e4e06941cec0ffb671d66319e996c866ac3706734d2b52eac1eb54fdd +size 5411014 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a45cbf1a8ed7d4838a4829d8fba6ab5931578c82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33b8548ef6591f185a94d2785aabd34b991180461d7067feff4ad3683d70352a +size 3745460 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d06435565dfb78b555bb7c0ef96cbe8a38e76bf0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73407df6ed7138eb646acad571f877c082077d60d9be7d02d4d549a2c85d4822 +size 3706799 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15d08d5fb473071b34bde030788e11feedf36563 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ecb5788bbd9d3059ab7e38edf5efcb43410495eb8114c89601807d8f22cdb7c +size 4754286 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd67c960e6ab81db5fdca7b4c77bc91b3e9016ca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eb4f0f063945a5801c5476e14ea79deafa152caae2ecb0441fc93499614e24b +size 4012865 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca48031dc34130dc672ff370d90a385217ba84ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98553e87efe2b738bffcd4dbde13524ca8f8f3509737358406ee288ce6b7789b +size 5047990 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09eb4b053aed915dc622c6ae535828006be3469b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba6676cdcf4a3f4dfa9384164c02e91f91213237ef1a9248d76927f1bbc24bb7 +size 5228665 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0521a7de5736628ed8885974146bde58137f568c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd66a9068cda878aae50344758d24a20caedfb3b828deb87d4835173fcf18d86 +size 4675051 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7933e44e12d41d6562f0d399985266b6d54d6ff5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a07922ed7b149b88b336670472c616ed00874e2807dbfa7092f5b64d96eb1d5 +size 4643121 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..389080bedaa6b8cf73c395e8d503c852644bda44 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46040f296917ea529fa94f4d2eadd3b20fdefe1570b1586658c86e6d297cf14b +size 4088968 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a4fed9cd0117ac87dd2266f75572195ca45399d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afecc3d1731e1a09d1a6a4ab034faa0dd12e857a24dbea6019558b797dd832a0 +size 4567068 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3b924a610107c68228cb5cd5d78c2afb183febd0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b334d18cd1b96ffca188e4251dea990262db991a93658ae41daf481bb5c401d7 +size 5977415 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aed9efd02e4f276321c814df1fd9f601079716d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b3cb2ff9bde7d9615c0e5609aba21b75cb9029a727f91554afbc08064a9c34e +size 4545130 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9cd5ee17f495798cda93899e859a146cf5668459 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4582391a014368d2c8de54c608cd95d616889340534ffbd2f6434cce0079ebbc +size 4568084 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..158ec45359a1aaf27ee6b271b41465973a6f7b1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6e1d9cf02b80405d4dcaaf50a5f3dc3d3b4567709489ed6f60c604ccfe40104 +size 4232850 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d9385e0ac9de7b098f20b6319a331f91dd91062e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76ffcdd9f34458bfb1c57328daaea80b4726114e1d4153b8dfa84523bb3cf3dc +size 4946484 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..454caf6a63b8fce9a0ce252d92cc4f3cc928246f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70d2dda8c0b1692d76ac986c376f07f85ca1c9abd67346cec0f6c7dd9658e5d3 +size 6011931 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b32940750c1cb212d8000378ab78cfea11eba21 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba1d6506ff82cda45ad6f91d6f644b4836d0b7f00be3af4900dc0ce432e1de03 +size 4961227 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff5ebca91932af0f2fd4a18e451cac9a88b98dc0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f4ae00bd49d934fb000641a1d9519b7df7b6808ba7bb60178b02f6f7db6848f +size 4990957 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d786c475c15b4be296f06b094353d9bfc85343c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f32514b0f82cf09067cfd29187f469970b165dcf4660add592a2150b67ebef8 +size 3941566 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8479d4f742981d4f263e8fb3d49caf353e90f3dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35785b54452f1d44a064a80e3faa312fda9dbfb0deb71efb4d88a228adda13fc +size 4479154 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b7ee6ebbb124f1aae2b00c9c50196edeca135c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b91466843a9d5599da630429f7dd8528fe7325290e5b317d1bdb0c566537def6 +size 4617413 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..228b5b7affa39941884089972aebeabad1850af9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d40d5d0613f0ab12a92474244aa24f238ff853aaf7f8cd73ecb89e494d348983 +size 4018582 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b4e204b5730bd0a4cbfeadb70e070376dafd62b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8fc040ba1e8c063066984a7c8b8a80af286feb07b135473a96c528e9ce84247 +size 6020911 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..047b783ec77a523059f9243a48c2d21bd09bf111 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:870b166a00459d3e756b9d7be758d4cca0ee6ef3ac8ce203d40fea8ff623f71d +size 4785335 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..985e1933cf797d5cb001f263ccb2bb05b434226c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1af38de4db3a94d57ebce104a628ec78151c7f7a1ac1b4c752bd41b2ad24f8b3 +size 5332154 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..071c9f03adf3ae54dcdf07a0f39a3e711f2c01da --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:044fb9cfb4b826e3bb07fd1fd82232b5faff37807ec6fb7f803d72ebbc50df3d +size 6190286 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..846bf5e1a31f78472cab46a83fe07e5203f6dfa9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe0ec0ff99aa77dbb52eb00e432a52778e22ad64bda4d988c7a58d72f909dd67 +size 4634049 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aedfe2b273ac484736ff8b8f32bc6bf088591c72 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3d93da2d37e0daae76eb8546c7a41f89ebc63fea653c274e7489da86c0d8db9 +size 3956106 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f10c26518fbad745bce158f1a86dfcf2c7aced05 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b38bc1c38895478675be6a54de21ee263d3691b0450c3505efce9a9ed6cfd488 +size 4922475 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ecfed48eb6108f317dd011ee1e04655493165ab5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c24377ee2c90c3a05fcaeb925c8c3e0cf08f95f158a7ff9ecc5fe83ffbe72347 +size 4543965 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20c4167e3d8b03d87a292f96a1d97decb24f9203 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10b00046f9909acf4dc97ab6720af3bec155e667398086d2a8110173ead36e56 +size 4817507 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c0f88badc473f784fea02af1675af24ce77863c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c0da92e8a883977d46f5188c4ebc61727c98477f2b8fa6925317f7054cac02d +size 5201268 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0063b9209ff9584ba0c7d85c51d1314441105110 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46251e0a16e1a040f7a64890db73c531659e055c028dce3e7fda1c5dd9aed275 +size 4545627 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c28773309251abe1f80dc900cce055efddb3f5b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79e969d2eb1e0c6cb948056be7ad8d010bff930e858df84916a32cc82581b3a2 +size 5652507 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..043c0cc64f6dc37f1e77950775fbe233478b122a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54772251e377cc8a1701998cc8bd586fe04b6e7862b0985949c7b4ac0ff51081 +size 5338768 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4e9fd4bbcfcc2746918e020942b3b280de977d9e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ffc4f6b49bc78fc157e592b2b81b1a84386b125188d1f451d8399dc8543543f +size 4531205 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..583896d0b835397340a7f0a9ed928b4ee1cf63ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e5cefb6c3af3551ad6fc73c75ddb39724b08e7511b09499347fedb7255e5708 +size 4229804 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0401a7134f30f45cb1193f2cf76c279419c6812f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7741b05360bd3b4dea842d8e46bceb1ce87c0e1b2902f3fb7b5349733316f926 +size 4251356 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d9f8a82e86ba3c344e7abf740221a6a6440c32d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97bc2a4bdfb026be5b190552752194d4390268a7f24c614d149601c82a74ef60 +size 6389951 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c19f4fb047e780c5cc08bea9d64d1b1dd19addff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee31150a6257c831358af19cc5d3ce508ce90424ef38218666f92bb4fcd8e6eb +size 5434742 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d5c3ac1becc9a1f11b05e7cbcd1f79e28ec08fb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7344689f69b832bd7fe13afa1cce3aac310f2971eafd8768c7272377022c78c +size 4749838 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..86fbe7d857d5727f5203ef8b81db376c4188e10e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c479898a405187e41b2fafb21372dd9b628d26864b22f91654713f1bdcc1bb97 +size 3993860 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c22ed221137171deda667b743eae1f7e66e5eba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c96ac7ff802f596ba8dbc9e2f7157c7d576fec7f6d886d24aea7983f126bbb4 +size 5358103 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d52e2ee2a28384e595397bef3a918ea43d99ff4a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d0db934225261ed0f2d71cc8024ef7ebc9a10714754199525099f24b0885f83 +size 4884429 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b7e9709b24b30017c227033f3583f4f93fec6f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b41d96b892e371094e271f75a2cac8e18d8db496b4acb54f98eb7359e7e428f5 +size 4486823 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ab24b5b2d4c0d3818700758ba39e74243600d31 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ff9d7fd49e84eb3112805983d4631c8e00d2dd3721be74d0c0bb3d607f73056 +size 5919432 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..23f4a5351cf92b9dbbb7788d54ea8b0b6615af7a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:084eb7ea6cedd8863f72861e54bc27acbde4310ff001704b938158ad5054f461 +size 4498765 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..427f9f1b0d61aa716edfe5712ba9d0607f4a774c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f26bc59d647e99491871f7d15498b6f8d49270ac81d93ed382e4ed5183115d24 +size 4782560 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c37541be54aa69e1991bc0ead9670942d2cacc31 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:270440fa6251a1bf283b61dcb83a4e8367e1ba71f5281cff708b663ea3221f00 +size 4116060 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c9633f6ba259e44f58db5a96added61aaea8b41a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f63a274f09ef8243e068c8790b0053f4fdf10e09686b2f04735080d51f90299d +size 5026388 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b74ce5617bc0bc676799df3314bc20dfc8cd94d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25034b372a9c2d0296c189f614c594e2e4fcf0b61f033e9f2a3f1de018bfddf2 +size 3740085 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74cb6f6bdae95f378debfca17ac3d5e015eee9d2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f9a1aa6edae5c1c42e6e45f47753cd9d9b41dd215d606773bd56dd494fe06cd +size 4073505 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99009f302f44c768a7c08b11c3d9c703ce0fbcc4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":885,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":877,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":878,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":882,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":884,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":881,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":883,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":879,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":880,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6eb1091944d0ed7abb654698ef3065215185382b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-03T08:08:52","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.07976578283731195,0.5951079728829662,0.71338606911949],"aabb_xy":[[-0.13475803347282292,0.5401079711396535],[-0.024773532201801014,0.650107974626279]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.08621490464946324,1.5629690346979506,0.71338606911949],"aabb_xy":[[0.022214902599731245,1.5228745516086426],[0.15021490669919524,1.6030635177872585]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.28277402081901104,-2.0091577379157703,0.71338606911949],"aabb_xy":[[0.20277401938888384,-2.08867489292838],[0.36277402224913824,-1.9296405829031609]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.4720415835278741,0.2329371240540712,0.71338606911949],"aabb_xy":[[-0.4800355721055775,0.22493704395898081],[-0.4640475949501707,0.2409372041491615]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.05863938112357536,1.7627790181521417,0.71338606911949],"aabb_xy":[[-0.006360617032343703,1.7364827736022295],[0.12363937927949442,1.7890752627020539]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.3923309580760712,-0.9959872159522414,0.71338606911949],"aabb_xy":[[-0.3972869782609525,-1.0184872161543632],[-0.38737493789119015,-0.97348721575012]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.22918101947328506,1.2926914461777623,0.71338606911949],"aabb_xy":[[-0.2791802946417212,1.2426914449018154],[-0.1791817443048489,1.3426914474537097]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.47969187691185033,1.0022915820236498,0.71338606911949],"aabb_xy":[[0.41569188051627726,0.9383282936049162],[0.5436918733074234,1.0662548704423833]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.1675893218384974,-0.65422186253038,0.71338606911949],"aabb_xy":[[-0.2475893204953834,-0.6687267214546427],[-0.08758932318161139,-0.6397170036061172]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.01394816518091302,-0.9832132109159941,0.71338606911949],"aabb_xy":[[-0.03603064332940287,-1.0332132109217127],[0.0639269736912289,-0.9332132109102751]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.494954063454617,1.1300444080800225,0.71338606911949],"aabb_xy":[[-0.5124539968886004,1.1125444081597877],[-0.47745413002063364,1.1475444080002568]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.012884241440749844,-2.2047068118090256,0.71338606911949],"aabb_xy":[[-0.027986542901767934,-2.2198083334400867],[0.0022180600202682563,-2.189605290177963]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.5772404656019925,0.29551376442310984,0.71338606911949],"aabb_xy":[[0.5723968708407625,0.2906621119441258],[0.5820840603632225,0.300365416902094]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.5222322075348048,-2.461219584333169,0.71338606911949],"aabb_xy":[[-0.5397322077798542,-2.478719372172735],[-0.5047322072897554,-2.4437197964936015]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.6000398310265975,1.1879813336458582,0.71338606911949],"aabb_xy":[[-0.6413443740903335,1.1239813340777411],[-0.5587352879628615,1.2519813332139753]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.20934655260666402,-1.2964085125855562,0.71338606911949],"aabb_xy":[[0.14534654938802616,-1.3431316244845646],[0.2733465558253019,-1.2496854006865479]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.18359596665278344,-2.3471387811328928,0.71338606911949],"aabb_xy":[[-0.24759596806077408,-2.3989277326568166],[-0.11959596524479275,-2.295349829608967]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.5665849862436245,0.07355239345002973,0.71338606911949],"aabb_xy":[[0.5319939033895793,0.008552393164998685],[0.6011760690976697,0.13855239373506079]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.3025657932117921,-2.4891513594684667,0.71338606911949],"aabb_xy":[[-0.3214501769803023,-2.5080372842488194],[-0.2836814094432819,-2.470265434688114]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.16542805346522937,0.8864094927719846,0.71338606911949],"aabb_xy":[[-0.22942804989255128,0.8392398689498881],[-0.10142805703790747,0.933579116594081]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.5868193041547911,-0.6188104976543753,0.71338606911949],"aabb_xy":[[0.5168193077448291,-0.6392484333060569],[0.6568193005647527,-0.5983725620026934]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.6032260155996119,-1.5380373792447695,0.71338606911949],"aabb_xy":[[-0.6208043177885586,-1.5556118688188743],[-0.5856477134106649,-1.5204628896706642]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.4950188390526744,-2.142512406906289,0.71338606911949],"aabb_xy":[[0.48241613991559795,-2.1551078031311546],[0.5076215381897509,-2.1299170106814236]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[0.4736997977289621,1.4569944847774825,0.71338606911949],"aabb_xy":[[0.42371556202078486,1.406994485963987],[0.5236840334371393,1.506994483590978]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.31277759601450517,0.4377140797560597,0.71338606911949],"aabb_xy":[[-0.34981170544256485,0.40333687242235017],[-0.2757434865864454,0.4720912870897691]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.39577837139817595,0.6002656040269381,0.71338606911949],"aabb_xy":[[0.37055753453833623,0.5750418531740512],[0.42099920825801557,0.6254893548798247]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[0.4954792147040461,1.7026327579955427,0.71338606911949],"aabb_xy":[[0.45020059982289684,1.638632758647359],[0.5407578295851954,1.7666327573437264]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.35596108109054625,-0.9599079748689916,0.71338606911949],"aabb_xy":[[0.34349372298081066,-0.9723732995023151],[0.36842843920028195,-0.9474426502356681]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[-0.6430182803427019,0.7830655992811515,0.71338606911949],"aabb_xy":[[-0.6786474362426616,0.7474329325242984],[-0.6073891244427421,0.8186982660380043]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.24804582849348866,0.6327869318692008,0.71338606911949],"aabb_xy":[[0.23340242293945568,0.6181282122124164],[0.26268923404752165,0.6474456515259849]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[-0.0060771094226270694,0.9998293903899205,0.71338606911949],"aabb_xy":[[-0.03951728461864667,0.9663857645589904],[0.027363065773392533,1.0332730162208503]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[0.6236918253034351,1.1416315262784718,0.71338606911949],"aabb_xy":[[0.5536918226668487,1.1215266612826063],[0.6936918279400214,1.1617363912743373]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_32","position":[0.028744418056910415,-2.084298077787779,0.71338606911949],"aabb_xy":[[-0.0362555829435901,-2.1350844429424534],[0.09374441905741093,-2.0335117126331035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6792630805003769,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2274.png","name":"2274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3489.png","name":"3489"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7476.png","name":"7476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8078.png","name":"8078"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7148.png","name":"7148"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":749.7239143071811,"rotation_z_degrees":206.3531709349762,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005209270988860265,-0.006578641315277136,0.0053167817411524446]},{"name":"camera_2","offset_m":[0.0182917259505261,-0.010619820779855833,-0.008867226308922711]},{"name":"camera_3","offset_m":[-0.01544707735695439,0.010450683729193708,-0.0050064901059800795]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003556711893208586,-0.0008765584710238446,-0.0001973603320658808],"end_effector_yaw_offset_degrees":0.11489163445672124},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016503163557719022,-0.0016956210015829937,0.00037562020546917435],"end_effector_yaw_offset_degrees":-0.8935326114845179},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000757755344313284,0.0018225250453000074,5.982433355168366e-05],"end_effector_yaw_offset_degrees":0.6141266846725493}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0045583890592484294,-0.003431153191645148],"position_m":[0.21145838905924844,0.2633688468083548,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004018819804494889,5.469568095271913e-05],"position_m":[0.1857811801955051,0.05765469568095272,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029076841225254653,0.001139325412303804],"position_m":[0.36130768412252545,0.1797393254123038,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002362859282404075,-0.0006299655057183263],"position_m":[0.24913714071759593,-0.3660299655057183,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c6666fab191e88d53660849c83f21f7c3913705d9cc837aa762dfecd0710f0cc","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2274/tex_ceiling_textures_7148/tex_floor_textures_8078/tex_table_textures_3489/tex_wall_textures_7476","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2813477357005999131,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2813477357005999131,"visual_seed":2813477357005999131,"scene_id":"lab_003","finished_at":"2026-09-03T08:11:30"} +{"episode_id":"ep_000001","started_at":"2026-09-03T08:11:34","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.10769172875447508,0.7263643395656953,0.71338606911949],"aabb_xy":[[0.07065761932641537,0.6919871322319859],[0.1447258381825348,0.7607415468994048]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.005179347412409552,-0.8788581696742503,0.71338606911949],"aabb_xy":[[-0.05882064988993685,-0.923224596642107],[0.06917934471475595,-0.8344917427063935]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.610498115855274,1.1855607933968328,0.71338606911949],"aabb_xy":[[-0.6199155904251368,1.1761446162591138],[-0.6010806412854113,1.1949769705345519]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.3059583304107265,1.7020975039152266,0.71338606911949],"aabb_xy":[[0.2940255960488984,1.689715351107367],[0.3178910647725545,1.7144796567230858]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.5721554553338684,1.7702500586828953,0.71338606911949],"aabb_xy":[[-0.5814490735710189,1.7327500601947614],[-0.5628618370967178,1.8077500571710292]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.2869618259397364,0.6021599521737295,0.71338606911949],"aabb_xy":[[0.19696182943886462,0.5562483097552712],[0.3769618224406081,0.6480715945921877]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.16603213049113152,1.6110372692487895,0.71338606911949],"aabb_xy":[[0.11621535102629674,1.5610372707644864],[0.21584890995596626,1.6610372677330931]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.6230414739953976,1.459408156594027,0.71338606911949],"aabb_xy":[[0.5730483618862058,1.4094081559198313],[0.6730345861045895,1.5094081572682227]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.25089773339994326,-2.1218431276897483,0.71338606911949],"aabb_xy":[[-0.33089773665778616,-2.2018396354817322],[-0.17089773014210025,-2.0418466198977643]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.08390087030378979,0.32743341612112653,0.71338606911949],"aabb_xy":[[-0.09854427585782277,0.31277469646434225],[-0.0692574647497568,0.3420921357779108]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.2713877622746779,1.4810619315367242,0.71338606911949],"aabb_xy":[[-0.3056846732924185,1.4467650453267829],[-0.23709085125693724,1.5153588177466655]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.6446316844969715,0.676070212141342,0.71338606911949],"aabb_xy":[[-0.6578626300316526,0.6628427931193425],[-0.63140073896229,0.6892976311633413]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[0.008370194662199126,-1.2578892508961024,0.71338606911949],"aabb_xy":[[-0.04926027422507172,-1.3178892498228127],[0.06600066354946997,-1.1978892519693916]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.4047048376060648,-1.5013661757848114,0.71338606911949],"aabb_xy":[[-0.4697048387120081,-1.5263315488529396],[-0.3397048365001215,-1.476400802716683]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.6485379138851184,-0.4453536956034325,0.71338606911949],"aabb_xy":[[-0.6895558572714892,-0.4953536962343899],[-0.6075199704987474,-0.39535369497247524]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.4912555138008071,0.9597008983559365,0.71338606911949],"aabb_xy":[[-0.5030237005954646,0.8747008984507151],[-0.4794873270061496,1.044700898261158]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.046499283377162026,-0.5241543200151124,0.71338606911949],"aabb_xy":[[-0.05420247405123907,-0.5318636907138503],[-0.03879609270308498,-0.5164449493163743]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.4602059392923161,-0.6944024226957357,0.71338606911949],"aabb_xy":[[0.435205940126683,-0.7013546684010923],[0.48520593845794924,-0.6874501769903791]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[0.5877962930884819,-2.408873088956843,0.71338606911949],"aabb_xy":[[0.5077962920153616,-2.4186511352942275],[0.6677962941616022,-2.3990950426194586]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[-0.005515761938238883,-1.730603272441706,0.71338606911949],"aabb_xy":[[-0.015147398158668501,-1.740240585221415],[0.004115874282190735,-1.720965959661997]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.2494614973163487,-1.7808499234583395,0.71338606911949],"aabb_xy":[[0.23357700405102352,-1.7952028637571638],[0.26534599058167385,-1.7664969831595156]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.6181284180673513,0.5830293264446325,0.71338606911949],"aabb_xy":[[-0.6352304960257195,0.5659225209133627],[-0.6010263401089831,0.6001361319759022]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6784548902194483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3778.png","name":"3778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3778.png","name":"3778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6044.png","name":"6044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/736.png","name":"736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7155.png","name":"7155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6984.png","name":"6984"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":811.444455566093,"rotation_z_degrees":239.26807268343046,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011889271685135216,-0.00912757623062456,0.0020678151525274358]},{"name":"camera_2","offset_m":[-0.0073823711442639744,-0.009900452127612844,-0.0094694417710043]},{"name":"camera_3","offset_m":[0.007596220665405641,0.011895877633391626,-0.005141283449115934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007795612469826511,0.0002677870663527846,0.0006487582146342641],"end_effector_yaw_offset_degrees":-0.491956477672022},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00043237076613229916,-0.001761845333098229,0.0005187834355314873],"end_effector_yaw_offset_degrees":-0.3019928916000292},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003926346320307201,0.0007919266671397029,-0.001345592968913139],"end_effector_yaw_offset_degrees":0.1554935491782583}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010573003536642877,-0.0024436884945565683],"position_m":[0.20584269964633573,0.2643563115054434,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014842864135354863,0.0036306255016089898],"position_m":[0.1883157135864645,0.06123062550160899,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004796810488413786,7.955660773585962e-05],"position_m":[0.3536031895115862,0.17867955660773588,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038689001331836123,-0.0014812855661328118],"position_m":[0.2476310998668164,-0.3668812855661328,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d77aa9420352e61bb2d4639675c8ef95bf2f30935a66ab2181649dca2ffa0ead","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3778/tex_ceiling_textures_6984/tex_floor_textures_7155/tex_table_textures_6044/tex_wall_textures_736","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8606069980574969354,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8606069980574969354,"visual_seed":8606069980574969354,"scene_id":"lab_003","finished_at":"2026-09-03T08:14:26"} +{"episode_id":"ep_000002","started_at":"2026-09-03T08:14:29","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.3313115467551644,0.21933147336308867,0.71338606911949],"aabb_xy":[[-0.3683456561832242,0.18495426602937923],[-0.2942774373271047,0.25370868069679814]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.3335486653403133,-1.7944358464304888,0.71338606911949],"aabb_xy":[[-0.34542074835181447,-1.8794358461241392],[-0.32167658232881224,-1.7094358467368385]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.587515180725761,1.4731562054393499,0.71338606911949],"aabb_xy":[[0.5570309305987309,1.423156205657854],[0.6179994308527912,1.5231562052208458]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.2541453327020746,-1.924386885925688,0.71338606911949],"aabb_xy":[[0.24773151905888965,-1.9307967061733564],[0.2605591463452595,-1.9179770656780197]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.5892693523234309,0.541970085876013,0.71338606911949],"aabb_xy":[[-0.6267693526156057,0.5379286104754094],[-0.5517693520312561,0.5460115612766167]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.11296718466304911,-0.8299671426988646,0.71338606911949],"aabb_xy":[[0.07020047778362892,-0.8939671461206672],[0.1557338915424693,-0.7659671392770623]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[-0.16293263614873987,1.3184422549155776,0.71338606911949],"aabb_xy":[[-0.2269326347353123,1.2714352915160687],[-0.09893263756216739,1.3654492183150861]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.25670470084540575,1.5095381412220168,0.71338606911949],"aabb_xy":[[0.24790264553643307,1.5017268150670875],[0.26550675615437846,1.5173494673769456]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.6417358780689777,0.351022210993297,0.71338606911949],"aabb_xy":[[0.5877202817870777,0.28702220810103984],[0.6957514743508777,0.41502221388555416]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.3462281215301395,1.4804400209175417,0.71338606911949],"aabb_xy":[[0.3370682425862629,1.4739088028740046],[0.3553880004740161,1.4869712389610787]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.3496256348083994,-2.421844453890621,0.71338606911949],"aabb_xy":[[-0.39972309878947304,-2.4858444544004326],[-0.2995281708273258,-2.357844453380809]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.5649399654366322,-0.2587116417071953,0.71338606911949],"aabb_xy":[[-0.6549399640311022,-0.2749622280206164],[-0.47493996684216233,-0.24246105539377433]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.5778200615116516,0.9437487134681395,0.71338606911949],"aabb_xy":[[-0.6122825395247392,0.9370850362852164],[-0.5433575834985637,0.9504123906510621]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.5553269153770222,1.5054544847257474,0.71338606911949],"aabb_xy":[[-0.5728269145113892,1.4955748576881593],[-0.5378269162426549,1.515334111763335]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.19772909523029092,-1.6210677876957684,0.71338606911949],"aabb_xy":[[0.13372909331794858,-1.676978936953779],[0.26172909714263326,-1.5651566384377582]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.16188039966278056,-0.16805712178279375,0.71338606911949],"aabb_xy":[[-0.16892070959631758,-0.24805712118246517],[-0.1548400897292436,-0.08805712238312234]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.6378476813719615,-0.596435592364486,0.71338606911949],"aabb_xy":[[-0.6763933741971625,-0.6349813634206746],[-0.5993019885467604,-0.5578898213082973]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.4271376865830312,0.542265559284465,0.71338606911949],"aabb_xy":[[0.3631376892973825,0.500758840331621],[0.4911376838686798,0.5837722782373089]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.4157929761958204,1.0491737326238266,0.71338606911949],"aabb_xy":[[-0.47579297783874225,0.9971735833318824],[-0.35579297455289854,1.1011738819157708]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[0.5601749506036304,0.6501405927921646,0.71338606911949],"aabb_xy":[[0.5419691269423828,0.639115192210173],[0.5783807742648781,0.6611659933741563]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.12838760543503924,-1.8022564778914245,0.71338606911949],"aabb_xy":[[0.09159297231013297,-1.8391623529880068],[0.16518223855994552,-1.7653506027948422]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.5703991830882041,-0.9697504943246438,0.71338606911949],"aabb_xy":[[-0.5949453987109549,-0.999999390873681],[-0.5458529674654534,-0.9395015977756068]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.07236114096103519,-1.6747748282583896,0.71338606911949],"aabb_xy":[[-0.09023024871549067,-1.6886077362356007],[-0.05449203320657968,-1.6609419202811786]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.09042360601154287,1.1700075895259259,0.71338606911949],"aabb_xy":[[0.08001204733105916,1.1646618561900273],[0.10083516469202658,1.175353322861824]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.4922280392582372,-2.5230247726172355,0.71338606911949],"aabb_xy":[[0.4272280407011643,-2.5527773060311176],[0.55722803781531,-2.4932722392033524]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_25","position":[-0.3575902691096195,1.4126708584177554,0.71338606911949],"aabb_xy":[[-0.3639023686459579,1.4069039191645365],[-0.351278169573281,1.4184377976709743]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[0.5804331040861663,-0.05966994835279982,0.71338606911949],"aabb_xy":[[0.5254408534506554,-0.11466995009611261],[0.6354253547216773,-0.004669946609487046]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[0.46299938291815934,1.7543378141106518,0.71338606911949],"aabb_xy":[[0.43300772018428896,1.7243378147738513],[0.4929910456520296,1.7843378134474523]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[0.03492937248948602,1.670514319168611,0.71338606911949],"aabb_xy":[[-0.045070625491299025,1.6629127782067592],[0.11492937047027106,1.678115860130463]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_29","position":[0.5707866224692213,-1.8310057142204479,0.71338606911949],"aabb_xy":[[0.5505023197458223,-1.8512883393631565],[0.5910709251926198,-1.8107230890777388]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_30","position":[-0.23373129140792737,0.7069207712907994,0.71338606911949],"aabb_xy":[[-0.2987312924084279,0.6561344061361245],[-0.16873129040742682,0.7577071364454744]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_31","position":[0.5618817774504945,-1.043579109463913,0.71338606911949],"aabb_xy":[[0.55654420178449,-1.0685791103930529],[0.5672193531164992,-1.0185791085347733]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_32","position":[0.4743942180350351,-1.9917021019182393,0.71338606911949],"aabb_xy":[[0.4568942177899858,-2.0092018897578057],[0.49189421828008456,-1.9742023140786722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6751686387038869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3777.png","name":"3777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/452.png","name":"452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8425.png","name":"8425"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":625.3299743902166,"rotation_z_degrees":294.09315068696486,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007437554251526746,0.01783177257457007,0.01763569544069744]},{"name":"camera_2","offset_m":[0.0019024361850130157,-0.006716491125571281,0.004614957078844694]},{"name":"camera_3","offset_m":[-0.011411745955858402,0.0020452556433201152,0.005268826215843219]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010016423309481435,-0.001065063945949902,0.0003973362382763894],"end_effector_yaw_offset_degrees":-0.8314608880711352},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001471680905179829,-0.0006415368637438931,-9.686047516242096e-05],"end_effector_yaw_offset_degrees":-0.3254790043828173},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-4.1059552921719235e-05,0.0016721395800458998,-0.0001555380407731227],"end_effector_yaw_offset_degrees":-0.6477000559644548}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024213459908154315,0.0021532615418007398],"position_m":[0.20932134599081542,0.2689532615418007,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00044646842848355094,-0.0003156825055759486],"position_m":[0.18935353157151644,0.05728431749442405,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013629370476485256,-0.003956153423275461],"position_m":[0.3597629370476485,0.17464384657672455,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004768655218531524,0.003212525623597233],"position_m":[0.24673134478146846,-0.36218747437640275,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"595cce416cfc944c547365f55d8fd553cf6b05194f57917295018b96dba3b99e","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8109/tex_ceiling_textures_8425/tex_floor_textures_452/tex_table_textures_872/tex_wall_textures_3777","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":380106100010339964,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":380106100010339964,"visual_seed":380106100010339964,"scene_id":"lab_003","finished_at":"2026-09-03T08:17:21"} +{"episode_id":"ep_000003","started_at":"2026-09-03T08:17:24","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.2993460702781293,-2.3813477386002297,0.71338606911949],"aabb_xy":[[-0.3122179737790694,-2.4613477390140654],[-0.2864741667771891,-2.301347738186393]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.4107249353216541,-2.1102395885417713,0.71338606911949],"aabb_xy":[[-0.4607180474308461,-2.160239589215967],[-0.3607318232124623,-2.0602395878675757]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.14013315731279619,-0.6696329092134989,0.71338606911949],"aabb_xy":[[0.10513315811997787,-0.6805999552111616],[0.1751331565056144,-0.6586658632158363]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.44208535112972425,-0.04111756431917435,0.71338606911949],"aabb_xy":[[-0.5060853484320706,-0.0854839912870311],[-0.3780853538273778,0.0032488626486824046]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.6489637140749844,-0.7236706229460008,0.71338606911949],"aabb_xy":[[0.6276857059315121,-0.7886706252720739],[0.6702417222184566,-0.6586706206199278]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.053512976065161366,-1.2772641468601618,0.71338606911949],"aabb_xy":[[-0.0014825017554980294,-1.3322641482940685],[0.10850845388582075,-1.2222641454262546]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[-0.2771123349458795,-1.2926994955881042,0.71338606911949],"aabb_xy":[[-0.34211233605182284,-1.3176648686562322],[-0.21211233383993627,-1.2677341225199756]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.6723136080052974,-1.7865665070455927,0.71338606911949],"aabb_xy":[[-0.677651183671302,-1.8115665079747325],[-0.6669760323392928,-1.761566506116453]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.41571862373239554,-2.3258308979808477,0.71338606911949],"aabb_xy":[[0.40227209709835227,-2.3393007496339386],[0.42916515036643893,-2.312361046327756]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.4235205987770173,0.8188710209422734,0.71338606911949],"aabb_xy":[[-0.43221856106773265,0.8067460466347989],[-0.4148226364863021,0.8309959952497483]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.5970734120464707,0.7173588815218195,0.71338606911949],"aabb_xy":[[-0.6220734119789886,0.7104762133008962],[-0.5720734121139528,0.7242415497427428]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.22939307163085154,-2.3526628274881816,0.71338606911949],"aabb_xy":[[0.17939307068031868,-2.384211974491703],[0.2793930725813843,-2.32111368048466]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.23595681492530451,0.37138360735080456,0.71338606911949],"aabb_xy":[[-0.305956816527584,0.3579508141491469],[-0.16595681332302503,0.3848164005524621]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.47735388269375045,1.5755735881228587,0.71338606911949],"aabb_xy":[[0.39735388529015697,1.4955810169246757],[0.5573538800973438,1.6555661593210413]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.1007178729708631,-1.6006344850082623,0.71338606911949],"aabb_xy":[[-0.18071787404398343,-1.6104125313456465],[-0.020717871897742754,-1.5908564386708777]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.021464791488128077,0.736442046068829,0.71338606911949],"aabb_xy":[[-0.032237765409495855,0.70144204784979],[-0.010691817566760298,0.771442044287868]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[-0.3376667966632201,1.1486490801388438,0.71338606911949],"aabb_xy":[[-0.4016667939488688,1.1071423611859996],[-0.2736667993775715,1.1901557990916876]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.12781618122815508,-1.4089610422584147,0.71338606911949],"aabb_xy":[[-0.13584245185878108,-1.4177125372357673],[-0.11978991059752908,-1.400209547281062]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.6292629329314203,1.0478393382876874,0.71338606911949],"aabb_xy":[[0.6211352447381071,1.0389257298769796],[0.6373906211247335,1.0567529466983951]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.5977746703467883,1.1804777778407667,0.71338606911949],"aabb_xy":[[0.5177746698765724,1.1721670702264184],[0.6777746708170043,1.188788485455115]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.2657965225753909,-1.989169285012324,0.71338606911949],"aabb_xy":[[0.2017965202325893,-2.034110136256456],[0.3297965249181924,-1.9442284337681914]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6783281389160484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/675.png","name":"675"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/675.png","name":"675"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4054.png","name":"4054"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4903.png","name":"4903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5369.png","name":"5369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2111.png","name":"2111"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":588.5675102435196,"rotation_z_degrees":351.8031770662568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034951236830837347,-0.01976247614446266,0.01886585160285398]},{"name":"camera_2","offset_m":[-0.00990839092333109,-0.01706612818557757,-0.006415028271949201]},{"name":"camera_3","offset_m":[-0.010088364484607908,-0.014651761711823138,0.008777195569861607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015715746149430943,0.0008363330708462337,-0.00043322015211172903],"end_effector_yaw_offset_degrees":0.7066351003421498},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00012023418103921995,-0.00019171595487791075,0.00018917173513868443],"end_effector_yaw_offset_degrees":0.14865256808550664},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008207161244185004,0.0018021799669054946,0.0009346263965932392],"end_effector_yaw_offset_degrees":0.5894198999897402}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010175726580525244,-0.001443740956706181],"position_m":[0.20791757265805252,0.2653562590432938,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004871105008330571,-0.0049719159386191385],"position_m":[0.18492889499166942,0.05262808406138086,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001388026104033584,0.0044187312846000635],"position_m":[0.3570119738959664,0.18301873128460008,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002478588106835273,0.000926244389384121],"position_m":[0.24902141189316473,-0.3644737556106159,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"620f5753158cf5524144ede75cf2a72687be6bbd7a9100a81c491caefc4c3638","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_675/tex_ceiling_textures_2111/tex_floor_textures_5369/tex_table_textures_4054/tex_wall_textures_4903","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1705668230208700630,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1705668230208700630,"visual_seed":1705668230208700630,"scene_id":"lab_003","finished_at":"2026-09-03T08:20:19"} +{"episode_id":"ep_000004","started_at":"2026-09-03T08:20:22","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.5967217526785353,0.34965471328087894,0.71338606911949],"aabb_xy":[[-0.6047480233091613,0.3409032183035264],[-0.5886954820479093,0.3584062082582316]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.2813201932519336,-2.458837274529781,0.71338606911949],"aabb_xy":[[0.19132019651632332,-2.5120207378470756],[0.37132018998754374,-2.4056538112124866]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.5775411138165334,-2.2296826059061985,0.71338606911949],"aabb_xy":[[-0.6275411133928682,-2.279663184858305],[-0.5275411142401988,-2.179702026954093]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.5268672552111997,0.6457668292741956,0.71338606911949],"aabb_xy":[[-0.549367255221348,0.6316706096345923],[-0.5043672552010514,0.6598630489137989]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.1750331858358587,1.4100344145149482,0.71338606911949],"aabb_xy":[[0.16426021191449092,1.3750344162959092],[0.18580615975722647,1.4450344127339871]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.3029756123633332,-2.4760045908012676,0.71338606911949],"aabb_xy":[[-0.34047561218036676,-2.480642802112409],[-0.26547561254629964,-2.4713663794901253]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.3694310353204322,-1.253694884850803,0.71338606911949],"aabb_xy":[[-0.4334267327155288,-1.3176948831515116],[-0.3054353379253356,-1.1896948865500943]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.1623344033448728,0.7215125334307761,0.71338606911949],"aabb_xy":[[-0.20761301822602207,0.6575125340825924],[-0.11705578846372355,0.7855125327789597]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.6552600633352207,-1.0497104338167296,0.71338606911949],"aabb_xy":[[-0.6771498109241615,-1.1397104311059787],[-0.6333703157462799,-0.9597104365274806]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.06803005185566013,1.1007670072145719,0.71338606911949],"aabb_xy":[[-0.10933459491939611,1.0367670076464548],[-0.026725508791924132,1.164767006782689]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.2323814069710246,-0.7241118965888116,0.71338606911949],"aabb_xy":[[-0.24414959376568213,-0.8091118964940333],[-0.2206132201763671,-0.63911189668359]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.3653787488196275,-0.7674034286122597,0.71338606911949],"aabb_xy":[[-0.4153629845278047,-0.8174034274257553],[-0.3153945131114502,-0.7174034297987641]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.5645948766261246,0.6740475267205781,0.71338606911949],"aabb_xy":[[0.5575545666925876,0.5940475273209067],[0.5716351865596616,0.7540475261202496]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.671442899059759,0.8893285524705017,0.71338606911949],"aabb_xy":[[0.6389811981778313,0.8591957203555989],[0.7039045999416862,0.919461384585404]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.6105979905387595,1.099057181438782,0.71338606911949],"aabb_xy":[[-0.6193119595886939,1.0765571807795935],[-0.6018840214888249,1.12155718209797]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.17359159110314637,-1.7167008043814094,0.71338606911949],"aabb_xy":[[-0.1891473605134117,-1.7322512376258168],[-0.15803582169288113,-1.7011503711370024]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.024571305362574236,1.3059275183795132,0.71338606911949],"aabb_xy":[[-0.08857130574010785,1.2561822515287009],[0.03942869501495938,1.3556727852303254]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.5811077364734332,-0.5237563926703181,0.71338606911949],"aabb_xy":[[0.5261122586527738,-0.578756394104225],[0.6361032142940926,-0.4687563912364111]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.5768951232378213,-1.9502415230165897,0.71338606911949],"aabb_xy":[[-0.6568951202520693,-1.9703760746900008],[-0.49689512622357335,-1.9301069713431782]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.6008892743079663,-2.001717206428853,0.71338606911949],"aabb_xy":[[0.5959899820014027,-2.0293941257314216],[0.6057885666145297,-1.974040287126284]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.07766120971355261,-1.1122317106867206,0.71338606911949],"aabb_xy":[[0.027778512835856424,-1.1622317099329955],[0.12754390659124884,-1.062231711440446]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.09204138025877451,1.1217457921329865,0.71338606911949],"aabb_xy":[[0.08433818958469744,1.1140364214342484],[0.09974457093285152,1.1294551628317246]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.3643817031050265,0.4926573900337825,0.71338606911949],"aabb_xy":[[0.29938170522337876,0.4415337263272417],[0.4293817009866744,0.5437810537403234]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.19485644503863708,0.3725913012876929,0.71338606911949],"aabb_xy":[[-0.2588564453126153,0.32252520109040494],[-0.13085644476465885,0.4226574014849809]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.2669565949717604,-0.9954078971749005,0.71338606911949],"aabb_xy":[[0.2304607743444816,-1.0318918396016579],[0.30345241559903907,-0.9589239547481428]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.34933018350181944,1.7483666555542148,0.71338606911949],"aabb_xy":[[0.32686541353041426,1.7258666546753543],[0.3717949534732245,1.7708666564330753]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.13366460847616712,-1.0445363711392555,0.71338606911949],"aabb_xy":[[-0.14244583562340338,-1.053316118427786],[-0.12488338132893093,-1.0357566238507259]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.23844517414737182,-2.021577516144646,0.71338606911949],"aabb_xy":[[-0.2734451724580672,-2.0292925310681915],[-0.20344517583667635,-2.0138625012211]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_28","position":[-0.015575864122230554,1.7152210337796459,0.71338606911949],"aabb_xy":[[-0.020913439788235122,1.6902210328505063],[-0.010238288456225986,1.7402210347087859]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[-0.35556528183940356,-1.5758398708048467,0.71338606911949],"aabb_xy":[[-0.3724760142757452,-1.589312076397461],[-0.33865454940306167,-1.5623676652122318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6775902246145199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5951.png","name":"5951"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5951.png","name":"5951"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5386.png","name":"5386"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4238.png","name":"4238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2645.png","name":"2645"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":679.5673939517121,"rotation_z_degrees":100.71942479170465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010019660048874614,-0.005161908275944316,0.01991883339896856]},{"name":"camera_2","offset_m":[-0.013165946180091651,-0.0015770405706788254,-0.003025088245476256]},{"name":"camera_3","offset_m":[-0.014209451952599839,-0.017651060564929707,-0.008078473281883842]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011759869735309847,-0.0007705462644776425,0.001266354304252881],"end_effector_yaw_offset_degrees":0.3676106427353898},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006146361718381969,0.0009285870873395195,0.001971197192583672],"end_effector_yaw_offset_degrees":0.39442809503857057},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011517523474367593,-0.001839960821838857,0.0003865989648638708],"end_effector_yaw_offset_degrees":-0.4493868807109087}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024902639372853365,-0.004209919578949909],"position_m":[0.20440973606271468,0.2625900804210501,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024598090893739157,0.0017883127930444455],"position_m":[0.1922598090893739,0.05938831279304444,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004107048238941478,-0.00019922598261018498],"position_m":[0.35798929517610584,0.17840077401738982,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020285397891248815,0.003011445475750771],"position_m":[0.24947146021087513,-0.36238855452424923,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6bb24e342770d010e745c0b508035a0534852827cd712477f65473cf35e1d0bc","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5951/tex_ceiling_textures_2645/tex_floor_textures_4238/tex_table_textures_5386/tex_wall_textures_9859","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3332280631832055261,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3332280631832055261,"visual_seed":3332280631832055261,"scene_id":"lab_003","finished_at":"2026-09-03T08:23:14"} +{"episode_id":"ep_000005","started_at":"2026-09-03T08:23:17","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.17189979746334705,-1.0252459524791246,0.71338606911949],"aabb_xy":[[0.1168997992616022,-1.065767919105562],[0.22689979566509186,-0.984723985852687]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.48689232999079995,-0.5240866298928339,0.71338606911949],"aabb_xy":[[-0.5420175356203906,-0.584086631334121],[-0.4317671243612091,-0.46408662845154675]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.390118171080576,-1.3634514510902345,0.71338606911949],"aabb_xy":[[-0.3975306266219644,-1.3693026615118626],[-0.3827057155391875,-1.3576002406686067]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.47571301777476327,1.6796574873093273,0.71338606911949],"aabb_xy":[[0.38571301805158903,1.6565841347741472],[0.5657130174979373,1.702730839844507]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.12794206528558094,0.6355427135510614,0.71338606911949],"aabb_xy":[[-0.15627177523412117,0.6310819713573445],[-0.09961235533704071,0.6400034557447786]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.008229279120604893,1.698313629330165,0.71338606911949],"aabb_xy":[[0.002192266119940166,1.6922869282612172],[0.014266292121269621,1.7043403303991134]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.5095187206126008,0.8369422275233176,0.71338606911949],"aabb_xy":[[-0.5992057969207163,0.7469422272688672],[-0.4198316443044854,0.9269422277777682]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.10528641409372419,-1.7998852371879428,0.71338606911949],"aabb_xy":[[0.08617410673574534,-1.819020016065185],[0.12439872145170307,-1.780750458310701]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.6385370888386823,-0.7818047134301676,0.71338606911949],"aabb_xy":[[-0.6431722039909157,-0.785672048507316],[-0.633901973686449,-0.7779373783530187]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.48545904513799915,-2.4699774375038914,0.71338606911949],"aabb_xy":[[-0.5229590454301739,-2.4740189129044947],[-0.4479590448458242,-2.4659359621032872]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.16797732700842372,0.485646257023268,0.71338606911949],"aabb_xy":[[-0.25797733068534184,0.42421385044616355],[-0.07797732333150552,0.5470786636003723]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[-0.13637095571933722,0.9477266095541097,0.71338606911949],"aabb_xy":[[-0.20637095835592353,0.9276217445582442],[-0.06637095308275084,0.9678314745499752]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.3387446316789076,0.9091250191189215,0.71338606911949],"aabb_xy":[[-0.36329084730165834,0.8788761225698846],[-0.3141984160561569,0.9393739156679587]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.576432428235355,-0.8845932278632131,0.71338606911949],"aabb_xy":[[-0.601432428167873,-0.8914758960841366],[-0.5514324283028372,-0.87771055964229]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.22087562120218351,1.0368273104246852,0.71338606911949],"aabb_xy":[[-0.2583756197778043,1.024091014761127],[-0.1833756226265627,1.049563606088243]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[0.23587818368671165,-2.231509311606775,0.71338606911949],"aabb_xy":[[0.21824534809318408,-2.249132257622398],[0.2535110192802392,-2.213886365591152]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.5624284800481976,-2.1085119422599945,0.71338606911949],"aabb_xy":[[0.49742847894225417,-2.133477315328123],[0.6274284811541407,-2.083546569191866]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.5752834753979225,1.0794116932558682,0.71338606911949],"aabb_xy":[[-0.6052510323077481,1.0494116929579824],[-0.5453159184880968,1.109411693553754]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.5290520965795651,-1.4205473351301139,0.71338606911949],"aabb_xy":[[-0.5930520968400357,-1.465556134483042],[-0.4650520963190941,-1.3755385357771859]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.4741441767460159,-1.2500887791632307,0.71338606911949],"aabb_xy":[[-0.528159773027916,-1.3140887820554878],[-0.42012858046411583,-1.1860887762709735]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[0.6234764772197814,-1.3862698286611885,0.71338606911949],"aabb_xy":[[0.5859764768715535,-1.3980612242422719],[0.660976477568009,-1.3744784330801048]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.26625845884527855,-1.0547009710539572,0.71338606911949],"aabb_xy":[[-0.32388892773254935,-1.1147009699806676],[-0.20862798995800763,-0.9947009721272464]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.08830293903813957,-0.8191400874047463,0.71338606911949],"aabb_xy":[[-0.17830294137215863,-0.896622441989859],[0.0016970632958794724,-0.7416577328196337]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.5417804741460257,-1.6773746663553533,0.71338606911949],"aabb_xy":[[0.5167804748740633,-1.6937200299515154],[0.5667804734179879,-1.6610293027591907]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.4840649643221848,-0.27923819246812265,0.71338606911949],"aabb_xy":[[0.42006496502801655,-0.3432243328369768],[0.548064963616353,-0.2152520520992684]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.19639118171901349,0.7539187022158722,0.71338606911949],"aabb_xy":[[0.17859767478409705,0.7361189566200744],[0.21418468865392992,0.7717184478116698]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.14711488015970342,-0.34180788875980106,0.71338606911949],"aabb_xy":[[-0.18988158703912358,-0.40580789218160357],[-0.1043481732802832,-0.27780788533799866]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.5429371179938934,0.3332802434594089,0.71338606911949],"aabb_xy":[[-0.5929371190130288,0.29681402772158094],[-0.4929371169747583,0.3697464591972368]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[0.21370770444603027,-1.662102981095147,0.71338606911949],"aabb_xy":[[0.1794107934282896,-1.696399867305088],[0.24800461546377087,-1.6278060948852053]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[-0.3164422344058434,-0.8358453400230956,0.71338606911949],"aabb_xy":[[-0.38043793180094,-0.8998453383238042],[-0.2524465370107468,-0.7718453417223868]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_30","position":[0.17597684948008696,1.6976014228503762,0.71338606911949],"aabb_xy":[[0.12597684781859217,1.6476029805946735],[0.2259768511415817,1.747599865106079]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[0.4976037296576712,-1.8498670763674476,0.71338606911949],"aabb_xy":[[0.46010372984063763,-1.8545052876785895],[0.5351037294747047,-1.8452288650563058]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_32","position":[-0.1931603111522503,-1.8312612780816413,0.71338606911949],"aabb_xy":[[-0.20631155712353969,-1.8562612778383278],[-0.18000906518096094,-1.8062612783249548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756784276868357,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5445.png","name":"5445"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1741.png","name":"1741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6701.png","name":"6701"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4169.png","name":"4169"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":627.4542693780576,"rotation_z_degrees":50.63131541760008,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005221680277286939,0.004891091325637267,0.016476016143095674]},{"name":"camera_2","offset_m":[-3.262594103848118e-05,-0.019943296628800514,0.0056481322584422955]},{"name":"camera_3","offset_m":[-0.011195877989508878,0.0012029756912545278,-0.005935188496791364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003244034707934533,0.00046942341162863055,-0.00045131705565227957],"end_effector_yaw_offset_degrees":-0.048222645089663896},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016547662256670877,0.00021123959777181707,0.0009161232739906167],"end_effector_yaw_offset_degrees":-0.12657575253273468},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010829714954972455,-0.001083400048901056,-0.0012132189331341592],"end_effector_yaw_offset_degrees":0.14923634999036262}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001754190680319503,-0.0022955513218842097],"position_m":[0.20707541906803195,0.2645044486781158,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006446080891967677,0.004773436222464833],"position_m":[0.19044460808919678,0.06237343622246483,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003351323569417318,0.00026336584957947686],"position_m":[0.3617513235694173,0.1788633658495795,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004795455127333042,0.002221065746829738],"position_m":[0.24670454487266696,-0.36317893425317027,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5b58483939d0ce24fe25f3a4629f5cdd49d532661e42e752607db116467ae92b","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_872/tex_ceiling_textures_4169/tex_floor_textures_6701/tex_table_textures_5445/tex_wall_textures_1741","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2666094768210823532,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2666094768210823532,"visual_seed":2666094768210823532,"scene_id":"lab_003","finished_at":"2026-09-03T08:25:51"} +{"episode_id":"ep_000006","started_at":"2026-09-03T08:25:54","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.3394127838006671,0.8790558252997447,0.71338606911949],"aabb_xy":[[0.32161927686575065,0.861256079703947],[0.3572062907355835,0.8968555708955424]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.5311665553892515,-0.9037570405332278,0.71338606911949],"aabb_xy":[[-0.5561665545548847,-0.9107092862385844],[-0.5061665562236185,-0.8968047948278712]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.31754296193927245,-0.30879745867483965,0.71338606911949],"aabb_xy":[[-0.34004296218278784,-0.32100209333461166],[-0.29504296169575706,-0.29659282401506776]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.5640674106843635,-1.8274073439250813,0.71338606911949],"aabb_xy":[[-0.6053162217142781,-1.8824073434372985],[-0.5228185996544487,-1.7724073444128636]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.09637365437696566,-1.0014574333667965,0.71338606911949],"aabb_xy":[[0.03478289515297285,-1.0654574314758436],[0.15796441360095848,-0.9374574352577498]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.45139679323729487,1.140198718831817,0.71338606911949],"aabb_xy":[[-0.4888967931810612,1.1319056287969804],[-0.4138967932935284,1.1484918088666536]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.28698919455401106,-2.0823944267446333,0.71338606911949],"aabb_xy":[[0.22698919395799488,-2.1372068992898567],[0.34698919515002724,-2.02758195419941]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.01857979729146908,-1.148753040594613,0.71338606911949],"aabb_xy":[[0.007739319064954175,-1.1659393218852618],[0.029420275517983985,-1.131566759303964]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.4314676449862569,-0.1329828457050386,0.71338606911949],"aabb_xy":[[0.426624050225027,-0.1378344981840227],[0.4363112397474869,-0.12813119322605449]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.22162011852988855,-1.379482988490643,0.71338606911949],"aabb_xy":[[-0.2502694508903047,-1.4081285477677188],[-0.1929707861694723,-1.3508374292135672]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.12910291542874575,-0.218942774155094,0.71338606911949],"aabb_xy":[[-0.1408711022234033,-0.30394277406031556],[-0.11733472863408825,-0.13394277424987244]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.4800843400046588,0.21285486331941517,0.71338606911949],"aabb_xy":[[0.44960008987762856,0.16285486353791925],[0.5105685901316889,0.2628548631009111]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.5005511830977756,1.339520769492843,0.71338606911949],"aabb_xy":[[0.4365511866704537,1.2923511456707468],[0.5645511795250975,1.3866903933149397]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.34080280952334463,1.7333974580523681,0.71338606911949],"aabb_xy":[[0.28567760389375385,1.6733974566110807],[0.3959280151529354,1.793397459493655]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[0.603621420658353,0.21322610458108038,0.71338606911949],"aabb_xy":[[0.5885191191973348,0.1981245829500185],[0.618723722119371,0.22832762621214214]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.10560831591632014,-1.707620500964167,0.71338606911949],"aabb_xy":[[-0.13082915277615975,-1.7328442518170535],[-0.08038747905648044,-1.68239675011128]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.041810696931088076,-0.15933472291394635,0.71338606911949],"aabb_xy":[[-0.05061275224006079,-0.16714604906887542],[-0.033008641622115364,-0.15152339675901727]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.6209901322503587,0.04268747244776572,0.71338606911949],"aabb_xy":[[-0.6849901293624644,-0.0063448973466448955],[-0.556990135138253,0.09171984224217633]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.17432869020444053,-2.5533315873943248,0.71338606911949],"aabb_xy":[[-0.19932869013695842,-2.5602142556152487],[-0.14932869027192264,-2.5464489191734017]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.7077192808103461,0.9641805186444974,0.71338606911949],"aabb_xy":[[0.6996056261369689,0.9560747021904682],[0.7158329354837231,0.9722863350985264]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.0904325191519827,-2.3026721831219397,0.71338606911949],"aabb_xy":[[-0.15543251918628542,-2.349372859802267],[-0.025432519117679964,-2.2559715064416124]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.2708907995015262,1.3454702908000615,0.71338606911949],"aabb_xy":[[-0.3348908014138686,1.289559141542051],[-0.20689079758918394,1.401381440058072]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.30648932532764017,1.11291360528825,0.71338606911949],"aabb_xy":[[0.2839893255137378,1.1084389889177695],[0.32898932514154255,1.117388221658731]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.3898660472312909,-0.4772678790917544,0.71338606911949],"aabb_xy":[[0.3398667720628548,-0.5272678803677016],[0.43986532239972714,-0.4272678778158072]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.3059717626187215,-2.0732557249793273,0.71338606911949],"aabb_xy":[[-0.30993224638845585,-2.080923589564848],[-0.30201127884898715,-2.0655878603938067]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[0.6280643207578891,-1.1732912392696702,0.71338606911949],"aabb_xy":[[0.5383772444497736,-1.2632912395241207],[0.7177513970660045,-1.0832912390152196]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.5007842037853834,0.6499787192510094,0.71338606911949],"aabb_xy":[[-0.507285840293388,0.6402108972246996],[-0.49428256727737874,0.6597465412773191]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[0.28687980368703525,0.6365256956026943,0.71338606911949],"aabb_xy":[[0.22287980451726533,0.5897590084837319],[0.3508798028568052,0.6832923827216568]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[0.5646580969707575,0.6002041698097993,0.71338606911949],"aabb_xy":[[0.509662619150098,0.5452041683758923],[0.6196535747914168,0.6552041712437061]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825166814678857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5666.png","name":"5666"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5666.png","name":"5666"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2031.png","name":"2031"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7907.png","name":"7907"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":527.9805108634285,"rotation_z_degrees":253.71124863835647,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009638895976051463,-0.009686383225463916,-0.017143492722452695]},{"name":"camera_2","offset_m":[0.010584453904340648,0.017151911921907927,0.002498803983604421]},{"name":"camera_3","offset_m":[0.016656353965239266,-0.019919665137499164,0.010545019063852808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001953307469876755,0.00010015140668589518,-0.0006910057009449915],"end_effector_yaw_offset_degrees":-0.4507324185980661},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013949661145854205,-0.0012923325216070976,-0.0018123804494149685],"end_effector_yaw_offset_degrees":-0.7727088146060244},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006135703025835827,0.000523465801625381,0.0016618444081405947],"end_effector_yaw_offset_degrees":0.18763584078874374}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007082597050762892,-0.003107813628565611],"position_m":[0.2076082597050763,0.2636921863714344,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028206324010355563,-0.00011256180153490503],"position_m":[0.19262063240103555,0.05748743819846509,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010456794488836853,0.00038260439392885735],"position_m":[0.35944567944888367,0.17898260439392888,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019208274903968967,3.9877373299045116e-05],"position_m":[0.2534208274903969,-0.365360122626701,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"051707a6e721a8a77836c09bcb46aee30f8c17f96aa5e43f8b54593983282848","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5666/tex_ceiling_textures_7907/tex_floor_textures_4886/tex_table_textures_2031/tex_wall_textures_5077","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1006867152838603261,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1006867152838603261,"visual_seed":1006867152838603261,"scene_id":"lab_003","finished_at":"2026-09-03T08:28:27"} +{"episode_id":"ep_000007","started_at":"2026-09-03T08:28:30","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.42090548988667287,-1.1259289302100937,0.71338606911949],"aabb_xy":[[0.35690548961269464,-1.1759950304073816],[0.4849054901606511,-1.0758628300128057]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[-0.4811180092732922,0.5592266364098961,0.71338606911949],"aabb_xy":[[-0.5002303166312712,0.5400918575326541],[-0.46200570191531337,0.5783614152871381]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.1854545947150017,0.04076039716794311,0.71338606911949],"aabb_xy":[[-0.22295459506322945,0.028969001586859548],[-0.14795459436677394,0.05255179274902665]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.008596595327400536,1.675270145026413,0.71338606911949],"aabb_xy":[[-0.07259659261304918,1.633763426073569],[0.05540340195824811,1.7167768639792569]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.27468001915376516,-0.574766904678313,0.71338606911949],"aabb_xy":[[-0.2807746470418835,-0.5833362992299819],[-0.26858539126564684,-0.5661975101266444]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.5654342519576192,-0.2216501095971246,0.71338606911949],"aabb_xy":[[0.5583928010068716,-0.22867686133491916],[0.5724757029083668,-0.21462335785933007]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.3130849727767453,0.8288592153294596,0.71338606911949],"aabb_xy":[[0.25308497191593243,0.777432785322973],[0.37308497363755805,0.8802856453359458]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.4240166769957372,-2.315084405435826,0.71338606911949],"aabb_xy":[[0.3875208563684584,-2.3515683478625835],[0.4605124976230159,-2.2786004630090684]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.15536207514941336,-2.452953457877049,0.71338606911949],"aabb_xy":[[0.14071866959538035,-2.467612177533833],[0.17000548070344632,-2.4382947382202644]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.4811201084347579,-0.16882726569755313,0.71338606911949],"aabb_xy":[[-0.5145602836307773,-0.20227089152848318],[-0.4476799332387382,-0.13538363986662302]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.414334157640946,-2.225701216057272,0.71338606911949],"aabb_xy":[[-0.4783341549432924,-2.2700676430251283],[-0.3503341603385996,-2.181334789089415]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.5172005581913444,0.2742854229517029,0.71338606911949],"aabb_xy":[[-0.553114062616334,0.2383719147349482],[-0.48128705376635467,0.3101989311684574]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.49748035866996754,0.015471281537010384,0.71338606911949],"aabb_xy":[[-0.561480361012769,-0.029469569707122105],[-0.43348035632716597,0.06041213278114287]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.24332845219436816,1.1133767552287428,0.71338606911949],"aabb_xy":[[-0.26582845270640876,1.0908848968633444],[-0.22082845168232754,1.1358686135941412]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.5073809288745712,-1.3476178459341306,0.71338606911949],"aabb_xy":[[-0.5224832303355891,-1.3627193675651919],[-0.49227862741355294,-1.3325163243030684]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.049300652576144355,-2.2465585089968516,0.71338606911949],"aabb_xy":[[0.029242240962904058,-2.266623595906009],[0.06935906418938464,-2.226493422087694]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.6074957511183663,-0.38041070126805687,0.71338606911949],"aabb_xy":[[0.5724957497668844,-0.4007704372248777],[0.6424957524698479,-0.36005096531123604]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.22952494422681374,-1.4029629421189485,0.71338606911949],"aabb_xy":[[-0.31952494394998787,-1.4260362946541278],[-0.13952494450363953,-1.3798895895837682]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.12252891577547442,1.087892154483173,0.71338606911949],"aabb_xy":[[-0.13440099878697553,1.0028921547895224],[-0.11065683276397331,1.1728921541768231]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.2521691392059276,-2.5578819286119683,0.71338606911949],"aabb_xy":[[-0.3171691403118709,-2.582847301680096],[-0.1871691380999843,-2.5329165555438395]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.6085149387683817,-0.7677379126942121,0.71338606911949],"aabb_xy":[[0.5285211151898235,-0.8477379152870536],[0.6885087623469399,-0.6877379101013704]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.13637927496877678,1.0743660093596117,0.71338606911949],"aabb_xy":[[0.11883258005265782,1.0368660077953604],[0.15392596988489568,1.111866010923863]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[0.15843790716152795,1.5044762216795369,0.71338606911949],"aabb_xy":[[0.15039454723557277,1.4194762205841704],[0.16648126708748312,1.5894762227749033]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.6522006998509668,0.09820309164118068,0.71338606911949],"aabb_xy":[[0.6147006986661739,0.09378486894512014],[0.6897007010357595,0.10262131433724123]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.4359360135657988,-0.9552478438039003,0.71338606911949],"aabb_xy":[[0.43109241880456894,-0.9600994962828845],[0.4407796083270289,-0.9503961913249163]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[0.5588988050442363,0.666900581111205,0.71338606911949],"aabb_xy":[[0.550975524805488,0.6444005808732016],[0.5668220852829846,0.6894005813492083]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.4841682702124641,1.5263415686465014,0.71338606911949],"aabb_xy":[[0.42653780132519314,1.4663415697197906],[0.5417987390997349,1.5863415675732115]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[-0.2905299224309694,-2.426984519540467,0.71338606911949],"aabb_xy":[[-0.3545299241089667,-2.475501911019781],[-0.226529920752972,-2.3784671280611525]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[-0.503520944856874,-0.37688270839044913,0.71338606911949],"aabb_xy":[[-0.583520948114717,-0.4568792161824331],[-0.4235209415990311,-0.29688620059846516]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[-0.03312675892149397,0.3080430008502688,0.71338606911949],"aabb_xy":[[-0.044695739668430545,0.2830430007333371],[-0.021557778174557396,0.3330430009672005]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[-0.18494810921120997,1.413220527458377,0.71338606911949],"aabb_xy":[[-0.19028062386582295,1.4078961992131414],[-0.17961559455659698,1.4185448557036124]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_31","position":[-0.2051781339973301,0.5381650825199555,0.71338606911949],"aabb_xy":[[-0.2691781347007995,0.49214670004703454],[-0.14117813329386078,0.5841834649928765]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_32","position":[-0.11819247872954197,-1.6344326131817588,0.71338606911949],"aabb_xy":[[-0.13374824813980724,-1.6499830464261664],[-0.10263670931927672,-1.618882179937352]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_33","position":[-0.5128258025547148,-1.8677584676574228,0.71338606911949],"aabb_xy":[[-0.5928258011420342,-1.9470740695955837],[-0.4328258039673954,-1.788442865719262]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_34","position":[0.5431549411750469,0.4491218256006735,0.71338606911949],"aabb_xy":[[0.5264778051819514,0.4324219016267432],[0.5598320771681424,0.46582174957460376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6803872228342709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7519.png","name":"7519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7642.png","name":"7642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3718.png","name":"3718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6372.png","name":"6372"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":688.4484042967422,"rotation_z_degrees":244.45536685848566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017490909259152736,-0.005744476324962857,0.006398146410637663]},{"name":"camera_2","offset_m":[-0.01530953041912032,0.0017073657822772419,0.004720812495772074]},{"name":"camera_3","offset_m":[-0.007316953354480904,-0.015007702814785051,0.008118612698143894]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001927480897735586,0.0008371486139414062,-0.0009736203788204589],"end_effector_yaw_offset_degrees":-0.38724129166679777},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001857254457805408,0.0005571400539077704,-0.0001913201902668442],"end_effector_yaw_offset_degrees":0.5953364920228847},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001431875721495647,-0.0009084138644833918,0.0008061889796518009],"end_effector_yaw_offset_degrees":0.8949298189429247}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004403022756120138,0.0006971275860846995],"position_m":[0.20249697724387986,0.2674971275860847,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011142313430934601,-0.004366114291828945],"position_m":[0.19091423134309346,0.05323388570817105,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030859460668229517,-0.0001721378689818467],"position_m":[0.36148594606682294,0.17842786213101816,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003274237301930395,-0.004124660633731633],"position_m":[0.24822576269806962,-0.3695246606337316,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"efe81ce3cabe2e0ea21b46b55a20bfb879f4dd21b7430f9ed6981883b5273e1a","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2682/tex_ceiling_textures_6372/tex_floor_textures_3718/tex_table_textures_7519/tex_wall_textures_7642","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5714497395412336894,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5714497395412336894,"visual_seed":5714497395412336894,"scene_id":"lab_003","finished_at":"2026-09-03T08:31:07"} +{"episode_id":"ep_000008","started_at":"2026-09-03T08:31:13","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.07425049724559041,-1.8470196034318653,0.71338606911949],"aabb_xy":[[-0.13825049915793275,-1.902930752689876],[-0.010250495333248066,-1.7911084541738551]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.3629069288992743,0.5379745961032834,0.71338606911949],"aabb_xy":[[-0.3734744085573733,0.5274295659902748],[-0.3523394492411753,0.5485196262162919]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.12253446413154723,-1.6571553818175868,0.71338606911949],"aabb_xy":[[-0.14381247227501948,-1.7221553841436597],[-0.10125645598807498,-1.5921553794915135]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.5497158176925232,1.082340084250451,0.71338606911949],"aabb_xy":[[-0.5605562959190381,1.0651538029598022],[-0.5388753394660083,1.0995263655410996]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[-0.4321455047656507,-0.46000718915639816,0.71338606911949],"aabb_xy":[[-0.4871455039422402,-0.5149968639313558],[-0.37714550558906124,-0.4050175143814405]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.4722206739220184,0.7860768773741489,0.71338606911949],"aabb_xy":[[-0.47950299029868193,0.6960768737646397],[-0.4649383575453546,0.8760768809836577]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.5430863450407248,-0.48246276294326274,0.71338606911949],"aabb_xy":[[0.5326747863602411,-0.4878084962791612],[0.5534979037212086,-0.4771170296073642]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.6283842161801821,-0.48828912909669375,0.71338606911949],"aabb_xy":[[-0.6933842172861254,-0.513254502164822],[-0.5633842150742389,-0.4633237560285654]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.3615621836526886,-0.6984523647640106,0.71338606911949],"aabb_xy":[[-0.42656218180860767,-0.7247486093139228],[-0.29656218549676955,-0.6721561202140984]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.3317526711669939,-1.313843209579606,0.71338606911949],"aabb_xy":[[-0.3595977079476011,-1.3446277083179177],[-0.30390763438638685,-1.2830587108412943]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.3929610726909152,-1.4261568332573145,0.71338606911949],"aabb_xy":[[0.350194365811495,-1.490156836679117],[0.43572777957033537,-1.362156829835512]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.1032350456302461,-1.1092778909270928,0.71338606911949],"aabb_xy":[[0.0914668588355886,-1.1942778908323146],[0.11500323242490365,-1.0242778910218715]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[-0.1513997239111562,-1.9865273648012036,0.71338606911949],"aabb_xy":[[-0.1608171984810189,-1.9959435419389224],[-0.14198224934129342,-1.9771111876634844]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.25441046672957424,-1.581332162891283,0.71338606911949],"aabb_xy":[[-0.2588410960844144,-1.586780534625966],[-0.24997983737473406,-1.5758837911566006]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.3571825147878578,-2.4020239212544383,0.71338606911949],"aabb_xy":[[0.2734602892877753,-2.4920239247891343],[0.44090474028794024,-2.3120239177197424]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.02307966626283131,1.310466323475958,0.71338606911949],"aabb_xy":[[-0.07709526254473131,1.2464663205837005],[0.030935930019068695,1.3744663263682149]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.43677342149383164,0.3095928715735501,0.71338606911949],"aabb_xy":[[-0.4780779645575676,0.24559287200543295],[-0.39546887843009565,0.3735928711416671]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.4533812847587064,-2.3268160035598764,0.71338606911949],"aabb_xy":[[-0.4758777061925704,-2.3493160033666234],[-0.4308848633248422,-2.3043160037531285]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[0.34652543597779917,0.500587656246521,0.71338606911949],"aabb_xy":[[0.2965424857903197,0.45058765660396055],[0.3965083861652784,0.5505876558890813]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.5994503703653016,1.0038912232338726,0.71338606911949],"aabb_xy":[[0.5494503687038066,0.95389278097817],[0.6494503720267961,1.0538896654895753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6806890266065402,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4123.png","name":"4123"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4123.png","name":"4123"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2092.png","name":"2092"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2445.png","name":"2445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1431.png","name":"1431"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7088.png","name":"7088"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.3131150799674,"rotation_z_degrees":143.3176838712147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008523601409702337,-0.009819997853213995,0.005662800234016507]},{"name":"camera_2","offset_m":[0.00879581430200094,-0.012768528571850806,-0.008351275125557311]},{"name":"camera_3","offset_m":[-0.0054949626540425275,0.018898970526073092,0.018638038416828293]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010991586252078918,0.0012698867774074943,1.6457270963471816e-05],"end_effector_yaw_offset_degrees":-0.4122545919056442},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016597119905460002,-0.0013731684990645264,0.0009030937818649029],"end_effector_yaw_offset_degrees":0.2099597991781592},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00034135157451097064,-0.0006747791338706358,0.0006548459290435455],"end_effector_yaw_offset_degrees":0.8075294591100042}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004706640841961077,-0.0009927075267288747],"position_m":[0.20219335915803893,0.2658072924732711,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004807385454815029,-0.0048560866013575045],"position_m":[0.194607385454815,0.0527439133986425,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035819522748411093,0.0028536377283458663],"position_m":[0.3548180477251589,0.18145363772834588,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015916724343670195,-0.0020697104873721906],"position_m":[0.24990832756563297,-0.3674697104873722,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"61575d129fdc2c84c4dff043fe2e1bdf9f650f0e63feb598cb01c3a735eadc7a","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4123/tex_ceiling_textures_7088/tex_floor_textures_1431/tex_table_textures_2092/tex_wall_textures_2445","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5366884536912548053,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5366884536912548053,"visual_seed":5366884536912548053,"scene_id":"lab_003","finished_at":"2026-09-03T08:33:43"} +{"episode_id":"ep_000009","started_at":"2026-09-03T08:33:48","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.4409988534790936,0.8859955913600985,0.71338606911949],"aabb_xy":[[0.4266644283529301,0.8739353758055596],[0.455333278605257,0.8980558069146373]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.31838777897654197,0.4528174764774682,0.71338606911949],"aabb_xy":[[-0.3422239966171471,0.3628174756689817],[-0.29455156133593696,0.5428174772859546]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.2674806983108019,-0.4287363067912664,0.71338606911949],"aabb_xy":[[-0.32247617613146123,-0.4837363082251733],[-0.21248522049014246,-0.3737363053573594]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.2390551437025965,-0.968147120794633,0.71338606911949],"aabb_xy":[[0.17505514179025417,-1.0240582700526435],[0.30305514561493885,-0.9122359715366227]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.12386796606205663,-1.5132929206480445,0.71338606911949],"aabb_xy":[[0.10636803262807325,-1.530792920568279],[0.14136789949604,-1.49579292072781]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.5717640426989952,-1.7855219058561573,0.71338606911949],"aabb_xy":[[0.5680607813698562,-1.7892239241648753],[0.575467304028134,-1.7818198875474398]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.5472617231998826,-0.9108927903589736,0.71338606911949],"aabb_xy":[[0.4922617235781369,-0.9658764831464464],[0.6022617228216286,-0.8559090975715009]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.1866149237611111,-0.8208045952710079,0.71338606911949],"aabb_xy":[[-0.19389724013777473,-0.9108045988805166],[-0.17933260738444742,-0.7308045916614986]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.42974857259959665,0.6002046773648284,0.71338606911949],"aabb_xy":[[-0.4647485724956155,0.5918304418528884],[-0.39474857270357777,0.6085789128767682]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.6730455406694721,-1.0510601234176544,0.71338606911949],"aabb_xy":[[-0.6905455409145214,-1.068559911257221],[-0.6555455404244226,-1.0335603355780874]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.05677756928280486,1.1346385765161675,0.71338606911949],"aabb_xy":[[-0.09427757046759763,1.1302203538201065],[-0.019277568098012055,1.1390567992122276]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.6102816888919611,-0.5064043536493803,0.71338606911949],"aabb_xy":[[-0.6477816893893192,-0.5103730371974987],[-0.5727816883946028,-0.5024356701012619]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.12642845344817777,-0.7667301126093995,0.71338606911949],"aabb_xy":[[0.12298777720812062,-0.7705915455837641],[0.12986912968823497,-0.7628686796350351]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.24290472889457215,-1.7222818336898063,0.71338606911949],"aabb_xy":[[0.15290473215896191,-1.7754652970071005],[0.33290472563018236,-1.6690983703725115]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.638301910792799,-0.17984028444796607,0.71338606911949],"aabb_xy":[[-0.6733019091034943,-0.18755529937151172],[-0.6033019124821034,-0.17212526952442042]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.5037143155014832,-2.0518320368258323,0.71338606911949],"aabb_xy":[[-0.5282605311242339,-2.0820809333748693],[-0.4791680998787325,-2.021583140276795]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.5564758280586265,0.7182924657565266,0.71338606911949],"aabb_xy":[[-0.5652570552058628,0.7095127184679966],[-0.5476946009113904,0.7270722130450569]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.5368045897837135,-2.1614042659175863,0.71338606911949],"aabb_xy":[[0.44680459118924365,-2.1776548522310075],[0.6268045883781835,-2.145153679604166]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.5171570393565561,-0.38918264916191525,0.71338606911949],"aabb_xy":[[-0.5546570379321768,-0.40191894482547313],[-0.47965704078093524,-0.37644635349835726]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.27174029129692423,-0.559390165890858,0.71338606911949],"aabb_xy":[[-0.35174028995381024,-0.5738950248151208],[-0.19174029264003822,-0.5448853069665952]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.08874986287350473,-1.3891341212466675,0.71338606911949],"aabb_xy":[[0.03874986185436947,-1.4256003369844956],[0.13874986389264002,-1.3526679055088398]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.13718923674003203,1.4806186549890445,0.71338606911949],"aabb_xy":[[-0.19877999596402485,1.4166186568799977],[-0.07559847751603921,1.5446186530980914]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.31060112385129535,-2.059265739534598,0.71338606911949],"aabb_xy":[[0.302677843612547,-2.0817657397726013],[0.3185244040900437,-2.0367657392965945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6809033665611274,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1790.png","name":"1790"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4526.png","name":"4526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.1969248166562,"rotation_z_degrees":297.6144197972836,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01079149411601351,-0.012922293516580958,-0.013778471634328047]},{"name":"camera_2","offset_m":[-0.00428193167706677,-0.018723860743271613,-0.001660639469108053]},{"name":"camera_3","offset_m":[0.018697130540562646,-0.008351927976044915,-0.003860934951688374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005368707333879518,-0.0006470033633823701,0.0016599149563348244],"end_effector_yaw_offset_degrees":0.16562463367909652},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00036199741747355895,0.0014943750870749224,-0.0013360617672356643],"end_effector_yaw_offset_degrees":0.02288417742672655},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[7.089877903730625e-05,-0.00034318567183904704,-0.0007788492512645529],"end_effector_yaw_offset_degrees":0.7474154596645943}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003122225683403165,0.000993681080418976],"position_m":[0.20377777431659683,0.26779368108041895,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020020604577119807,-0.0035776206484866534],"position_m":[0.18779793954228802,0.05402237935151334,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00030801474411992335,0.003253826772251024],"position_m":[0.3587080147441199,0.18185382677225104,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017832606927433627,0.0028437579006760473],"position_m":[0.2532832606927434,-0.36255624209932397,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"47a741facd91898ba3c3bb36b3929cbd558cc331209232097a320a063ebd1151","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1611/tex_ceiling_textures_9679/tex_floor_textures_8201/tex_table_textures_1790/tex_wall_textures_4526","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2525735850098540398,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2525735850098540398,"visual_seed":2525735850098540398,"scene_id":"lab_003","finished_at":"2026-09-03T08:36:23"} +{"episode_id":"ep_000010","started_at":"2026-09-03T08:36:26","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[-0.5053525976288864,0.7668854708376185,0.71338606911949],"aabb_xy":[[-0.53575070872803,0.7364785688359489],[-0.47495448652974287,0.7972923728392879]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.49274275646616816,1.8244636628019344,0.71338606911949],"aabb_xy":[[0.4887822726964339,1.8167957982164138],[0.49670324023590257,1.832131527387455]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.3190406818515743,-1.2782455365079823,0.71338606911949],"aabb_xy":[[-0.33459645126183957,-1.2937959697523895],[-0.30348491244130904,-1.2626951032635751]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.4014950354566164,0.15877509731172434,0.71338606911949],"aabb_xy":[[-0.4253312530972216,0.06877509650323789],[-0.37765881781601146,0.24877509812021087]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[-0.39550607760496376,1.135795156865544,0.71338606911949],"aabb_xy":[[-0.47550607867808414,1.1260171105281596],[-0.3155060765318435,1.1455732032029284]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.23972134100025877,1.0814293827412884,0.71338606911949],"aabb_xy":[[-0.25295228653494006,1.068201963719289],[-0.22649039546557745,1.0946568017632878]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.6015703844024438,-1.179200796108586,0.71338606911949],"aabb_xy":[[0.5475547881205437,-1.2432007990008431],[0.6555859806843437,-1.1152007932163288]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.25040267421588164,0.2925424523891693,0.71338606911949],"aabb_xy":[[-0.26227475722738275,0.2075424526955189],[-0.23853059120438053,0.3775424520828196]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.013406785948181787,-1.0621646476222857,0.71338606911949],"aabb_xy":[[-0.05059321442935183,-1.111909914473098],[0.0774067863257154,-1.0124193807714734]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.04069383828541251,-1.6236588014123725,0.71338606911949],"aabb_xy":[[0.0031938379932376845,-1.627700276812976],[0.07819383857758733,-1.619617326011769]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.16168876730041337,-2.3618713065551997,0.71338606911949],"aabb_xy":[[0.1441887681660462,-2.3717509335927875],[0.17918876643478054,-2.351991679517612]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.261536000472076,-0.2843124037895257,0.71338606911949],"aabb_xy":[[-0.3115360014912113,-0.3207786195273537],[-0.21153599945294077,-0.24784618805169784]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.18499594278922094,-1.0030786032411292,0.71338606911949],"aabb_xy":[[-0.2133256527377612,-1.0075393454348462],[-0.15666623284068074,-0.9986178610474121]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[0.04128209689240214,-2.532433157036861,0.71338606911949],"aabb_xy":[[0.032584134601686854,-2.5445581313443357],[0.04998005918311744,-2.5203081827293863]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.08623363090923952,0.652099145197079,0.71338606911949],"aabb_xy":[[-0.09426996561052436,0.6440610258926622],[-0.07819729620795468,0.6601372645014958]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.039796751542181874,0.7836757154704994,0.71338606911949],"aabb_xy":[[-0.1013875107661747,0.7196757173614525],[0.021794007681810938,0.8476757135795463]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.22980683763643972,-0.719430893726263,0.71338606911949],"aabb_xy":[[0.20730683712439912,-0.7419227520916614],[0.2523068381484803,-0.6969390353608647]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.6365967481700607,-0.12492230452343467,0.71338606911949],"aabb_xy":[[-0.6736308575981205,-0.15929951185714408],[-0.599562638742001,-0.09054509718972521]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[-0.6407061774862786,0.7143351319985993,0.71338606911949],"aabb_xy":[[-0.6907061770626134,0.6643545530464934],[-0.590706177909944,0.7643157109507053]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.624383450119289,-0.28433199733202486,0.71338606911949],"aabb_xy":[[-0.646882585845516,-0.30683199811028783],[-0.601884314393062,-0.2618319965537619]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.08359696448218512,-0.7005531512862735,0.71338606911949],"aabb_xy":[[0.033618155971869235,-0.7505531512919922],[0.133575772992501,-0.6505531512805546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840941544533484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1233.png","name":"1233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1233.png","name":"1233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/191.png","name":"191"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3035.png","name":"3035"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8599.png","name":"8599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5638.png","name":"5638"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":807.9995143033257,"rotation_z_degrees":24.597596602545394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012844782939491779,0.014048023530095832,-0.016476335298547935]},{"name":"camera_2","offset_m":[0.003914184913665367,-0.009469278091275872,0.017564701639710915]},{"name":"camera_3","offset_m":[0.01630310183067221,0.009698827303942673,0.017673945971578443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008288920012115427,-0.0018653585697831182,0.000975525363767714],"end_effector_yaw_offset_degrees":-0.5005344823214433},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000650435760324616,0.0003681998226816039,-0.0011959627555326571],"end_effector_yaw_offset_degrees":0.9726352139844501},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013507987709577619,0.00042178818281618643,7.875900150774691e-05],"end_effector_yaw_offset_degrees":0.03943504905779527}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025772608429358336,0.0011601522490871288],"position_m":[0.20432273915706417,0.2679601522490871,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001047012522348679,-0.0024637984556028303],"position_m":[0.19084701252234867,0.05513620154439717,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004300560285846258,-0.002314071439110036],"position_m":[0.35796994397141535,0.17628592856088998,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004570061247472205,0.0012814434047443302],"position_m":[0.2560700612474722,-0.36411855659525566,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d3049b777307b7b103987b1753c8a928be464da9d29ba1bce0ad40930f8e96c3","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1233/tex_ceiling_textures_5638/tex_floor_textures_8599/tex_table_textures_191/tex_wall_textures_3035","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5204821261627821114,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5204821261627821114,"visual_seed":5204821261627821114,"scene_id":"lab_003","finished_at":"2026-09-03T08:38:58"} +{"episode_id":"ep_000011","started_at":"2026-09-03T08:39:01","dimensions":{"distractor":{"count":30,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.5978358835157003,0.8857297712078864,0.71338606911949],"aabb_xy":[[0.5643567162546594,0.8522506578367794],[0.6313150507767413,0.9192088845789934]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.20917091346137995,1.3209056419468297,0.71338606911949],"aabb_xy":[[-0.2262729914197481,1.30379883641556],[-0.1920688355030118,1.3380124474780994]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.6194827546951327,-2.242982620531298,0.71338606911949],"aabb_xy":[[0.5394827542249168,-2.251293328145646],[0.6994827551653486,-2.2346719129169497]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[0.1254108579298846,0.9452424722410875,0.71338606911949],"aabb_xy":[[0.10041085876425149,0.9382902265357309],[0.1504108570955177,0.9521947179464441]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.5788949040960132,0.6630480316350233,0.71338606911949],"aabb_xy":[[-0.590139959666631,0.6518062339109281],[-0.5676498485253954,0.6742898293591186]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.5775200835505191,1.4783987626509423,0.71338606911949],"aabb_xy":[[-0.5903919870514591,1.398398762237106],[-0.5646481800495788,1.5583987630647782]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.41106599018864176,-2.556523466139713,0.71338606911949],"aabb_xy":[[0.39518149692331656,-2.570876406438537],[0.42695048345396686,-2.5421705258408887]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.4105622351556768,-1.1835176800470235,0.71338606911949],"aabb_xy":[[-0.41426549648481564,-1.1872196983557415],[-0.40685897382653785,-1.1798156617383055]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.1482839800026321,1.1011967444910629,0.71338606911949],"aabb_xy":[[0.09828397871879212,1.0512178901004405],[0.19828398128647204,1.1511755988816847]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.5847458502209499,0.5580972880921866,0.71338606911949],"aabb_xy":[[-0.5990802753471134,0.5460370725376478],[-0.5704114250947865,0.5701575036467255]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.3200665164697902,1.6447603767238754,0.71338606911949],"aabb_xy":[[-0.341956264058731,1.5547603794346263],[-0.2981767688808494,1.7347603740131246]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.1388831304166569,0.8372958814618663,0.71338606911949],"aabb_xy":[[-0.20288312971082512,0.7733097410930121],[-0.07488313112248868,0.9012820218307205]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.15535326925781856,-1.4114831876577878,0.71338606911949],"aabb_xy":[[0.09135326888028494,-1.4612284545086],[0.21935326963535218,-1.3617379208069755]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.3080200538261262,-1.0013170912465543,0.71338606911949],"aabb_xy":[[0.2619349625713947,-1.0653170884991092],[0.35410514508085766,-0.9373170939939991]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.0015270847151659384,-2.4195928302486194,0.71338606911949],"aabb_xy":[[-0.0031080304370674494,-2.4234601653257677],[0.006162199867399325,-2.41572549517147]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.6606344887188093,1.2391531889396918,0.71338606911949],"aabb_xy":[[-0.6835502016038592,1.2162488918032686],[-0.6377187758337594,1.2620574860761156]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[-0.467897824967435,-0.07914676670808429,0.71338606911949],"aabb_xy":[[-0.47719144320458556,-0.1166467651962182],[-0.4586042067302844,-0.04164676821995039]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.23534749974888208,1.469247592595726,0.71338606911949],"aabb_xy":[[-0.25784749927258943,1.446751645145105],[-0.21284750022517468,1.4917435400463466]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.5897718988082525,-1.3637465883795108,0.71338606911949],"aabb_xy":[[0.5784101641549663,-1.3751150547857989],[0.6011336334615386,-1.3523781219732227]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.5714396431211459,1.5573035645224373,0.71338606911949],"aabb_xy":[[0.5114396428697446,1.5030222394859727],[0.631439643372547,1.611584889558902]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.23653008333813524,-0.4368514523792295,0.71338606911949],"aabb_xy":[[-0.30053008568093675,-0.48179230362336195],[-0.17253008099533368,-0.39191060113509696]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.47414286206935735,0.464408424488004,0.71338606911949],"aabb_xy":[[-0.51164286217495,0.4575862626350229],[-0.4366428619637643,0.47123058634098514]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.40111412879564634,-1.1470837602514443,0.71338606911949],"aabb_xy":[[0.3642635808586588,-1.184583761074478],[0.437964676732634,-1.1095837594284106]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.5247466789952182,0.09183802798701857,0.71338606911949],"aabb_xy":[[-0.5485828966358234,0.0018380271785320844],[-0.5009104613546133,0.18183802879550504]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.5621040725169056,-0.7385125242275543,0.71338606911949],"aabb_xy":[[-0.6121040735360409,-0.7749787399653824],[-0.5121040714977704,-0.7020463084897264]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.0755108178213989,-1.795687901171216,0.71338606911949],"aabb_xy":[[-0.10980772883913953,-1.8299847873811568],[-0.04121390680365828,-1.7613910149612741]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[-0.44241048390965254,-1.6848016401364752,0.71338606911949],"aabb_xy":[[-0.4484474969103174,-1.6908283412054235],[-0.4363734709089879,-1.6787749390675273]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[-0.17096917600328854,0.27937733930282915,0.71338606911949],"aabb_xy":[[-0.2047447351939815,0.2653388440896641],[-0.13719361681259556,0.2934158345159942]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[0.5869487671773002,-1.7709748007314052,0.71338606911949],"aabb_xy":[[0.506948768520414,-1.785479659655668],[0.666948765834186,-1.7564699418071426]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.24391306940023982,0.4813464812529049,0.71338606911949],"aabb_xy":[[0.2333455897421408,0.47080145113989635],[0.25448054905833883,0.49189151136591347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6788835086209758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2472.png","name":"2472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7933.png","name":"7933"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6497.png","name":"6497"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":521.4445463460821,"rotation_z_degrees":171.91717338606523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016514957967468148,-0.017134344397076808,-0.007849904091814333]},{"name":"camera_2","offset_m":[0.005863577024769216,-0.0014821381444606735,-0.01361230820706569]},{"name":"camera_3","offset_m":[0.004093979739055072,-0.012273779939823672,-0.0006740848268499862]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005497358593738295,0.001723665344127151,-0.0005928232883559911],"end_effector_yaw_offset_degrees":-0.8494454316538558},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014807861796934376,-0.0016855211260746819,-0.00023196718446999985],"end_effector_yaw_offset_degrees":0.9174878171717953},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000435252322585952,0.0010864241111499676,0.0015157137195246852],"end_effector_yaw_offset_degrees":0.09478857132743479}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007603169778838004,0.001365221012720014],"position_m":[0.2061396830221162,0.26816522101272,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004014358939118338,-0.00482707900005906],"position_m":[0.18939856410608816,0.05277292099994094,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003432594702510299,0.0014053855163887368],"position_m":[0.3549674052974897,0.18000538551638876,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003151456323636139,-0.0011573137347873517],"position_m":[0.24834854367636386,-0.36655731373478734,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"52d6e24135d5a4f5e20c998443149e497a8fcee78e98bb3c5a60068d22f1aed3","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2731/tex_ceiling_textures_6497/tex_floor_textures_1612/tex_table_textures_2472/tex_wall_textures_7933","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5689050224559076225,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5689050224559076225,"visual_seed":5689050224559076225,"scene_id":"lab_003","finished_at":"2026-09-03T08:41:40"} +{"episode_id":"ep_000012","started_at":"2026-09-03T08:41:42","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.27063309959757587,1.7226360889500323,0.71338606911949],"aabb_xy":[[0.23604201674353062,1.657636088665001],[0.30522418245162103,1.7876360892350631]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[-0.3573924373546218,1.4574108902922203,0.71338606911949],"aabb_xy":[[-0.3646536849250292,1.4446238800287108],[-0.35013118978421437,1.4701979005557297]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.19481792295808154,-1.8887683664104489,0.71338606911949],"aabb_xy":[[-0.20351588524879682,-1.900893340717924],[-0.18611996066736622,-1.8766433921029746]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.3044742711540608,-2.422146103216325,0.71338606911949],"aabb_xy":[[0.28196057933060353,-2.492146103817332],[0.3269879629775179,-2.352146102615317]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.2851696087979888,-1.741446017093431,0.71338606911949],"aabb_xy":[[-0.33526707277906237,-1.8054460176032427],[-0.23507214481691513,-1.6774460165836191]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.4179312511192242,-0.158093317017447,0.71338606911949],"aabb_xy":[[-0.4730564567488149,-0.21809331845873414],[-0.36280604548963336,-0.09809331557615987]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.5607249309536333,-1.2661466830707417,0.71338606911949],"aabb_xy":[[0.5154463160724839,-1.3301466824189254],[0.6060035458347824,-1.202146683722558]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.5639929393726163,-0.3607057949717358,0.71338606911949],"aabb_xy":[[-0.6279929379591889,-0.4077127583712445],[-0.49999294078604395,-0.31369883157222705]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.5573161456884097,0.4417780055319849,0.71338606911949],"aabb_xy":[[-0.5811523633290149,0.35177800472349846],[-0.5334799280478048,0.5317780063404715]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.30745270566382343,-0.7572126654356357,0.71338606911949],"aabb_xy":[[-0.37145270604135705,-0.8069579322864479],[-0.24345270528628982,-0.7074673985848233]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[0.44969258913246923,-2.4862273175634657,0.71338606911949],"aabb_xy":[[0.36969258770234203,-2.5657444725760747],[0.5296925905625964,-2.406710162550856]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.5982720833592086,-0.7493552122139169,0.71338606911949],"aabb_xy":[[0.561421535422221,-0.7868552130369505],[0.6351226312961962,-0.711855211390883]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.07157190403810909,-1.7673744650228134,0.71338606911949],"aabb_xy":[[-0.08944101179256457,-1.7812073730000242],[-0.053702796283653584,-1.753541557045602]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.5861322721183866,0.42948490338108947,0.71338606911949],"aabb_xy":[[0.5011322737009634,0.3446106079188045],[0.6711322705358098,0.5143591988433744]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.7141485606200599,0.5901319178617186,0.71338606911949],"aabb_xy":[[0.7061122259187749,0.5820937985573018],[0.7221848953213446,0.5981700371661354]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.6953450183548655,1.5754339684270868,0.71338606911949],"aabb_xy":[[0.6900125037002525,1.570109640181851],[0.7006775330094785,1.5807582966723221]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.05270923921804682,-0.8985850308189278,0.71338606911949],"aabb_xy":[[-0.1327092362322948,-0.9187195824923392],[0.027290757796201152,-0.8784504791455167]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.05857924042875129,-2.127771018671122,0.71338606911949],"aabb_xy":[[-0.09357924178023302,-2.1481307546279425],[-0.023579239077269564,-2.107411282714301]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.19661987026988814,-1.740636750167841,0.71338606911949],"aabb_xy":[[0.18584689634852036,-1.7756367483868802],[0.20739284419125592,-1.7056367519488023]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[0.44641661835771673,0.5661955668703267,0.71338606911949],"aabb_xy":[[0.4282107946964691,0.5551701662883352],[0.46462244201896447,0.5772209674523184]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.14826176986499084,-2.0911407966222963,0.71338606911949],"aabb_xy":[[0.1312516725749402,-2.10727528512057],[0.1652718671550415,-2.075006308124022]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.3401024930702672,1.1376091282831746,0.71338606911949],"aabb_xy":[[0.3155562774475164,1.1073602317341376],[0.36464870869301785,1.1678580248322117]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.26231050995186195,0.664791875373901,0.71338606911949],"aabb_xy":[[-0.3123105113127492,0.6148139707984854],[-0.21231050859097475,0.7147697799493167]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.03532144760032718,-2.397624790645385,0.71338606911949],"aabb_xy":[[-0.08933704388222719,-2.4616247935376423],[0.01869414868157282,-2.333624787753128]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.24533779287435925,-1.1628821399666454,0.71338606911949],"aabb_xy":[[-0.27055862973419886,-1.1881058908195319],[-0.22011695601451955,-1.1376583891137584]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.3032949362873261,1.306926235646226,0.71338606911949],"aabb_xy":[[-0.36329493688334236,1.2521137631010024],[-0.24329493569131,1.3617387081914494]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[-0.27662469132757733,0.2394605765557234,0.71338606911949],"aabb_xy":[[-0.35662469459159046,0.22590054424681003],[-0.1966246880635642,0.25302060886463673]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[-0.5272188363984668,1.461625727696068,0.71338606911949],"aabb_xy":[[-0.5642529458265264,1.4272485203623584],[-0.49018472697040694,1.4960029350297772]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68544115845012,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7858.png","name":"7858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7858.png","name":"7858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/325.png","name":"325"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2612.png","name":"2612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5863.png","name":"5863"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":640.4590006486525,"rotation_z_degrees":337.8551843221864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018409144263232643,0.0020979851935902308,0.005780967110568143]},{"name":"camera_2","offset_m":[-0.018517480567807474,-0.01133425240278719,-0.017465914878118532]},{"name":"camera_3","offset_m":[-0.0045129509998501766,0.017362075464794565,-0.012717597467183301]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009693496592650657,-0.00032856844143234207,-0.0003921717052233903],"end_effector_yaw_offset_degrees":0.5175237429010446},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014291865383658665,0.0003767729980289798,0.0011673393197306086],"end_effector_yaw_offset_degrees":0.17790443946612067},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019386213962450938,-0.0019115436829417857,0.0015939356541600017],"end_effector_yaw_offset_degrees":0.7693310804320899}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004146478141408341,0.0001298769977201462],"position_m":[0.21104647814140834,0.26692987699772014,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015807727415108564,-0.00012557498863434262],"position_m":[0.18821922725848914,0.057474425011365654,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027851524791851546,-0.003953970428639476],"position_m":[0.35561484752081485,0.17464602957136052,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023324946245298394,-0.004753611275491882],"position_m":[0.25383249462452984,-0.3701536112754919,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"786ea5922e37542f9fff194e0bc22ad59ede39ac6dcbde4288126a5e79b9e625","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7858/tex_ceiling_textures_5863/tex_floor_textures_2612/tex_table_textures_3000/tex_wall_textures_325","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3235262282833567510,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3235262282833567510,"visual_seed":3235262282833567510,"scene_id":"lab_003","finished_at":"2026-09-03T08:44:17"} +{"episode_id":"ep_000013","started_at":"2026-09-03T08:44:20","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.18099432740725774,-2.04609896729779,0.71338606911949],"aabb_xy":[[0.11940356818326495,-2.1100989654068374],[0.24258508663125058,-1.9820989691887436]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.35068643391619986,-1.8144246640765413,0.71338606911949],"aabb_xy":[[-0.36769653120625045,-1.8305591525748153],[-0.33367633662614915,-1.7982901755782674]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.17364777621962313,1.4598126121231414,0.71338606911949],"aabb_xy":[[0.10864777521912261,1.4090262469684665],[0.23864777722012365,1.5105989772778163]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[0.4329103768068352,-2.4256304776766378,0.71338606911949],"aabb_xy":[[0.42528610871665695,-2.433263701213182],[0.44053464489701344,-2.4179972541400945]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[-0.2545927247618389,-0.45820167437163706,0.71338606911949],"aabb_xy":[[-0.3185927271046405,-0.5031425256157696],[-0.19059272241903738,-0.41326082312750456]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.5878851422440391,0.7708905133591504,0.71338606911949],"aabb_xy":[[-0.6253851429086177,0.7552034553589282],[-0.5503851415794603,0.7865775713593726]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.11429671621936743,1.4763677208913717,0.71338606911949],"aabb_xy":[[-0.19429671668958343,1.4680570132770236],[-0.03429671574915149,1.4846784285057202]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.6103790220032287,0.0033976200562300107,0.71338606911949],"aabb_xy":[[-0.6144571799102785,-0.0006833601920333003],[-0.6063008640961789,0.007478600304493321]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.47285322687752923,-2.384787027962213,0.71338606911949],"aabb_xy":[[-0.514157769941265,-2.44878702753033],[-0.43154868381379313,-2.3207870283940957]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.6434535586335646,-2.0941169331686678,0.71338606911949],"aabb_xy":[[-0.6499551951415691,-2.103884755194978],[-0.6369519221255598,-2.0843491111423584]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.6859262126011061,-1.6474145709981984,0.71338606911949],"aabb_xy":[[0.671282807047073,-1.6620732906549827],[0.700569618155139,-1.6327558513414142]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.19983497264841582,-2.4555846799876773,0.71338606911949],"aabb_xy":[[-0.23574847707340554,-2.4914981882044316],[-0.16392146822342615,-2.419671171770922]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.041184199491120066,-1.4156107527472055,0.71338606911949],"aabb_xy":[[0.03572625385409999,-1.4956107560548646],[0.046642145128140126,-1.3356107494395464]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[-0.3652677144353759,0.4743058103024862,0.71338606911949],"aabb_xy":[[-0.4352677178269379,0.4389900365990553],[-0.29526771104381394,0.509621584005917]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[-0.16753835708335263,0.7428793819531982,0.71338606911949],"aabb_xy":[[-0.2375383534933144,0.7224414463015163],[-0.09753836067339082,0.7633173176048798]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.5754189618358396,-2.1996243288636386,0.71338606911949],"aabb_xy":[[0.5368732690106387,-2.2381700999198273],[0.6139646546610408,-2.16107855780745]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.5972333864319308,1.1134867570231357,0.71338606911949],"aabb_xy":[[-0.6612290838270273,1.049486758722427],[-0.5332376890368341,1.1774867553238444]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.4665712700440928,0.13846725191057407,0.71338606911949],"aabb_xy":[[-0.4742744607181698,0.13075788121183607],[-0.4588680793700157,0.14617662260931208]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.23806271765026005,-0.9134186165461442,0.71338606911949],"aabb_xy":[[-0.28806271931175476,-0.9634170588018468],[-0.18806271598876526,-0.8634201742904414]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[-0.22269361832477153,-1.045692630666736,0.71338606911949],"aabb_xy":[[-0.22995486589517894,-1.0584796409302453],[-0.2154323707543641,-1.0329056204032263]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.5737148083584216,0.4860149143414434,0.71338606911949],"aabb_xy":[[-0.6236922252236751,0.4360149128521948],[-0.5237373914931679,0.5360149158306918]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[0.5234111453359429,0.8222113342037987,0.71338606911949],"aabb_xy":[[0.4693955490540429,0.7582113313115414],[0.5774267416178429,0.8862113370960557]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.34699288451572935,-2.2319022803782516,0.71338606911949],"aabb_xy":[[-0.36449281794971267,-2.249402280298486],[-0.3294929510817459,-2.214402280458017]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.5328052277796334,-1.7780395212739368,0.71338606911949],"aabb_xy":[[-0.5388422407802982,-1.7840662223428851],[-0.5267682147789687,-1.7720128202049885]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.4295617481446736,1.020410866493433,0.71338606911949],"aabb_xy":[[0.3655617508423272,0.9760444395255761],[0.49356174544702003,1.0647772934612896]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6805672840824706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1808.png","name":"1808"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1808.png","name":"1808"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1038.png","name":"1038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/843.png","name":"843"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8105.png","name":"8105"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8771.png","name":"8771"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":683.3136532217177,"rotation_z_degrees":334.8866477155113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014671236364340721,0.002300549897149805,0.004436134057186396]},{"name":"camera_2","offset_m":[0.0076049530291176295,-0.0038731018530995774,-0.015747083288430302]},{"name":"camera_3","offset_m":[-0.0018185528125699742,-0.005142322759447286,0.013768380160831237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005820129843499783,-0.00037226694930945657,-0.0017358950235671741],"end_effector_yaw_offset_degrees":-0.23178551352958476},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001258775131310176,0.00042029438165944915,-0.0006459084045331563],"end_effector_yaw_offset_degrees":-0.6391662169771506},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00028737160121117896,0.00021294846796287214,0.0018762717665936537],"end_effector_yaw_offset_degrees":0.9207088232517551}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004217658172955895,-0.001745239182548014],"position_m":[0.20268234182704412,0.26505476081745194,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004168184274134423,-0.00036219278282233463],"position_m":[0.19396818427413443,0.057237807217177666,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019979126199833304,-0.0013071543684626753],"position_m":[0.36039791261998333,0.17729284563153733,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002418255867897996,-0.003130575612068253],"position_m":[0.24908174413210202,-0.36853057561206826,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"034e3bc33e2b7a974343a3ce2ab6838100b98bce4e0665666d3dbb403a29ea37","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1808/tex_ceiling_textures_8771/tex_floor_textures_8105/tex_table_textures_1038/tex_wall_textures_843","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5964816952760700591,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5964816952760700591,"visual_seed":5964816952760700591,"scene_id":"lab_003","finished_at":"2026-09-03T08:46:54"} +{"episode_id":"ep_000014","started_at":"2026-09-03T08:46:57","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[0.08517259790172904,-0.8883966458471684,0.71338606911949],"aabb_xy":[[0.039087506646997554,-0.9523966430997235],[0.1312576891564605,-0.8243966485946133]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.3267691191870883,-1.1814338962443673,0.71338606911949],"aabb_xy":[[0.2963710080879447,-1.2118407982460366],[0.3571672302862319,-1.1510269942426976]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.6709403043144,-0.9617306711471265,0.71338606911949],"aabb_xy":[[0.6353111484144401,-0.9973633379039795],[0.7065694602143596,-0.9260980043902736]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.5740392119384545,-2.2698588613819495,0.71338606911949],"aabb_xy":[[0.5288678940902857,-2.333858858526488],[0.6192105297866236,-2.205858864237411]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.49493504863301574,-1.7771939777848083,0.71338606911949],"aabb_xy":[[-0.49884892182843826,-1.785942993191365],[-0.4910211754375932,-1.7684449623782514]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.31143257167036836,-2.4187996287864677,0.71338606911949],"aabb_xy":[[-0.3714325721782213,-2.475646362472389],[-0.25143257116251544,-2.3619528951005457]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.29761726425595353,0.2283441428410442,0.71338606911949],"aabb_xy":[[-0.33261726252607343,0.221270015146056],[-0.2626172659858336,0.23541827053603231]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.32017026360267875,-0.3299309406556272,0.71338606911949],"aabb_xy":[[-0.4038924891027612,-0.4199309441903231],[-0.2364480381025963,-0.23993093712093122]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.09328818046974319,1.2637483154749285,0.71338606911949],"aabb_xy":[[0.029288183357637512,1.2147159456805179],[0.15728817758184888,1.312780685269339]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.21371492803492603,-1.586871900105468,0.71338606911949],"aabb_xy":[[-0.2636937365452419,-1.6368719001111869],[-0.16373611952461015,-1.5368719000997493]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.43683690390769314,-1.0125180582626645,0.71338606911949],"aabb_xy":[[0.36683690177626355,-1.03528002388836],[0.5068369060391227,-0.9897560926369686]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.3771888799156322,-1.501746672326637,0.71338606911949],"aabb_xy":[[-0.38599093522460487,-1.5095579984815661],[-0.36838682460665945,-1.493935346171708]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.049605426014422305,-1.6979522605649382,0.71338606911949],"aabb_xy":[[-0.06393985114058576,-1.7100124761194768],[-0.03527100088825886,-1.6858920450103991]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.0697617247040433,-2.551715800891684,0.71338606911949],"aabb_xy":[[-0.00023827793254306562,-2.5718206658875484],[0.13976172734062964,-2.5316109358958174]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.2524494581620005,-1.7074473822971314,0.71338606911949],"aabb_xy":[[-0.2565276160690502,-1.7115283625453948],[-0.24837130025495074,-1.7033664020488681]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.562187545388908,-2.4203908458240466,0.71338606911949],"aabb_xy":[[0.5539730002732239,-2.429067436121687],[0.5704020905045919,-2.4117142555264044]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.5935031914206665,1.5455527453768467,0.71338606911949],"aabb_xy":[[0.5440227702067079,1.481552747463995],[0.6429836126346254,1.6095527432896986]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.38321553359735816,1.4513357166108096,0.71338606911949],"aabb_xy":[[0.37058874631016175,1.4417896429092367],[0.39584232088455445,1.4608817903123825]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.00195010313751931,1.0746848756171263,0.71338606911949],"aabb_xy":[[-0.056942353773030266,1.0196848738738138],[0.053042147497991646,1.1296848773604393]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.16874685535021938,-2.3934748430021977,0.71338606911949],"aabb_xy":[[-0.17679021527617456,-2.478474844097564],[-0.1607034954242642,-2.3084748419068313]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6766122094216319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/274.png","name":"274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/274.png","name":"274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/369.png","name":"369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6706.png","name":"6706"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":848.9255181883775,"rotation_z_degrees":195.83441891924082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013910022751986136,-0.001030816727462129,7.033566055449081e-06]},{"name":"camera_2","offset_m":[0.009881971922209395,0.0026636795497663665,0.0031672457503056813]},{"name":"camera_3","offset_m":[0.010573933310312582,0.01752725547096008,-0.007908796744997807]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016667565509291128,0.00021051533909777686,-0.0008652515258338526],"end_effector_yaw_offset_degrees":-0.7054458180170418},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014025502203486835,-0.0005944551053189474,0.0011228798241434603],"end_effector_yaw_offset_degrees":-0.9332869983724734},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008749275524012386,-0.00035396193025530884,0.0014658039545955566],"end_effector_yaw_offset_degrees":-0.04161813431077466}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004886992934959069,-0.0013676255806388937],"position_m":[0.20201300706504094,0.2654323744193611,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000388049351239054,-0.004652055725521591],"position_m":[0.18941195064876093,0.05294794427447841,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001588602028634433,-0.001023213759714852],"position_m":[0.3585588602028634,0.17757678624028517,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002227343121591292,0.004527914390246268],"position_m":[0.24927265687840872,-0.36087208560975376,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2df686eac54079809218f18f56014af0bdbda960e647a5bd8d5a03dbd73a3334","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_274/tex_ceiling_textures_6706/tex_floor_textures_369/tex_table_textures_6402/tex_wall_textures_3469","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5590097615339012211,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5590097615339012211,"visual_seed":5590097615339012211,"scene_id":"lab_003","finished_at":"2026-09-03T08:49:39"} +{"episode_id":"ep_000015","started_at":"2026-09-03T08:49:43","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.5376819423826376,-0.9331399492555366,0.71338606911949],"aabb_xy":[[-0.5480935010631212,-0.9384856825914349],[-0.5272703837021537,-0.927794215919638]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.22235334094520742,-2.275696977021938,0.71338606911949],"aabb_xy":[[0.158353343642861,-2.3200634039897947],[0.2863533382475538,-2.231330550054081]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.32267386393490227,1.4600562156331187,0.71338606911949],"aabb_xy":[[-0.4126738636580764,1.4369828630979384],[-0.23267386421172806,1.483129568168298]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.5730174927596356,1.441378533819249,0.71338606911949],"aabb_xy":[[0.536166944822648,1.4038785329962156],[0.6098680406966233,1.478878534642283]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.12407450159756317,-0.10612721151505511,0.71338606911949],"aabb_xy":[[-0.1880745035099055,-0.16203836077306555],[-0.06007449968522083,-0.05021606225704467]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.11165301465258104,-1.4561875843368621,0.71338606911949],"aabb_xy":[[-0.17565301492655927,-1.5062536845341499],[-0.04765301437860281,-1.406121484139574]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.11259110167500552,1.3037829962353995,0.71338606911949],"aabb_xy":[[-0.1185576406157413,1.2978218515760354],[-0.10662456273426972,1.3097441408947637]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.4865541689696449,-0.8397968808061922,0.71338606911949],"aabb_xy":[[0.46405416872612953,-0.8520015154659641],[0.5090541692131603,-0.8275922461464202]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.19950028626975658,1.6102064487889272,0.71338606911949],"aabb_xy":[[-0.23700028778538829,1.598979675772782],[-0.16200028475412487,1.6214332218050722]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.07900432496827892,1.667742133794143,0.71338606911949],"aabb_xy":[[-0.11146602585020636,1.63760930167924],[-0.04654262408635145,1.697874965909045]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.2191654159660974,-0.5771285326950872,0.71338606911949],"aabb_xy":[[0.1992743760857572,-0.5897843439797841],[0.2390564558464377,-0.5644727214103904]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.3370336275937112,-1.2868647217535238,0.71338606911949],"aabb_xy":[[-0.4010336308123491,-1.3335878336525324],[-0.2730336243750734,-1.2401416098545157]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.5149632602788357,-0.4714576931739578,0.71338606911949],"aabb_xy":[[-0.5258037385053506,-0.48864397446460656],[-0.5041227820523208,-0.45427141188330894]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.3817828861919519,-1.8549480819691029,0.71338606911949],"aabb_xy":[[0.3444516096667093,-1.8896011367639554],[0.4191141627171945,-1.8202950271742508]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.4815416980116808,1.8116597031601658,0.71338606911949],"aabb_xy":[[-0.4991200002006276,1.7940852135860605],[-0.4639633958227339,1.8292341927342706]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.39305938382163846,-2.4871034354036627,0.71338606911949],"aabb_xy":[[-0.40184061096887475,-2.4958831826921934],[-0.3842781566744023,-2.478323688115133]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.5986308571486871,-1.061535941209232,0.71338606911949],"aabb_xy":[[0.5627173527236975,-1.0974494494259865],[0.6345443615736768,-1.0256224329924775]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.26581809756928687,1.0392596766966036,0.71338606911949],"aabb_xy":[[0.25319131028209046,1.0297136029950307],[0.27844488485648317,1.0488057503981765]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.4631305313284846,1.0729579106202651,0.71338606911949],"aabb_xy":[[0.4557180757870961,1.0671067001986374],[0.47054298686987306,1.0788091210418933]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.6392432542185942,-0.2994276602100028,0.71338606911949],"aabb_xy":[[0.559243250954581,-0.3129876925189161],[0.7192432574826073,-0.28586762790108944]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.3536912274067976,-0.8731233067381254,0.71338606911949],"aabb_xy":[[-0.3836587843166233,-0.9031233070360112],[-0.323723670496972,-0.8431233064402397]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[0.1476543050744411,-2.1055445679068443,0.71338606911949],"aabb_xy":[[0.05765430274042205,-2.1830269224919574],[0.23765430740846016,-2.028062213321732]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.27454196138577047,-1.493307980107435,0.71338606911949],"aabb_xy":[[0.2400794833726827,-1.4999716572903574],[0.30900443939885824,-1.486644302924512]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.5637007515945613,-0.058333624932791484,0.71338606911949],"aabb_xy":[[-0.5987007529460431,-0.07869336088961232],[-0.5287007502430796,-0.03797388897597065]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[0.14553412071389438,-1.2762113858731357,0.71338606911949],"aabb_xy":[[0.06553412375085521,-1.353287027516909],[0.22553411767693354,-1.1991357442293622]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.36702129683403717,1.0893072820715886,0.71338606911949],"aabb_xy":[[0.35185842385710014,1.0741418247764698],[0.38218416981097436,1.1044727393667073]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.5266299322598671,0.1805947694978447,0.71338606911949],"aabb_xy":[[-0.5916299348976606,0.12911517079839774],[-0.4616299296220736,0.23207436819729166]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681282372226986,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5864.png","name":"5864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/481.png","name":"481"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":509.223708977526,"rotation_z_degrees":281.2090905260427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016116322646975486,0.016264226514470192,-0.001681496614350332]},{"name":"camera_2","offset_m":[-0.001527688463995383,-0.003415289588340382,0.014595830565487907]},{"name":"camera_3","offset_m":[0.01183545220098801,-0.011764573640690537,0.0019816599061812865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001715680479851467,-0.0011040959499880776,-0.00012996527903150895],"end_effector_yaw_offset_degrees":0.32682104599406636},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013654987983682935,0.0012932749930048477,0.0002987152347833427],"end_effector_yaw_offset_degrees":0.9894845581738323},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015709659050030034,-0.0013135931703457215,-0.0008766959664202973],"end_effector_yaw_offset_degrees":-0.14168320373672305}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032871673690643794,0.0048802618644792324],"position_m":[0.21018716736906437,0.2716802618644792,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035460892122725594,-0.0034818402298093997],"position_m":[0.18625391078772743,0.0541181597701906,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027255052003147397,-0.004949634295507975],"position_m":[0.35567449479968527,0.17365036570449202,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002571307886604021,-0.0010846929673936582],"position_m":[0.2512428692113396,-0.36648469296739367,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e338c0bc3203af7c9766bfd63921446c1fe63697fe42aba1ebe6389c27199b1","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_61/tex_ceiling_textures_481/tex_floor_textures_5864/tex_table_textures_4172/tex_wall_textures_6570","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4556864173130238421,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4556864173130238421,"visual_seed":4556864173130238421,"scene_id":"lab_003","finished_at":"2026-09-03T08:52:20"} +{"episode_id":"ep_000016","started_at":"2026-09-03T08:52:23","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.2952359659453459,-1.1936615249567042,0.71338606911949],"aabb_xy":[[-0.30081763757947466,-1.2061615247744797],[-0.28965429431121714,-1.1811615251389287]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.1335517672272517,-0.8553983834048802,0.71338606911949],"aabb_xy":[[-0.1427116461711283,-0.8619296014484173],[-0.12439188828337511,-0.8488671653613432]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.4188482576751735,1.4612238397714088,0.71338606911949],"aabb_xy":[[-0.4988482609330165,1.3812273319794248],[-0.3388482544173306,1.5412203475633928]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[0.6628867163666967,0.9441060799457044,0.71338606911949],"aabb_xy":[[0.6541054892194607,0.9353263326571744],[0.6716679435139332,0.9528858272342347]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.17827666769219452,1.5878106429310468,0.71338606911949],"aabb_xy":[[0.1719645681558561,1.5820437036778277],[0.18458876722853296,1.5935775821842655]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.5328767469932355,0.9142182590681518,0.71338606911949],"aabb_xy":[[-0.5978767479503626,0.8622700471344462],[-0.46787674603610824,0.9661664710018574]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.17444262154360002,-0.6423333646079383,0.71338606911949],"aabb_xy":[[0.1519426220198926,-0.664829312058559],[0.1969426210673074,-0.6198374171573174]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.37275451844422297,0.24818728644841492,0.71338606911949],"aabb_xy":[[-0.37718514779906315,0.24273891471373232],[-0.3683238890893828,0.2536356581830975]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.08123193226361103,1.5059243993591775,0.71338606911949],"aabb_xy":[[-0.11467210745963062,1.4724807735282475],[-0.047791757067591416,1.5393680251901076]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.34602344562032833,0.5730004744991888,0.71338606911949],"aabb_xy":[[-0.39600225413064416,0.52300047449347],[-0.2960446371100124,0.6230004745049076]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[0.4536225970409484,-0.6173637601251123,0.71338606911949],"aabb_xy":[[0.44237754147033065,-0.6286055578492076],[0.4648676526115663,-0.606121962401017]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.4709969734782842,-1.7697525596801555,0.71338606911949],"aabb_xy":[[-0.5078475214152718,-1.8072525605031893],[-0.4341464255412966,-1.7322525588571218]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.21674621750020845,-0.30331811256263386,0.71338606911949],"aabb_xy":[[-0.24789313634379154,-0.373318111249441],[-0.1855992986566253,-0.23331811387582663]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[0.3177137482281569,-1.3330728058872192,0.71338606911949],"aabb_xy":[[0.2802137478799291,-1.3448642014683025],[0.3552137485763846,-1.3212814103061354]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.36292239713300867,0.5282419570863879,0.71338606911949],"aabb_xy":[[0.31294933160049326,0.4782419572738551],[0.41289546266552424,0.5782419568989209]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.3750007812528655,-1.2784589259075785,0.71338606911949],"aabb_xy":[[-0.3908852745181906,-1.2928118662064023],[-0.3591162879875403,-1.2641059856087542]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.2561790488572919,1.3370601460696747,0.71338606911949],"aabb_xy":[[0.2186790490402583,1.3324219347585329],[0.2936790486743254,1.3416983573808166]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.36591070807183457,1.6920076189711533,0.71338606911949],"aabb_xy":[[-0.40020761908957514,1.657710732761212],[-0.3316137970540939,1.7263045051810946]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.32080735217196144,-2.2431729582076403,0.71338606911949],"aabb_xy":[[0.25580735429031365,-2.2942966219141816],[0.3858073500536093,-2.1920492945011]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.44540973002447326,-2.0182889984665273,0.71338606911949],"aabb_xy":[[-0.46308536061307154,-2.0359692147459296],[-0.42773409943587487,-2.000608782187124]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.29156874395383264,-1.0174927506439968,0.71338606911949],"aabb_xy":[[-0.3615687457625781,-1.0388465194081842],[-0.2215687421450872,-0.9961389818798094]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.30707772369895436,-1.5070951906402752,0.71338606911949],"aabb_xy":[[0.2695777235933614,-1.5139173524932563],[0.3445777238045473,-1.500273028787294]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[0.6072149243074345,1.4815688645700393,0.71338606911949],"aabb_xy":[[0.5572156491389985,1.4315688632940922],[0.6572141994758708,1.5315688658459865]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_23","position":[0.5698235870499957,-0.655025323255422,0.71338606911949],"aabb_xy":[[0.5592561073918967,-0.6655703533684306],[0.5803910667080947,-0.6444802931424135]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[0.11875837609796414,-2.3825838005118727,0.71338606911949],"aabb_xy":[[0.08375837696800847,-2.388329021587537],[0.1537583752279198,-2.3768385794362086]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[0.18587638547118457,1.1776481644099714,0.71338606911949],"aabb_xy":[[0.1683763863368174,1.1677685373723836],[0.20337638460555174,1.1875277914475593]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[0.5287780558401174,-0.21024374092977993,0.71338606911949],"aabb_xy":[[0.4587780594301554,-0.23068167658146163],[0.598778052250079,-0.18980580527809818]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.3753426440730454,1.3920495284814058,0.71338606911949],"aabb_xy":[[0.37126448616599567,1.3879685482331425],[0.37942080198009515,1.3961305087296692]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765310306758446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2077.png","name":"2077"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2077.png","name":"2077"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3341.png","name":"3341"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1583.png","name":"1583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/240.png","name":"240"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2387.png","name":"2387"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":518.4404732640302,"rotation_z_degrees":251.99944345772192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014947121475809323,-0.00644125647896574,0.018530640278547183]},{"name":"camera_2","offset_m":[-0.008462099271793106,-0.0005921741597453567,0.004141233641057788]},{"name":"camera_3","offset_m":[0.01612209672767759,0.013740722209621862,-0.01375648918438376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011742467572819545,-0.0009679683084274503,-0.0017894303785174399],"end_effector_yaw_offset_degrees":0.5903418532255948},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015840555156901002,0.00028946381043040963,0.0009394575416682921],"end_effector_yaw_offset_degrees":0.9753406516345169},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017570844791458097,-0.001672251014870255,-0.0014596719944636072],"end_effector_yaw_offset_degrees":0.3290266571624909}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002651947670604811,0.004419201212771908],"position_m":[0.2042480523293952,0.2712192012127719,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026743764429384,0.0036862709722693425],"position_m":[0.1871256235570616,0.06128627097226934,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004116994531659839,0.0038498758221483633],"position_m":[0.3542830054683402,0.18244987582214836,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002260609540051111,0.004627363342027897],"position_m":[0.2492393904599489,-0.3607726366579721,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a1f750c9a779e3580795e2d4e451e5a5936c69e00d9810d74b0cd5571fafe65e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2077/tex_ceiling_textures_2387/tex_floor_textures_240/tex_table_textures_3341/tex_wall_textures_1583","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6272064737079285644,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6272064737079285644,"visual_seed":6272064737079285644,"scene_id":"lab_003","finished_at":"2026-09-03T08:54:54"} +{"episode_id":"ep_000017","started_at":"2026-09-03T08:54:58","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.5721493853633158,-0.3826285359955359,0.71338606911949],"aabb_xy":[[-0.5829898635898307,-0.39981481728618473],[-0.5613089071368009,-0.3654422547048871]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.5433967603456302,-0.6351253514667254,0.71338606911949],"aabb_xy":[[-0.6271189858457127,-0.7251253550014214],[-0.45967453484554777,-0.5451253479320295]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.39782168542853624,-1.5526386516441335,0.71338606911949],"aabb_xy":[[-0.4093906661754729,-1.5776386517610654],[-0.3862527046815997,-1.527638651527202]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.11479269346170806,0.43639088544035287,0.71338606911949],"aabb_xy":[[-0.13229262689569143,0.41889088552011833],[-0.09729276002772469,0.4538908853605874]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.21549666630005215,1.653972980264435,0.71338606911949],"aabb_xy":[[0.16550165534060016,1.6039729812288437],[0.26549167725950423,1.7039729793000271]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.6350641337408233,-1.7824359789668986,0.71338606911949],"aabb_xy":[[-0.6850641331810188,-1.832403903451215],[-0.5850641343006275,-1.7324680544825823]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.16273913129649054,-2.3708768818714487,0.71338606911949],"aabb_xy":[[-0.16883375918460886,-2.3794462764231175],[-0.15664450340837222,-2.36230748731978]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.3805623008332289,-1.6835682736051938,0.71338606911949],"aabb_xy":[[-0.3897221797771055,-1.6900994916487309],[-0.3714024218893523,-1.6770370555616567]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.20628497565009263,1.4614765190040688,0.71338606911949],"aabb_xy":[[0.15628570048165644,1.4114765177281217],[0.2562842508185288,1.511476520280016]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.5661467082798879,-0.1991806982286466,0.71338606911949],"aabb_xy":[[-0.6036467086281156,-0.21097209380973012],[-0.5286467079316601,-0.187389302647563]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.6282899179751134,-1.4917822329774453,0.71338606911949],"aabb_xy":[[-0.6627523959882011,-1.498445910160368],[-0.5938274399620256,-1.4851185557945221]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.6244330419803933,1.627633797522544,0.71338606911949],"aabb_xy":[[-0.6399888113906587,1.6120833642781371],[-0.6088772725701281,1.6431842307669515]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.5067788054950015,1.3974156667472335,0.71338606911949],"aabb_xy":[[-0.524647913249457,1.3835827587700222],[-0.48890969774054605,1.4112485747244443]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.3215277641687885,1.3556732042498032,0.71338606911949],"aabb_xy":[[-0.3715277651193213,1.3241240572462818],[-0.27152776321825567,1.3872223512533246]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[-0.5370233959313949,-2.329819216396427,0.71338606911949],"aabb_xy":[[-0.5615696115541456,-2.360068112945464],[-0.5124771803086442,-2.29957031984739]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.5525869838657718,1.6851926045565873,0.71338606911949],"aabb_xy":[[0.5337026000972616,1.6663066797762347],[0.571471367634282,1.7040785293369403]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.6715498930906122,-2.0441204053613946,0.71338606911949],"aabb_xy":[[-0.6934585752299631,-2.066021072181485],[-0.649641210951261,-2.0222197385413034]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.08611826404379674,-2.3527394672189033,0.71338606911949],"aabb_xy":[[0.006118263770189757,-2.42568901504462],[0.1661182643174037,-2.2797899193931865]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.5966904212202766,0.80983468413879,0.71338606911949],"aabb_xy":[[0.5326904191705446,0.7697402010494822],[0.6606904232700086,0.8499291672280981]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.6811216304990395,1.0225948135988636,0.71338606911949],"aabb_xy":[[0.6636216302397029,1.0085032714100912],[0.6986216307583761,1.0366863557876365]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.27883254217801656,-1.1936727753714045,0.71338606911949],"aabb_xy":[[0.2700513150307804,-1.2024525226599347],[0.28761376932525284,-1.1848930280828747]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[0.2860213993780626,1.1248488931919396,0.71338606911949],"aabb_xy":[[0.26352497794419844,1.1023488933851922],[0.30851782081192664,1.147348892998687]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.399323723086224,-1.209633035680751,0.71338606911949],"aabb_xy":[[-0.4593237229327908,-1.2664516578737899],[-0.3393237232396572,-1.1528144134877125]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.26982920720626313,-1.599537587717649,0.71338606911949],"aabb_xy":[[0.20982920695486196,-1.6538189127541134],[0.3298292074576643,-1.545256262681184]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[0.47753632148179226,1.7853482475077649,0.71338606911949],"aabb_xy":[[0.41253632332587326,1.7590520029578527],[0.5425363196377113,1.811644492057677]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[0.3349261182155554,1.5204915465714657,0.71338606911949],"aabb_xy":[[0.3099261189435931,1.5041461829753031],[0.3599261174875177,1.5368369101676278]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[0.6595277191409354,1.109666015755046,0.71338606911949],"aabb_xy":[[0.6550970897860954,1.1042176440203635],[0.6639583484957757,1.1151143874897285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6816251302609355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5502.png","name":"5502"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4644.png","name":"4644"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1495.png","name":"1495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8605.png","name":"8605"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":691.2519731580743,"rotation_z_degrees":342.20579319085186,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01855181506111764,0.016385046492127454,0.019861021491272005]},{"name":"camera_2","offset_m":[0.01916028717358754,0.015197598363609736,0.0062225137753047464]},{"name":"camera_3","offset_m":[0.012788041291898446,-0.014122170396535978,0.0068108710372027925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00042322596116210146,-0.0018685315112670464,-0.001905752911812987],"end_effector_yaw_offset_degrees":-0.8388733746793922},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006653223922960388,0.0005362559649733033,0.00077553135285069],"end_effector_yaw_offset_degrees":-0.8174192936532492},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00010228378955565078,-0.0013866020863310125,-0.001942290498945554],"end_effector_yaw_offset_degrees":-0.7755021419646357}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003432218248604225,0.0006112103653458769],"position_m":[0.20655677817513957,0.2674112103653459,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001095508664847521,0.004709171801320528],"position_m":[0.18870449133515246,0.06230917180132053,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023140040088188876,0.0036289509804426088],"position_m":[0.3560859959911811,0.18222895098044262,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011210407861157899,-0.00306940172820084],"position_m":[0.2503789592138842,-0.36846940172820086,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8e49fd592fb942621b7840925f029b11a0a646603c813e35c8d180c171104bba","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3104/tex_ceiling_textures_8605/tex_floor_textures_1495/tex_table_textures_5502/tex_wall_textures_4644","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":608954163784080455,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":608954163784080455,"visual_seed":608954163784080455,"scene_id":"lab_003","finished_at":"2026-09-03T08:57:33"} +{"episode_id":"ep_000018","started_at":"2026-09-03T08:57:36","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.22709519975395143,-1.337922184897504,0.71338606911949],"aabb_xy":[[0.2100851024639008,-1.354056673395778],[0.2441052970440021,-1.32178769639923]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.6297779725182858,0.660032511680023,0.71338606911949],"aabb_xy":[[-0.6643690553723309,0.5950325113949918],[-0.5951868896642405,0.7250325119650539]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.011925734822198386,-1.1334723375294924,0.71338606911949],"aabb_xy":[[-0.013074264729540099,-1.1436148213946271],[0.03692573437393687,-1.1233298536643577]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.10174378278045582,-0.07310956473370744,0.71338606911949],"aabb_xy":[[-0.15575937906235582,-0.1371095676259646],[-0.0477281864985558,-0.009109561841450287]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.35734224121747393,-1.0985724333656024,0.71338606911949],"aabb_xy":[[-0.3878264913445041,-1.1485724331470981],[-0.3268579910904438,-1.0485724335841062]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.12075779930536978,-1.3058296007633965,0.71338606911949],"aabb_xy":[[-0.12518842866020996,-1.3112779724980792],[-0.11632716995052962,-1.3003812290287142]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.48536446799148525,0.0993382797236615,0.71338606911949],"aabb_xy":[[0.47737047941378175,0.09133819962857113],[0.49335845656918853,0.10733835981875182]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.4214256103126077,-2.379448832418278,0.71338606911949],"aabb_xy":[[0.3714256092934725,-2.4159150481561062],[0.4714256113317431,-2.3429826166804504]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.42234703293430953,0.7980495870986295,0.71338606911949],"aabb_xy":[[0.33234703321113523,0.7749762345634496],[0.5123470326574835,0.8211229396338092]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.0022601582108165985,-2.369577090260051,0.71338606911949],"aabb_xy":[[-0.005766112419809399,-2.378328585237404],[0.010286428841442596,-2.360825595282699]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.04772142663117329,1.4529978748098213,0.71338606911949],"aabb_xy":[[-0.13272142504859652,1.3681235793475364],[0.037278571786249944,1.5378721702721063]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.37780681367571745,0.008009215797031732,0.71338606911949],"aabb_xy":[[-0.42780681311591306,-0.041958708687284574],[-0.3278068142355218,0.05797714028134804]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.23040091744292768,1.644245949594214,0.71338606911949],"aabb_xy":[[0.18058413797809292,1.5942459511099105],[0.28021769690776244,1.6942459480785172]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.2702661017178782,-0.974406012002142,0.71338606911949],"aabb_xy":[[-0.28536840317889617,-0.9895075336332038],[-0.25516380025686,-0.9593044903710801]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.4771972553121806,-0.7957089212646475,0.71338606911949],"aabb_xy":[[0.4131972580098342,-0.8400753482325042],[0.541197252614527,-0.7513424942967907]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.4893779860898628,1.7221791290113697,0.71338606911949],"aabb_xy":[[0.47929627901128935,1.6421791311192548],[0.4994596931684363,1.8021791269034841]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[-0.5704351904527377,-0.23709374713163278,0.71338606911949],"aabb_xy":[[-0.590326230333078,-0.24974955841632965],[-0.5505441505723975,-0.22443793584693597]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.6297925269064797,-1.3858533891128595,0.71338606911949],"aabb_xy":[[0.621078557856545,-1.4083533897720473],[0.638506495956414,-1.3633533884536708]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.3208030018248453,0.30837581812114623,0.71338606911949],"aabb_xy":[[-0.37077629582810573,0.25837581756659883],[-0.27082970782158483,0.3583758186756935]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.1728692841420999,0.6475943376201179,0.71338606911949],"aabb_xy":[[-0.20151861650251612,0.6189487783430418],[-0.14421995178168368,0.6762398968971934]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.3305180443964848,-0.285095507897569,0.71338606911949],"aabb_xy":[[-0.34801804464153413,-0.30259529573713584],[-0.31301804415143536,-0.26759572005800214]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.27945772315744766,0.9370592466959207,0.71338606911949],"aabb_xy":[[-0.3019714149809048,0.8670592460949131],[-0.2569440313339904,1.0070592472969282]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.3121730705524104,0.9692090554232418,0.71338606911949],"aabb_xy":[[0.24817307412508854,0.9220394316011453],[0.37617306697973235,1.0163786792453382]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.24781299108082572,-1.3019148258861175,0.71338606911949],"aabb_xy":[[-0.3118129917842951,-1.3479332083590387],[-0.18381299037735638,-1.2558964434131967]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.697348980727768,1.3459573597730268,0.71338606911949],"aabb_xy":[[0.6821861077508309,1.3307919024779082],[0.712511853704705,1.3611228170681458]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.5912227446019389,-1.4082375887579988,0.71338606911949],"aabb_xy":[[-0.6255390217765568,-1.4582375887311765],[-0.556906467427321,-1.358237588784821]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[0.0941056528418297,-1.8927215399905046,0.71338606911949],"aabb_xy":[[0.01410565486104466,-1.9003230809523568],[0.17410565082261475,-1.885119999028653]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6799454533381767,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2418.png","name":"2418"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1058.png","name":"1058"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8686.png","name":"8686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":727.8500023802844,"rotation_z_degrees":105.82895322461286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006442977325857493,0.01162985991104688,0.005479002942874761]},{"name":"camera_2","offset_m":[-0.012466690567416033,-0.0057090958554189795,-0.00156784992628832]},{"name":"camera_3","offset_m":[0.0007955263250540648,-0.012986318028443883,-0.004491040958886581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00025202743831691634,-0.0007111929347484928,-0.0005896449775834643],"end_effector_yaw_offset_degrees":-0.013753879198192376},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013818376123117529,-0.0018705294556208827,-0.0018153060888372976],"end_effector_yaw_offset_degrees":0.5834591565336986},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00037570454498262037,-0.0015376012386085804,0.0013343989542222465],"end_effector_yaw_offset_degrees":0.1531023576262036}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0019566443709792903,-0.00283933171232854],"position_m":[0.20885664437097928,0.26396066828767145,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003254679482537176,-0.0009151291087494814],"position_m":[0.19305467948253718,0.056684870891250516,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002577774504700917,-0.0027212639445753062],"position_m":[0.35582222549529907,0.1758787360554247,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019854516872242077,-0.0013060991664829748],"position_m":[0.24951454831277578,-0.366706099166483,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"63ef845467218affa526c0ba919039f53d6389ade766ed684a4ac68efaee20b8","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5964/tex_ceiling_textures_2671/tex_floor_textures_8686/tex_table_textures_2418/tex_wall_textures_1058","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3605002175579737746,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3605002175579737746,"visual_seed":3605002175579737746,"scene_id":"lab_003","finished_at":"2026-09-03T09:00:20"} +{"episode_id":"ep_000019","started_at":"2026-09-03T09:00:23","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.49344644743128097,1.673069049267483,0.71338606911949],"aabb_xy":[[-0.5434252559415969,1.623069049261764],[-0.443467638920965,1.7230690492732017]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.5786636602436315,-1.0516571552542069,0.71338606911949],"aabb_xy":[[0.5716222092928839,-1.0586839069920013],[0.5857051111943791,-1.0446304035164125]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.6914457900438511,-0.5637251944734718,0.71338606911949],"aabb_xy":[[0.6739457909094838,-0.5736048215110596],[0.7089457891782182,-0.553845567435884]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.41746801076796847,1.0374904025296279,0.71338606911949],"aabb_xy":[[0.3534680143723954,0.9735271141108941],[0.48146800716354154,1.1014536909483612]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.541149516943248,1.2845584577439975,0.71338606911949],"aabb_xy":[[-0.5786495172354227,1.2805169823433937],[-0.503649516651073,1.2885999331446008]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[0.4201911770281974,-1.441975072611616,0.71338606911949],"aabb_xy":[[0.3751911755619686,-1.486974929473097],[0.4651911784944263,-1.3969752157501356]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.6338466404630905,-2.4485362806437276,0.71338606911949],"aabb_xy":[[-0.6467185439640305,-2.5285362810575633],[-0.6209747369621502,-2.368536280229891]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.3287800552014486,-1.848301418120911,0.71338606911949],"aabb_xy":[[-0.392780052503795,-1.8926678450887675],[-0.2647800578991022,-1.803934991153054]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[0.6071123350417789,0.08642301128136909,0.71338606911949],"aabb_xy":[[0.5431123343383096,0.04040462880844808],[0.6711123357452483,0.1324413937542901]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.31883087225368434,0.23522373127990104,0.71338606911949],"aabb_xy":[[-0.32799075119756094,0.22869251323636403],[-0.30967099330980774,0.24175494932343805]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.22491732229277966,-1.1009913380508705,0.71338606911949],"aabb_xy":[[-0.3099173207102029,-1.1858656335131554],[-0.13991732387535644,-1.0161170425885855]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[0.4324634488853809,1.29507909741168,0.71338606911949],"aabb_xy":[[0.3724634482893648,1.2402666248664564],[0.49246344948139714,1.3498915699569034]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.5600081505677053,-2.482042503609019,0.71338606911949],"aabb_xy":[[0.4900081541577433,-2.5024804392606996],[0.6300081469776668,-2.461604567957336]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.5775911485231666,-1.9856077418825269,0.71338606911949],"aabb_xy":[[-0.6121822313772116,-2.0506077421675575],[-0.5430000656691212,-1.9206077415974956]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.3907763723820825,-1.5924606746301668,0.71338606911949],"aabb_xy":[[0.34549775750093326,-1.6564606739783503],[0.4360549872632318,-1.528460675281983]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.050259231368726676,0.7373191956278213,0.71338606911949],"aabb_xy":[[0.042556040694649626,0.7296098249290833],[0.05796242204280371,0.7450285663265593]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.15719108329729747,1.3141811699285562,0.71338606911949],"aabb_xy":[[0.10219108367555163,1.2591974771410834],[0.21219108291904332,1.3691648627160289]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.2818208957584446,1.7629843209451512,0.71338606911949],"aabb_xy":[[-0.28672018806500804,1.7353074016425822],[-0.27692160345188105,1.7906612402477198]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.05754012870783731,0.8238483874212772,0.71338606911949],"aabb_xy":[[-0.1075401297269726,0.7873821716834494],[-0.007540127688702049,0.8603146031591052]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.19696677360121873,-0.7094747786088016,0.71338606911949],"aabb_xy":[[0.10696677686560851,-0.7626582419260961],[0.28696677033682894,-0.6562913152915071]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.019837494337333617,-1.9931759552230963,0.71338606911949],"aabb_xy":[[-0.08483749289440645,-2.0229284886369787],[0.04516250421973922,-1.9634234218092133]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.4556281340078763,-0.15199569914755795,0.71338606911949],"aabb_xy":[[0.44760186337725033,-0.16074719412491056],[0.4636544046385023,-0.14324420417020534]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.05845672900151855,-1.5973760673750386,0.71338606911949],"aabb_xy":[[-0.1484567313355376,-1.6748584219601512],[0.03154327333250052,-1.519893712789926]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.6258704774461579,-0.2644699275114917,0.71338606911949],"aabb_xy":[[0.5758712022777217,-0.31446992878743885],[0.675869752614594,-0.2144699262355445]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.5555794898155546,1.4130274853861144,0.71338606911949],"aabb_xy":[[-0.5664852659031173,1.333027488987285],[-0.5446737137279919,1.4930274817849434]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.5528490963842196,0.4595909494763708,0.71338606911949],"aabb_xy":[[-0.5574842115364529,0.45572361439922215],[-0.5482139812319862,0.46345828455351945]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[0.3697544605273857,1.651528759495116,0.71338606911949],"aabb_xy":[[0.3617111006014305,1.5665287583997498],[0.37779782045334087,1.7365287605904827]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.5342462910812604,1.7582012170012455,0.71338606911949],"aabb_xy":[[0.5262528012859784,1.7502030850607704],[0.5422397808765425,1.7661993489417216]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[0.539861858651963,-2.384490685934057,0.71338606911949],"aabb_xy":[[0.4898618577014301,-2.4160398329375785],[0.5898618596024957,-2.3529415389305357]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_29","position":[0.39087830621697606,-1.0961662720957628,0.71338606911949],"aabb_xy":[[0.32587830525984884,-1.1481144840294684],[0.45587830717410327,-1.0442180601620572]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_30","position":[-0.29397399630317256,1.2578813549342063,0.71338606911949],"aabb_xy":[[-0.3579739965771508,1.2078152547369183],[-0.22997399602919433,1.3079474551314942]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[0.4012795621752536,-0.8578618460370784,0.71338606911949],"aabb_xy":[[0.3637795606596219,-0.8690886190532233],[0.43877956369088533,-0.8466350730209332]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_32","position":[0.4821074646097454,1.4736799491226855,0.71338606911949],"aabb_xy":[[0.4750671546762086,1.3936799497230143],[0.48914777454328257,1.5536799485223574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.678300955677266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1920.png","name":"1920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8230.png","name":"8230"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6824.png","name":"6824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/720.png","name":"720"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":775.3580737083358,"rotation_z_degrees":211.68662268685162,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010573739733954044,-0.011851683962372933,-0.0033480946703162012]},{"name":"camera_2","offset_m":[0.005098043683262873,0.008569620046924364,0.0021523886500537347]},{"name":"camera_3","offset_m":[0.016941603474875288,0.001647782866353028,0.014989023943354007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004677800496974563,-0.0005896928541227289,-0.0009512558558545071],"end_effector_yaw_offset_degrees":-0.5582213184936038},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011725267006688824,-0.0009556141392286204,0.001265878649352385],"end_effector_yaw_offset_degrees":0.5606749545078396},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006768552515385195,-0.0019713007323821606,0.0014321382722003975],"end_effector_yaw_offset_degrees":0.974624276282523}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006382008534206998,0.0016423275456532915],"position_m":[0.2075382008534207,0.2684423275456533,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007095210251464442,-0.0015262007241887586],"position_m":[0.18909047897485357,0.05607379927581124,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030006771627640472,0.00018287398623300418],"position_m":[0.35539932283723596,0.17878287398623302,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003294619079718091,-0.00030101921761873946],"position_m":[0.2482053809202819,-0.3657010192176187,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"04f10507abd2123f7b29e90277fe8a083dc4d2016821de89babd9ed490827686","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7329/tex_ceiling_textures_720/tex_floor_textures_6824/tex_table_textures_1920/tex_wall_textures_8230","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8394354653332474373,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8394354653332474373,"visual_seed":8394354653332474373,"scene_id":"lab_003","finished_at":"2026-09-03T09:03:07"} +{"episode_id":"ep_000020","started_at":"2026-09-03T09:03:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.6592039367394705,0.8245980880783095,0.71338606911949],"aabb_xy":[[-0.6679851638867068,0.8158183407897797],[-0.6504227095922345,0.83337783536684]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.17389545476909085,-1.3946625344839494,0.71338606911949],"aabb_xy":[[0.1610235512681507,-1.4746625348977855],[0.186767358270031,-1.3146625340701132]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.31047364246690506,-1.3391718398002155,0.71338606911949],"aabb_xy":[[-0.3720644016908979,-1.4031718379092626],[-0.24888288324291225,-1.2751718416911688]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.0004766069484422042,1.5055746563197974,0.71338606911949],"aabb_xy":[[-0.042661021109272945,1.4415746560425862],[0.04170780721238854,1.5695746565970086]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.3233827300315244,-1.2961224739203188,0.71338606911949],"aabb_xy":[[0.26575226114425343,-1.3561224728470291],[0.3810131989187951,-1.236122474993608]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[0.5924647165366068,-1.8742790983683761,0.71338606911949],"aabb_xy":[[0.5284647192342603,-1.9186455253362327],[0.6564647138389531,-1.8299126714005192]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.5576878620415656,-0.2254079792083057,0.71338606911949],"aabb_xy":[[-0.6376878652994086,-0.30540448700028966],[-0.47768785878372266,-0.1454114714163217]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.27696307074300675,-1.1807753392280231,0.71338606911949],"aabb_xy":[[-0.28671906025218064,-1.1905378732872574],[-0.26720708123383285,-1.1710128051687885]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.4168272121658085,-2.1248911861764896,0.71338606911949],"aabb_xy":[[-0.4668222231252606,-2.174891185212082],[-0.3668322012063565,-2.0748911871408984]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.6778063944919279,-0.11539482451774674,0.71338606911949],"aabb_xy":[[0.6665613389213101,-0.12663662224184202],[0.6890514500625458,-0.10415302679365146]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.32143270913051225,-1.1445213773519314,0.71338606911949],"aabb_xy":[[0.25743270842704297,-1.1905397598248526],[0.3854327098339817,-1.0985029948790106]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.532993798707754,0.06581548906422707,0.71338606911949],"aabb_xy":[[0.46899379636495236,0.020874637820094574],[0.5969938010505554,0.11075634030835955]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[0.5854028271582805,-0.26879503602626587,0.71338606911949],"aabb_xy":[[0.5479028268100528,-0.2805864316073494],[0.6229028275065083,-0.2570036404451823]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.3241326405692739,-0.2682186232981616,0.71338606911949],"aabb_xy":[[-0.3315450961106623,-0.27406983371978955],[-0.31672018502788535,-0.26236741287653365]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.5211182493002182,-1.41904829185064,0.71338606911949],"aabb_xy":[[0.4992285017112775,-1.509048289139889],[0.543007996889159,-1.3290482945613908]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.4379204352774564,-0.683057897270799,0.71338606911949],"aabb_xy":[[0.4315066216342714,-0.6894677175184672],[0.4443342489206413,-0.6766480770231306]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.49685273610214054,1.1388888722529367,0.71338606911949],"aabb_xy":[[-0.5568527369629532,1.08746244224645],[-0.4368527352413276,1.1903153022594228]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.35250932282232905,0.276255260531435,0.71338606911949],"aabb_xy":[[-0.37750932275484694,0.26937259231051175],[-0.32750932288981116,0.2831379287523584]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.021998718020884822,-1.6740207195307706,0.71338606911949],"aabb_xy":[[-0.07199871968237957,-1.724019161786473],[0.028001283640609942,-1.6240222772750676]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.03923933538381197,-1.8708232319294993,0.71338606911949],"aabb_xy":[[-0.04627964531734897,-1.9508232313291713],[-0.03219902545027498,-1.7908232325298286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765823522282834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1388.png","name":"1388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1388.png","name":"1388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2558.png","name":"2558"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4417.png","name":"4417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5175.png","name":"5175"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":581.7582814327628,"rotation_z_degrees":238.96746030066868,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0047935170433162436,0.007660976155238097,-0.01139445334039193]},{"name":"camera_2","offset_m":[-0.011179115963228995,-0.013544642498567194,0.013860014111694043]},{"name":"camera_3","offset_m":[-0.0024660319913457525,0.010713332268591946,0.008053303730696747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018035080134273396,8.658239268259302e-05,-0.0019762635934248117],"end_effector_yaw_offset_degrees":-0.9995869746976098},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00068463463619236,0.0016860673699728795,-0.001289324491615318],"end_effector_yaw_offset_degrees":-0.16253098306466085},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019473318132961612,-0.0018820413729862086,0.0008709625910392847],"end_effector_yaw_offset_degrees":-0.682950107276783}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009671286342519949,0.0018223061773130636],"position_m":[0.207867128634252,0.26862230617731303,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031805027053761325,0.004948538961813226],"position_m":[0.18661949729462388,0.06254853896181323,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00340263424424764,-0.0032307921365008676],"position_m":[0.35499736575575236,0.17536920786349913,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002422231727727392,0.004274950172362741],"position_m":[0.2490777682722726,-0.36112504982763727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cbb3910405a752ea2ac52bdad497b21eb6782985d987eddef563f5f0f4506582","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1388/tex_ceiling_textures_5175/tex_floor_textures_1556/tex_table_textures_2558/tex_wall_textures_4417","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4249864736361577221,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4249864736361577221,"visual_seed":4249864736361577221,"scene_id":"lab_003","finished_at":"2026-09-03T09:05:59"} +{"episode_id":"ep_000021","started_at":"2026-09-03T09:06:03","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.5816690362658141,-1.2554869465689027,0.71338606911949],"aabb_xy":[[0.5583871940676827,-1.3404869478661308],[0.6049508784639454,-1.1704869452716746]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.3111616613871184,0.5714640609815622,0.71338606911949],"aabb_xy":[[0.2311616644240792,0.49438841933778876],[0.39116165835015754,0.6485397026253357]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[-0.020062428985902492,1.1321300852789093,0.71338606911949],"aabb_xy":[[-0.034705834539935476,1.1174713656221251],[-0.005419023431869507,1.1467888049356936]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.2763657996043234,0.7573282664261587,0.71338606911949],"aabb_xy":[[-0.28362704717473075,0.7445412561626492],[-0.2691045520339159,0.7701152766896682]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.006860975603760644,-0.8920390814036845,0.71338606911949],"aabb_xy":[[-0.043139023972574075,-0.9420196603557905],[0.05686097518009536,-0.8420585024515786]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.5185934371557763,-0.19539137505176774,0.71338606911949],"aabb_xy":[[-0.5685934381749117,-0.2318575907895957],[-0.4685934361366412,-0.1589251593139398]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.6711047161011747,-1.7237715520403603,0.71338606911949],"aabb_xy":[[0.6657671404351702,-1.7487715529695003],[0.6764422917671793,-1.6987715511112207]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.21128048991534865,-2.1428314736069947,0.71338606911949],"aabb_xy":[[0.19122207830210836,-2.162896560516152],[0.23133890152858894,-2.1227663866978372]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.13831490739318952,-1.6032726904701118,0.71338606911949],"aabb_xy":[[0.10081490587755781,-1.6144994634862566],[0.17581490890882123,-1.5920459174539665]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.4057849137833609,-1.30797981848693,0.71338606911949],"aabb_xy":[[0.34815444489609,-1.3679798174136406],[0.46341538267063165,-1.2479798195602194]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.28834651063649,0.385740350317461,0.71338606911949],"aabb_xy":[[-0.3483465114973028,0.33431392031097457],[-0.2283465097756772,0.43716678032394735]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.20312290223023083,1.5726403063512246,0.71338606911949],"aabb_xy":[[-0.25811611356736763,1.5176403060124315],[-0.1481296908930941,1.6276403066900187]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.050465274214427924,-1.6846954633223006,0.71338606911949],"aabb_xy":[[-0.09827144182819655,-1.7496954660293593],[-0.0026591066006592732,-1.6196954606152414]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.20203427655669576,-0.20383107439644332,0.71338606911949],"aabb_xy":[[-0.2154808031907391,-0.21730092604953455],[-0.18858774992265243,-0.1903612227433521]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.16475200473886065,-1.8381583928197975,0.71338606911949],"aabb_xy":[[-0.18176210202891133,-1.8542928813180712],[-0.14774190744881002,-1.8220239043215234]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.4275891370862488,-0.96363582514398,0.71338606911949],"aabb_xy":[[0.4178331475770748,-0.9733983592032144],[0.4373451265954226,-0.9538732910847455]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.367696197055273,0.8881599806526501,0.71338606911949],"aabb_xy":[[0.3414073727348323,0.8618885469979988],[0.3939850213757136,0.9144314143073012]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.624581712230067,0.6398739455402662,0.71338606911949],"aabb_xy":[[0.6086972189647419,0.6255210052414422],[0.6404662054953922,0.6542268858390903]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.5389710665201466,0.29583847613552017,0.71338606911949],"aabb_xy":[[-0.5424117427602038,0.2919770431611557],[-0.5355303902800894,0.29969990910988464]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.5026495103974948,-2.0304679281676865,0.71338606911949],"aabb_xy":[[0.49780591563626486,-2.0353195806466706],[0.5074931051587248,-2.0256162756887024]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.5539664644899953,-2.2949495530124624,0.71338606911949],"aabb_xy":[[0.531452772666538,-2.3649495536134695],[0.5764801563134524,-2.2249495524114544]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[-0.05993117382626856,0.7518830884538565,0.71338606911949],"aabb_xy":[[-0.10493117529249743,0.706883231592376],[-0.01493117236003971,0.7968829453153374]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.45810908687533436,-2.2179445011092427,0.71338606911949],"aabb_xy":[[-0.5032804047235034,-2.281944498253781],[-0.4129377690271655,-2.1539445039647043]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.45929881059256683,-1.0343402780429556,0.71338606911949],"aabb_xy":[[0.4552206526855171,-1.038421258291219],[0.46337696849961657,-1.0302592977946923]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.32991405929162265,-0.9727957663829823,0.71338606911949],"aabb_xy":[[-0.37991405965218866,-1.022775753592585],[-0.27991405893105653,-0.9228157791733792]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.2325373210045344,-0.6096133960661965,0.71338606911949],"aabb_xy":[[0.20962160811948455,-0.6325176932026201],[0.25545303388958435,-0.5867090989297731]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.37938040399138145,-2.3863417638953694,0.71338606911949],"aabb_xy":[[-0.4433804042653597,-2.4364078640926574],[-0.3153804037174032,-2.3362756636980815]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_27","position":[0.6588535497981396,-0.7092861653405049,0.71338606911949],"aabb_xy":[[0.6375755416546673,-0.7742861676665779],[0.6801315579416118,-0.6442861630144318]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[0.1960597844710782,-1.2362830137366698,0.71338606911949],"aabb_xy":[[0.11605978581419218,-1.2507878726609327],[0.2760597831279642,-1.221778154812407]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[0.3766555740829147,-0.5494730732711273,0.71338606911949],"aabb_xy":[[0.31665557423634794,-0.6062916954641658],[0.4366555739294815,-0.4926544510780885]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[0.5074552367413274,-0.8950310597153357,0.71338606911949],"aabb_xy":[[0.489661729806411,-0.9128308053111334],[0.5252487436762439,-0.877231314119538]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_31","position":[0.46904735203999115,-2.2798687058620315,0.71338606911949],"aabb_xy":[[0.4653440907108522,-2.283570724170749],[0.47275061336913,-2.2761666875533133]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_32","position":[0.6315998016704385,1.6529415226019046,0.71338606911949],"aabb_xy":[[0.6271691723155984,1.6474931508672224],[0.6360304310252788,1.6583898943365873]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_33","position":[-0.19479928979130967,1.0284273963642678,0.71338606911949],"aabb_xy":[[-0.22476684670113536,0.9984273960663821],[-0.16483173288148403,1.0584273966621536]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826770940429894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5693.png","name":"5693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5693.png","name":"5693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1302.png","name":"1302"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":504.41983820689893,"rotation_z_degrees":330.1159580029595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020483903980637666,-0.011472176218624343,-0.007505460996313867]},{"name":"camera_2","offset_m":[-0.006867691252595374,0.016163746682449787,0.005078768790854896]},{"name":"camera_3","offset_m":[0.01756609097191163,0.011713553849441654,-0.0017004834357471701]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00047587444038838683,-0.00025436489093192674,-0.0004909679401235755],"end_effector_yaw_offset_degrees":0.452730742255244},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019786536288483527,-0.0016789017889100486,-0.0013022856299598012],"end_effector_yaw_offset_degrees":0.24452592658383931},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011002487868945641,-0.001943928604015202,0.0006552881621915271],"end_effector_yaw_offset_degrees":-0.3312231518650737}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010315750056984737,-0.0003779478773595071],"position_m":[0.20793157500569848,0.2664220521226405,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-9.223382498406603e-05,0.0039624144951225055],"position_m":[0.18970776617501592,0.0615624144951225,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016198011517488918,0.0025830444199695024],"position_m":[0.35678019884825113,0.18118304441996952,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002462148111100647,0.0005951174216582093],"position_m":[0.2539621481111006,-0.3648048825783418,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f00671d8d308cf2fbe9f5d812a557fc987f6b0619053fe384a17c96e9d11fa5d","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5693/tex_ceiling_textures_1302/tex_floor_textures_2130/tex_table_textures_2167/tex_wall_textures_9417","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5105563924033640271,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5105563924033640271,"visual_seed":5105563924033640271,"scene_id":"lab_003","finished_at":"2026-09-03T09:08:56"} +{"episode_id":"ep_000022","started_at":"2026-09-03T09:09:00","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.3942417140873853,-2.307729262852282,0.71338606911949],"aabb_xy":[[0.38631843384863696,-2.330229263090285],[0.4021649943261336,-2.2852292626142785]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[0.06727590205400691,0.8968553678156614,0.71338606911949],"aabb_xy":[[-0.0027240997547385293,0.8755015990514742],[0.13727590386275235,0.9182091365798489]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.5961869271199987,0.02761048788771614,0.71338606911949],"aabb_xy":[[0.5881934373247167,0.01961235594724048],[0.6041804169152808,0.0356086198281918]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.3460675171532002,-0.8788638923423675,0.71338606911949],"aabb_xy":[[-0.38052999516628794,-0.8855275695252901],[-0.3116050391401124,-0.8722002151594445]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.40089875559878424,-1.7534818378537549,0.71338606911949],"aabb_xy":[[-0.49089875233439445,-1.806665301171049],[-0.31089875886317403,-1.70029837453646]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.3369880901094498,0.9319200404340524,0.71338606911949],"aabb_xy":[[-0.40098809215918185,0.8918255573447444],[-0.27298808805971786,0.9720145235233604]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.0008731945204707436,-1.5880135752589748,0.71338606911949],"aabb_xy":[[-0.03837319501782899,-1.5919822588070933],[0.0366268059768875,-1.5840448917108563]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.5054285017466622,-0.5744912092180847,0.71338606911949],"aabb_xy":[[0.4254285012764464,-0.5828019168324332],[0.5854285022168783,-0.5661805016037365]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.650779307202615,-0.8622806543016277,0.71338606911949],"aabb_xy":[[-0.6668412346611327,-0.9472806561142195],[-0.6347173797440974,-0.7772806524890359]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.17201168893136964,-1.6430842341392289,0.71338606911949],"aabb_xy":[[-0.18285216715788452,-1.6602705154298774],[-0.1611712107048547,-1.62589795284858]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.6389979232992034,0.1813233968476089,0.71338606911949],"aabb_xy":[[0.6191068834188631,0.1686675855629121],[0.6588889631795436,0.1939792081323058]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.06405961307228603,1.21700757129782,0.71338606911949],"aabb_xy":[[0.05159225496255038,1.2045422466644964],[0.07652697118202167,1.2294728959311434]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.3693591225307651,-1.7064127141905074,0.71338606911949],"aabb_xy":[[0.305359126135192,-1.770376002609241],[0.43335911892633816,-1.6424494257717739]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.5770597817883785,0.6803657304978299,0.71338606911949],"aabb_xy":[[-0.62314487304311,0.6163657332452748],[-0.530974690533647,0.744365727750385]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[0.5195473203904106,1.0098546056187563,0.71338606911949],"aabb_xy":[[0.509394304836261,0.9737850640460157],[0.5297003359445598,1.0459241471914964]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.2906498439387162,-0.6102264583541037,0.71338606911949],"aabb_xy":[[0.268136152115259,-0.6802264589551111],[0.3131635357621734,-0.5402264577530961]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.0563369534018795,-0.8388293769393891,0.71338606911949],"aabb_xy":[[-0.062303492342615285,-0.8447905215987532],[-0.05037041446114371,-0.8328682322800252]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.5171699900771773,-0.36971926018544865,0.71338606911949],"aabb_xy":[[0.49896416641592967,-0.3807446607674403],[0.535375813738425,-0.358693859603457]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.14614545991551786,-0.7992837754738265,0.71338606911949],"aabb_xy":[[0.08214546261317146,-0.8436502024416831],[0.21014545721786426,-0.7549173485059696]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[0.5253460147021207,1.2647401963373706,0.71338606911949],"aabb_xy":[[0.4753511817741791,1.214740197442127],[0.5753408476300623,1.314740195232614]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.42968415114460956,1.5724559930050703,0.71338606911949],"aabb_xy":[[-0.44432755669864255,1.5577972733482859],[-0.4150407455905766,1.5871147126618543]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839567087181534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1645.png","name":"1645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1756.png","name":"1756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2547.png","name":"2547"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4522.png","name":"4522"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":759.8346980932656,"rotation_z_degrees":118.4208212037594,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012917565345137029,0.00391924430638637,-0.006622287846008219]},{"name":"camera_2","offset_m":[-0.010651936159609457,-0.005098476604447693,-0.006949729772425407]},{"name":"camera_3","offset_m":[0.009232419728526273,-0.00276833398237588,0.017771770555815056]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016549179413970548,-0.001536686515600711,0.001595205841290909],"end_effector_yaw_offset_degrees":-0.29953199267067543},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00039414422205450925,0.0013436185899157937,0.0009553516862080909],"end_effector_yaw_offset_degrees":-0.7213721771818586},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003200193198003697,-0.001962459185101944,0.0010115353024167202],"end_effector_yaw_offset_degrees":-0.07072089653002145}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033875525274458572,0.001295593776595729],"position_m":[0.21028755252744585,0.2680955937765957,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019625820725945155,-0.0018974107615852653],"position_m":[0.1878374179274055,0.055702589238414736,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00041624024517277446,0.004227637764254849],"position_m":[0.3579837597548272,0.18282763776425487,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004016511189075305,0.0006601827691457285],"position_m":[0.2555165111890753,-0.36473981723085425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"40a60b7c9d48196e77c169b9e7833f2544692b8a3648f3f452cf3ab02ac9e92f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5031/tex_ceiling_textures_4522/tex_floor_textures_2547/tex_table_textures_1645/tex_wall_textures_1756","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":92638542861496055,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":92638542861496055,"visual_seed":92638542861496055,"scene_id":"lab_003","finished_at":"2026-09-03T09:11:50"} +{"episode_id":"ep_000023","started_at":"2026-09-03T09:11:54","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.3184161740833191,1.688484169976436,0.71338606911949],"aabb_xy":[[0.2810848975580766,1.6538311151815837],[0.3557474506085618,1.7231372247712882]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.04271519734908347,-0.9249005269219663,0.71338606911949],"aabb_xy":[[-0.07730628020312866,-0.9899005272069973],[-0.00812411449503824,-0.8599005266369352]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.0912988632723657,-1.9238315414347804,0.71338606911949],"aabb_xy":[[0.027298866876792616,-1.9877948298535137],[0.15529885966793877,-1.8598682530160466]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[-0.1956262327242823,-2.102350256439183,0.71338606911949],"aabb_xy":[[-0.21312623185864946,-2.1122298834767705],[-0.1781262335899151,-2.092470629401595]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.19103065613680514,-1.001648276526542,0.71338606911949],"aabb_xy":[[-0.25503065835721217,-1.0460213606518303],[-0.12703065391639812,-0.9572751924012537]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.14995273564950262,-2.361389985905111,0.71338606911949],"aabb_xy":[[0.1164735683884617,-2.394869099276218],[0.1834319029105436,-2.327910872534004]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.42887377527598813,-0.508551282925533,0.71338606911949],"aabb_xy":[[-0.47600315427782375,-0.5725512839699349],[-0.3817443962741524,-0.444551281881131]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.16141672496616888,-2.567733028684359,0.71338606911949],"aabb_xy":[[-0.1784268222562195,-2.5838675171826324],[-0.1444066276761182,-2.5515985401860846]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.005828716009543045,-2.2887481908712144,0.71338606911949],"aabb_xy":[[-0.031021831927444565,-2.3262481916942486],[0.042679263946530654,-2.251248190048181]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.23866095000157767,-1.7038322320439814,0.71338606911949],"aabb_xy":[[-0.3186547735801359,-1.783832234636823],[-0.15866712642301944,-1.6238322294511398]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[-0.49583822407082,-1.3572331507709328,0.71338606911949],"aabb_xy":[[-0.5077709584326482,-1.3696153035787921],[-0.483905489708992,-1.3448509979630734]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.44801347796924407,0.5037454709479969,0.71338606911949],"aabb_xy":[[-0.5280134753728374,0.42375289974981406],[-0.3680134805656506,0.5837380421461796]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.004750441026500685,1.1324764216925618,0.71338606911949],"aabb_xy":[[-0.01192669496659482,1.1157764977186315],[0.02142757701959619,1.149176345666492]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.4016838619117946,0.8877308128182446,0.71338606911949],"aabb_xy":[[-0.4516838629309299,0.8512645970804169],[-0.3516838608926593,0.9241970285560728]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[0.3132009739240069,-1.8044883285724809,0.71338606911949],"aabb_xy":[[0.2633182770463108,-1.8544883278187558],[0.3630836708017032,-1.7544883293262064]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[0.6303111055205997,1.14278802623389,0.71338606911949],"aabb_xy":[[0.5703111046597867,1.0913615962274035],[0.6903111063814124,1.1942144562403763]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.15803458258196557,1.4434493650946911,0.71338606911949],"aabb_xy":[[0.1403589519933672,1.4257691488152882],[0.17571021317056387,1.4611295813740937]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.05564084348477294,-2.119848071707713,0.71338606911949],"aabb_xy":[[0.04507336382667392,-2.130393101820721],[0.06620832314287195,-2.109303041594704]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.16963170156374008,1.5581125535873759,0.71338606911949],"aabb_xy":[[-0.2046317015402359,1.5486479375397593],[-0.13463170158724425,1.5675771696349925]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.15002943907593447,0.5840719423679488,0.71338606911949],"aabb_xy":[[-0.20765990796320527,0.5240719434412381],[-0.0923989701886636,0.6440719412946593]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.2874679321608768,-0.4498845379831593,0.71338606911949],"aabb_xy":[[-0.3324605188793272,-0.49488453725760806],[-0.24247534544242638,-0.40488453870871055]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.40164360424754314,-1.1172001539698722,0.71338606911949],"aabb_xy":[[-0.4516436051980759,-1.1487493009733933],[-0.3516436032970103,-1.0856510069663505]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[-0.19695268615993555,1.0121155510891122,0.71338606911949],"aabb_xy":[[-0.26695268955149754,0.9767997773856815],[-0.12695268276837357,1.047431324792543]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.4555427682678477,1.3653181481463816,0.71338606911949],"aabb_xy":[[0.3915427680073769,1.3203093487934536],[0.5195427685283185,1.4103269474993096]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[0.13749334177004457,1.547104692091184,0.71338606911949],"aabb_xy":[[0.07349334448439593,1.50559797313834],[0.20149333905569322,1.588611411044028]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.15010105138808627,-0.0647353140327045,0.71338606911949],"aabb_xy":[[-0.1635475780221296,-0.0782051656857957],[-0.13665452475404294,-0.051265462379613255]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.5395369158157277,-0.9661562400930905,0.71338606911949],"aabb_xy":[[0.45953691880147973,-0.9862907917665018],[0.6195369128299757,-0.9460216884196793]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_27","position":[0.505508939534496,0.03872602879791076,0.71338606911949],"aabb_xy":[[0.46274223265507586,-0.025273974623891693],[0.5482756464139162,0.10272603221971321]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[0.24623947365325127,-0.6500880354707936,0.71338606911949],"aabb_xy":[[0.23752550460331673,-0.6725880361299816],[0.25495344270318565,-0.6275880348116052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6798012377935263,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9798.png","name":"9798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3775.png","name":"3775"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5946.png","name":"5946"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8457.png","name":"8457"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":634.1841834328513,"rotation_z_degrees":11.986045523573576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006849282164692308,0.01860223006087817,-0.016427944064090174]},{"name":"camera_2","offset_m":[0.006306145515688182,-0.0180627182803975,0.0016472490436826616]},{"name":"camera_3","offset_m":[-0.010082747578009386,-0.008856455561365691,0.006324859239899994]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008299561451717155,0.001243018884378081,-0.0011409359784433453],"end_effector_yaw_offset_degrees":-0.5541027148419548},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008355671464553357,0.0014931762077503635,0.0010610815561992422],"end_effector_yaw_offset_degrees":-0.255889314276476},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011515068012315811,0.0019190084169622848,-0.0003672160919585231],"end_effector_yaw_offset_degrees":0.22863067586261754}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014137393776817,0.002484722021863386],"position_m":[0.2083137393776817,0.2692847220218634,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018342837366168915,0.0037348739658016094],"position_m":[0.1916342837366169,0.06133487396580161,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00040717495054614673,-0.0010596973048083592],"position_m":[0.35880717495054615,0.17754030269519164,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035376304457768095,0.0015235003069649436],"position_m":[0.2511462369554223,-0.36387649969303504,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9cb5fa28e3e8ac22a02642974954235289478dc08201ae4545d4b2958b632f7f","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9616/tex_ceiling_textures_8457/tex_floor_textures_5946/tex_table_textures_9798/tex_wall_textures_3775","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8660170219002729561,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8660170219002729561,"visual_seed":8660170219002729561,"scene_id":"lab_003","finished_at":"2026-09-03T09:14:34"} +{"episode_id":"ep_000024","started_at":"2026-09-03T09:14:36","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.5322017765189102,0.49457445368496167,0.71338606911949],"aabb_xy":[[0.46820177484091285,0.44605706220564745],[0.5962017781969076,0.5430918451642759]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.2238010220044836,-1.434996238840203,0.71338606911949],"aabb_xy":[[0.21508705295454905,-1.457496239499391],[0.23251499105441803,-1.4124962381810147]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.0335894359290807,0.9077384844421634,0.71338606911949],"aabb_xy":[[-0.031410565028046504,0.8557902725084578],[0.0985894368862079,0.959686696375869]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.27781938787511107,-1.9257403387346397,0.71338606911949],"aabb_xy":[[-0.357819391132954,-2.0057368465266237],[-0.1978193846172681,-1.8457438309426557]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[-0.32930126192447245,0.15949717482319636,0.71338606911949],"aabb_xy":[[-0.3617629628063998,0.1293643427082937],[-0.2968395610425449,0.18963000693809892]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.42748328611238523,1.2911851346110734,0.71338606911949],"aabb_xy":[[-0.43935536912388634,1.2061851349174233],[-0.4156112031008841,1.376185134304724]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.6492858811247965,0.8257350611056613,0.71338606911949],"aabb_xy":[[-0.6565681975014599,0.7357350574961522],[-0.6420035647481326,0.9157350647151702]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.39085455165485367,0.9462937320473688,0.71338606911949],"aabb_xy":[[-0.45585455276079695,0.9213283589792405],[-0.3258545505489104,0.9712591051154971]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.5398892149951107,-2.0356372991351686,0.71338606911949],"aabb_xy":[[0.5255547898689472,-2.0476975146897067],[0.5542236401212741,-2.0235770835806295]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.6446007254325112,-0.2590548913251145,0.71338606911949],"aabb_xy":[[0.5947839459676764,-0.30905488980941787],[0.6944175048973459,-0.20905489284081114]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.1703585158788119,-1.9589967574622325,0.71338606911949],"aabb_xy":[[0.13285851508681645,-1.9653645984204222],[0.20785851667080735,-1.9526289165040418]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.49044955604674634,-1.023940396366284,0.71338606911949],"aabb_xy":[[0.4675338431616965,-1.0468446935027078],[0.5133652689317962,-1.0010360992298608]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.1581731151330571,-1.474293241650103,0.71338606911949],"aabb_xy":[[-0.18814067204288276,-1.5042932419479884],[-0.12820555822323143,-1.444293241352217]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.0033654786503598544,-0.6992442391324944,0.71338606911949],"aabb_xy":[[-0.02778144019322326,-0.7692442378193015],[0.03451239749394297,-0.6292442404456872]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.5494713287360711,-0.35431190429038706,0.71338606911949],"aabb_xy":[[-0.5600388083941701,-0.3648569344033956],[-0.5389038490779721,-0.3437668741773785]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.42306695869470334,-0.7047257789892032,0.71338606911949],"aabb_xy":[[-0.4331486657732768,-0.7847257768813177],[-0.41298525161612987,-0.6247257810970884]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.5485836767663625,0.6969716005983977,0.71338606911949],"aabb_xy":[[0.49860486825604666,0.6469716005926789],[0.5985624852766784,0.7469716006041165]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[-0.14986030396916195,-2.1240887689102768,0.71338606911949],"aabb_xy":[[-0.18486030223928182,-2.131162896605265],[-0.11486030569904201,-2.1170146412152886]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.2521642768189724,0.37539694122498934,0.71338606911949],"aabb_xy":[[-0.28966427716720017,0.36360554564390574],[-0.21466427647074465,0.38718833680607284]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.1264732866420415,0.423534541801339,0.71338606911949],"aabb_xy":[[-0.1489732868855569,0.41132990714156703],[-0.1039732863985261,0.43573917646111093]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.04878935074075863,1.6138102582181646,0.71338606911949],"aabb_xy":[[-0.09878935175989391,1.5773440424803367],[0.001210650278376649,1.6502764739559925]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.3892751169724063,1.6552835279212768,0.71338606911949],"aabb_xy":[[-0.4692689405509645,1.5752835253284354],[-0.3092812933938481,1.7352835305141185]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.048417879189262325,-2.019273736844231,0.71338606911949],"aabb_xy":[[-0.0709178787129697,-2.0417696842948514],[-0.02591787966555491,-1.99677778939361]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.4377831355014729,-1.4080715193927213,0.71338606911949],"aabb_xy":[[-0.45040992278866926,-1.417617593094294],[-0.42515634821427656,-1.3985254456911482]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.10927962999958551,-0.36054471079462536,0.71338606911949],"aabb_xy":[[-0.1592570468648391,-0.41054471228387385],[-0.059302213134331934,-0.31054470930537675]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.5448328035021757,0.008994042360805032,0.71338606911949],"aabb_xy":[[0.5330646167075183,-0.07600595754441654],[0.5566009902968333,0.09399404226602662]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[0.6031559916836566,-1.3808722138547957,0.71338606911949],"aabb_xy":[[0.5992421184882342,-1.3896212292613523],[0.6070698648790791,-1.3721231984482387]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[0.4693139245747273,0.225888253367029,0.71338606911949],"aabb_xy":[[0.39931392244329783,0.20312628774133334],[0.5393139267061569,0.24865021899272466]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[-0.2250336839537997,-2.4766457596727736,0.71338606911949],"aabb_xy":[[-0.30875590945388215,-2.5666457632074695],[-0.14131145845371723,-2.3866457561380776]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[-0.08138954302006596,-2.2606904030228003,0.71338606911949],"aabb_xy":[[-0.11888954453569767,-2.2719171760389454],[-0.04388954150443425,-2.2494636300066553]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[-0.4410885322391329,-2.0001969370788335,0.71338606911949],"aabb_xy":[[-0.44978649452984826,-2.0123219113863082],[-0.4323905699484177,-1.9880719627713588]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_31","position":[0.418875549681639,0.8960107131468216,0.71338606911949],"aabb_xy":[[0.3538755511245661,0.8662581797329391],[0.48387554823871176,0.9257632465607043]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_32","position":[0.03929408783982058,-2.4653449512830288,0.71338606911949],"aabb_xy":[[0.004977810665202635,-2.515344951256206],[0.07361036501443852,-2.4153449513098506]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6793286964048016,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2781.png","name":"2781"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2781.png","name":"2781"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3198.png","name":"3198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5337.png","name":"5337"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.6568756433524,"rotation_z_degrees":97.73256546334636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005653023856395302,-0.006134753065351108,0.0029442210165523987]},{"name":"camera_2","offset_m":[0.01466306852912828,0.012943392086741935,0.0015620561794113669]},{"name":"camera_3","offset_m":[0.00527121647215829,-0.01786752660772896,0.016968584416125167]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014122832200430795,0.0001248551064097136,0.0017168624925933897],"end_effector_yaw_offset_degrees":-0.9298147099188776},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015941677314230082,-0.0005633432880287695,-0.0005621827891617906],"end_effector_yaw_offset_degrees":-0.6664234746924063},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012839410027936436,-0.0004408093637823555,-0.0016262326982704183],"end_effector_yaw_offset_degrees":0.4811772037359252}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004374942481481246,0.0005097661976179758],"position_m":[0.21127494248148124,0.267309766197618,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013952115933863894,-0.0034429263377212804],"position_m":[0.1884047884066136,0.05415707366227872,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004459938527799443,-0.0005867909524227312],"position_m":[0.35394006147220053,0.17801320904757728,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034416148263833888,-0.0024320544827525535],"position_m":[0.2480583851736166,-0.3678320544827526,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9de6aa9b59fef7bbb4927ff0c8275f690247abc85bbc306168558c8dcdc73cc2","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2781/tex_ceiling_textures_4573/tex_floor_textures_1035/tex_table_textures_3198/tex_wall_textures_5337","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":9212243363927599658,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":9212243363927599658,"visual_seed":9212243363927599658,"scene_id":"lab_003","finished_at":"2026-09-03T09:17:15"} +{"episode_id":"ep_000025","started_at":"2026-09-03T09:17:18","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[0.4811919500926134,-1.788191467948711,0.71338606911949],"aabb_xy":[[0.4704189761712457,-1.8231914661677497],[0.49196492401398123,-1.7531914697296718]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.42977142539834,0.9016186966648987,0.71338606911949],"aabb_xy":[[0.39477142404685817,0.8812589607080779],[0.46477142674982164,0.9219784326217195]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.2702691651581982,-2.32800024035656,0.71338606911949],"aabb_xy":[[0.24735345227314837,-2.3509045374929833],[0.29318487804324816,-2.3050959432201363]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.4210230901220379,1.1764393091764376,0.71338606911949],"aabb_xy":[[-0.48502309246483954,1.1314984579323049],[-0.3570230877792364,1.2213801604205698]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.5930359040166591,0.8011549041635377,0.71338606911949],"aabb_xy":[[0.5580359057465392,0.7940807764685495],[0.628035902286779,0.8082290318585258]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.1602426755216123,0.8454442177985624,0.71338606911949],"aabb_xy":[[0.15016096844303883,0.7654442199064476],[0.1703243826001858,0.9254442156906769]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.04580629726914298,0.9749135511350482,0.71338606911949],"aabb_xy":[[-0.05621785594962668,0.9695678177991495],[-0.035394738588659255,0.9802592844709465]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.5692279420120295,1.1755567105460072,0.71338606911949],"aabb_xy":[[-0.5785749495943248,1.161253088328363],[-0.5598809344297343,1.189860332763651]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.2676177423928532,-0.575058074562429,0.71338606911949],"aabb_xy":[[0.26277414763162327,-0.5799097270414132],[0.2724613371540832,-0.570206422083445]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.48888425640589817,-1.5172445536031067,0.71338606911949],"aabb_xy":[[-0.49331488576073845,-1.5226929253377894],[-0.4844536270510581,-1.5117961818684245]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.5174315441176838,0.20374256491459297,0.71338606911949],"aabb_xy":[[0.500000829038677,0.1864704502507421],[0.5348622591966901,0.22101467957844373]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.552161816990044,-0.3081626942231357,0.71338606911949],"aabb_xy":[[0.5433805898428078,-0.31694244151166584],[0.5609430441372804,-0.29938294693460554]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.47306810081453254,-1.553664129618607,0.71338606911949],"aabb_xy":[[0.3830681040789222,-1.6068475929359014],[0.5630680975501426,-1.5004806663013124]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.12266690429980676,1.4724666911954807,0.71338606911949],"aabb_xy":[[0.1110979235528702,1.447466691078549],[0.13423588504674333,1.4974666913124124]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.034553753423085865,-0.738672425973355,0.71338606911949],"aabb_xy":[[-0.08455375378365193,-0.7886524131829579],[0.015446246937480193,-0.688692438763752]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.42164678548135764,-0.29589463108710934,0.71338606911949],"aabb_xy":[[-0.4816467860773738,-0.3507071036323328],[-0.36164678488534147,-0.24108215854188586]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.26835590740472476,-1.1147714779924858,0.71338606911949],"aabb_xy":[[-0.34835590787494075,-1.1230821856068343],[-0.18835590693450888,-1.1064607703781377]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.10454991631271626,0.37262916668316937,0.71338606911949],"aabb_xy":[[-0.12483421903611501,0.35234654154046047],[-0.08426561358931749,0.39291179182587815]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.4271054176771502,-2.5426364354994315,0.71338606911949],"aabb_xy":[[-0.43973220496434645,-2.552182509201004],[-0.41447863038995375,-2.533090361797859]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.10385306074035061,1.4016831256155338,0.71338606911949],"aabb_xy":[[-0.12631783071175573,1.3791831247366733],[-0.08138829076894549,1.4241831264943943]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.004539573226770788,-1.6311086531752461,0.71338606911949],"aabb_xy":[[-0.007228613567886734,-1.7161086530804681],[0.01630776002142831,-1.546108653270025]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.25593234324110564,-0.7715272464780363,0.71338606911949],"aabb_xy":[[-0.27782209083004644,-0.8615272437672854],[-0.23404259565216487,-0.6815272491887872]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.13383726756631564,1.5819637504929207,0.71338606911949],"aabb_xy":[[-0.14670917106725576,1.5019637500790843],[-0.12096536406537549,1.6619637509067566]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.6343415446259588,1.0884825226311992,0.71338606911949],"aabb_xy":[[0.5446544683178434,0.9984825223767486],[0.7240286209340743,1.1784825228856497]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[0.3334402693996117,0.6178466919462879,0.71338606911949],"aabb_xy":[[0.2534402661355985,0.6042866596373746],[0.41344027266362476,0.6314067242552013]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.37795136660285716,-0.4991797588777036,0.71338606911949],"aabb_xy":[[-0.437951366449424,-0.5559983810707423],[-0.31795136675629043,-0.4423611366846649]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6769765282410792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6504.png","name":"6504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6504.png","name":"6504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4055.png","name":"4055"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2000.png","name":"2000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5967.png","name":"5967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4574.png","name":"4574"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":575.1341517599842,"rotation_z_degrees":182.10298528211484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017400210434126106,0.00812993836748424,-0.0032579705947417444]},{"name":"camera_2","offset_m":[-0.008198309395254597,0.018404292110135233,0.014176352356716635]},{"name":"camera_3","offset_m":[-0.012235396113391292,-0.010056606204189831,0.012744653055820256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008332130527071132,0.0003406791024631009,0.0012771506942641365],"end_effector_yaw_offset_degrees":0.949131230333508},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00033252550626451834,0.0008895280749745553,-8.566561351257013e-05],"end_effector_yaw_offset_degrees":0.6106991961366037},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019288623687430465,-0.0018025589388955773,0.0008966984986712675],"end_effector_yaw_offset_degrees":-0.5641861316624077}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004870253984918678,0.0008127968151893364],"position_m":[0.20202974601508134,0.2676127968151893,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002702649522794436,-0.0020318354342712176],"position_m":[0.18709735047720555,0.05556816456572878,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027243777261094348,0.0006142667599449382],"position_m":[0.36112437772610945,0.17921426675994495,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022350754336509992,0.0038330766199088538],"position_m":[0.249264924566349,-0.36156692338009117,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d6b2286cb14a9f34049df325ed2f089f8e55003291046215c16855268cb90855","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6504/tex_ceiling_textures_4574/tex_floor_textures_5967/tex_table_textures_4055/tex_wall_textures_2000","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4905958475314021920,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4905958475314021920,"visual_seed":4905958475314021920,"scene_id":"lab_003","finished_at":"2026-09-03T09:19:59"} +{"episode_id":"ep_000026","started_at":"2026-09-03T09:20:02","dimensions":{"distractor":{"count":29,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.27330863357190716,-2.2328787869875204,0.71338606911949],"aabb_xy":[[0.25141888598296636,-2.322878784276769],[0.29519838116084796,-2.142878789698271]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.30360544670439416,-0.9019795522293423,0.71338606911949],"aabb_xy":[[-0.31336143621356805,-0.9117420862885767],[-0.29384945719522026,-0.8922170181701078]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.44363084205484427,-0.8681817907782337,0.71338606911949],"aabb_xy":[[0.41498150969442804,-0.8968273500553093],[0.4722801744152605,-0.8395362315011577]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.01731704001497869,1.101388646710658,0.71338606911949],"aabb_xy":[[-0.06268295694806048,1.0243130050668845],[0.09731703697801786,1.1784642883544314]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.26477403155106616,-1.6674604204826076,0.71338606911949],"aabb_xy":[[-0.31475284006138204,-1.7174604204883264],[-0.21479522304075027,-1.6174604204768888]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.3641438880767511,0.3070051597800445,0.71338606911949],"aabb_xy":[[-0.4241438883281522,0.25272383474357984],[-0.30414388782534985,0.36128648481650916]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.6156094167193995,-1.274916970099437,0.71338606911949],"aabb_xy":[[0.6059777804989698,-1.284554282879146],[0.625241052939829,-1.2652796573197282]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.6078559806951243,0.47474078548469656,0.71338606911949],"aabb_xy":[[0.5744158054991045,0.4412971596537664],[0.6412961558911437,0.5081844113156265]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.10395282251089366,-0.49399741924005003,0.71338606911949],"aabb_xy":[[-0.11739934914493698,-0.5074672708931413],[-0.09050629587685032,-0.4805275675869588]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.5966381921703121,-1.6149033286829961,0.71338606911949],"aabb_xy":[[-0.646631304279504,-1.6649033293571922],[-0.5466450800611202,-1.564903328008801]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.5793071587171306,-0.9296213204169064,0.71338606911949],"aabb_xy":[[0.5560253165189991,-1.0146213217141342],[0.6025890009152618,-0.8446213191196782]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.3880914996418403,1.077749871188694,0.71338606911949],"aabb_xy":[[-0.39216965754889005,1.0736688909404306],[-0.38401334173479057,1.0818308514369572]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.63892745716999,-1.4700660634440945,0.71338606911949],"aabb_xy":[[-0.6477295124789626,-1.4778773895990236],[-0.6301254018610172,-1.4622547372891654]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.49749646831316374,-1.9694901297004486,0.71338606911949],"aabb_xy":[[0.4904550173624162,-1.976516881438243],[0.5045379192639114,-1.9624633779626541]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.399578312087899,0.17208715565112964,0.71338606911949],"aabb_xy":[[-0.4075015923266474,0.14958715541312628],[-0.39165503184915074,0.194587155889133]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.013617962482963764,-0.726535376525977,0.71338606911949],"aabb_xy":[[-0.03745418012356883,-0.8165353773344636],[0.010218255157641302,-0.6365353757174905]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[0.572158332526979,-2.031593945480446,0.71338606911949],"aabb_xy":[[0.5602862495154778,-2.1165939451740963],[0.58403041553848,-1.9465939457867956]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.16717278795551438,0.752661881576087,0.71338606911949],"aabb_xy":[[0.11769236674155562,0.6886618836632352],[0.2166532091694732,0.8166618794889389]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.35528129072721787,-1.9104280099739903,0.71338606911949],"aabb_xy":[[-0.37271200580622427,-1.927700124637841],[-0.33785057564821125,-1.8931558953101393]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.5105489737953024,0.15471653521696727,0.71338606911949],"aabb_xy":[[0.4755489738992836,0.14634229970502732],[0.5455489736913213,0.1630907707289072]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.44703049825682917,0.6730388087711621,0.71338606911949],"aabb_xy":[[-0.5120304992139564,0.6210905968374566],[-0.38203049729970195,0.7249870207048678]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.11797267027440617,1.049939851989556,0.71338606911949],"aabb_xy":[[-0.1273196778567014,1.035636229771912],[-0.10862566269211092,1.0642434742072]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[-0.16117340063604124,-1.820810128074573,0.71338606911949],"aabb_xy":[[-0.198673400984269,-1.8326015236556563],[-0.12367340028781348,-1.8090187324934892]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.0454314233937837,-2.367294241094909,0.71338606911949],"aabb_xy":[[-0.06293135682776707,-2.3847942410151433],[-0.027931489959800326,-2.349794241174674]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.3202445390412472,-2.373053798266133,0.71338606911949],"aabb_xy":[[-0.34270930901265234,-2.3955537991449933],[-0.2977797690698421,-2.3505537973872723]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[0.46000577629664985,1.4765796903894315,0.71338606911949],"aabb_xy":[[0.4255434288985079,1.4420858079916086],[0.4944681236947915,1.511073572787254]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.5155173975864167,-1.4401041102093146,0.71338606911949],"aabb_xy":[[0.5118141362572777,-1.4438061285180324],[0.5192206589155555,-1.4364020919005964]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[-0.008990415837813126,1.6340430122240162,0.71338606911949],"aabb_xy":[[-0.07299041500758306,1.587276325105054],[0.05500958333195682,1.6808096993429789]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[0.12364851375973906,-1.50943112200866,0.71338606911949],"aabb_xy":[[0.043648516745491084,-1.529565673682071],[0.20364851077398705,-1.4892965703352485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6786789092185748,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/959.png","name":"959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/959.png","name":"959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1369.png","name":"1369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8019.png","name":"8019"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8605.png","name":"8605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5437.png","name":"5437"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":566.8078531831841,"rotation_z_degrees":90.81106744912552,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006840101288590441,-0.011321988698899634,-0.007262751749368532]},{"name":"camera_2","offset_m":[-0.0193361674527001,-0.011080381613677446,-0.018961228179733176]},{"name":"camera_3","offset_m":[-2.3786725528357477e-05,0.014196172581284843,-0.0062944384183990995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018178952942364494,0.0001371239729477539,0.0002383760847642128],"end_effector_yaw_offset_degrees":0.5226672846413614},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018304986713002936,0.0015697977676760624,0.001932666330456495],"end_effector_yaw_offset_degrees":-0.593233759229973},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016743560588745945,0.00026378858445210655,0.0019047387371808515],"end_effector_yaw_offset_degrees":0.7183858001659467}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005806135074909588,-0.0040938107323027105],"position_m":[0.20748061350749095,0.2627061892676973,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001662826420117025,-0.004047988814447803],"position_m":[0.18813717357988297,0.053552011185552195,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003653311919185238,-0.004898645658119547],"position_m":[0.3547466880808148,0.17370135434188047,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005532194047068815,0.0033081691019337727],"position_m":[0.25094678059529313,-0.36209183089806624,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d6f0a124393daca34c580472b6da5bfd5f008febf0228c3c7bf050a8038570a4","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_959/tex_ceiling_textures_5437/tex_floor_textures_8605/tex_table_textures_1369/tex_wall_textures_8019","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3503276768834062416,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3503276768834062416,"visual_seed":3503276768834062416,"scene_id":"lab_003","finished_at":"2026-09-03T09:22:43"} +{"episode_id":"ep_000027","started_at":"2026-09-03T09:22:47","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.2324907349451048,-1.7083959607773114,0.71338606911949],"aabb_xy":[[-0.25703695056785547,-1.7386448573263482],[-0.20794451932235408,-1.678147064228274]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.43856870919399177,-1.667475999196451,0.71338606911949],"aabb_xy":[[-0.5085687056039534,-1.6879139348481322],[-0.36856871278402986,-1.6470380635447688]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.2619132187619868,0.7881489411047666,0.71338606911949],"aabb_xy":[[-0.3259132191395204,0.7384036742539543],[-0.1979132183844532,0.8378942079555788]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[0.5125903577177091,-2.4833145975805913,0.71338606911949],"aabb_xy":[[0.4575948798970496,-2.5383145990144977],[0.5675858355383684,-2.428314596146684]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.49792583577893135,1.5624297695849756,0.71338606911949],"aabb_xy":[[0.4629258344274496,1.5420700336281548],[0.5329258371304131,1.5827895055417964]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.05898448047367588,-2.1859224561506347,0.71338606911949],"aabb_xy":[[-0.0707526672683334,-2.2709224560558567],[-0.04721629367901837,-2.1009224562454136]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.2601122201490971,1.2167752784375838,0.71338606911949],"aabb_xy":[[0.22261221980086926,1.2049838828565],[0.2976122204973248,1.2285666740186671]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.0080133520139829,-0.6567170523863226,0.71338606911949],"aabb_xy":[[-0.045047461442042615,-0.691094259720032],[0.029020757414076816,-0.6223398450526132]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.06123548612157903,0.729590989744501,0.71338606911949],"aabb_xy":[[-0.069450031237263,0.7209143994468595],[-0.05302094100589504,0.7382675800421422]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.4972486968304841,0.8228727199658623,0.71338606911949],"aabb_xy":[[0.46380852163446445,0.789429094134932],[0.5306888720265036,0.8563163457967922]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.11156286446489194,-1.218164841828531,0.71338606911949],"aabb_xy":[[-0.17656286302196478,-1.2479173752424135],[-0.046562865907819107,-1.1884123084146483]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.2502980146347766,-2.2093810799226863,0.71338606911949],"aabb_xy":[[-0.30529801381136606,-2.264370754697644],[-0.1952980154581871,-2.1543914051477286]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.015359200849478283,0.8822296721538803,0.71338606911949],"aabb_xy":[[-0.04864079773709418,0.8352227087543715],[0.07935919943605074,0.929236635553389]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.6804632292746475,1.7582097077795935,0.71338606911949],"aabb_xy":[[0.6605721893943074,1.7455538964948971],[0.7003542691549879,1.7708655190642908]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.585920639372222,-0.04380333892173249,0.71338606911949],"aabb_xy":[[0.5819601556024877,-0.0514712035072531],[0.5898811231419564,-0.0361354743362119]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.38884315617847376,-1.7460603631134641,0.71338606911949],"aabb_xy":[[0.3532140002785141,-1.7816930298703169],[0.42447231207843356,-1.710427696356611]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.5647290825771623,0.22699782221431297,0.71338606911949],"aabb_xy":[[0.5608152093817398,0.21824880680775624],[0.5686429557725847,0.23574683762086976]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.656667951285925,-2.239936343507262,0.71338606911949],"aabb_xy":[[0.5926679493735828,-2.295847492765272],[0.7206679531982675,-2.184025194249251]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.4570250251747041,0.02837520059012988,0.71338606911949],"aabb_xy":[[0.4201744772377165,-0.009124800232903848],[0.4938755731116917,0.06587520141316361]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[0.17069844383074206,-1.4312457204915647,0.71338606911949],"aabb_xy":[[0.12070343287129004,-1.4812457195271567],[0.22069345479019412,-1.3812457214559732]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.1739705394774682,0.3529008739996278,0.71338606911949],"aabb_xy":[[-0.18196452805517158,0.3449007939045374],[-0.1659765508997648,0.36090095409471806]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.23896051112056843,-2.4801710072149175,0.71338606911949],"aabb_xy":[[-0.25142786923030414,-2.492636331848241],[-0.2264931530108328,-2.467705682581594]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.11990440091141807,0.9914837606608784,0.71338606911949],"aabb_xy":[[0.10211089397650162,0.9736840150650808],[0.1376979078463345,1.009283506256676]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.4955951157799996,-0.19125467360658321,0.71338606911949],"aabb_xy":[[-0.5180951162920401,-0.21374653197198154],[-0.4730951152679589,-0.16876281524118483]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.18289168106614617,-2.335263040001295,0.71338606911949],"aabb_xy":[[-0.25289168370273246,-2.35536790499716],[-0.11289167842955977,-2.315158175005429]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.32939314501538697,0.5715975984721839,0.71338606911949],"aabb_xy":[[-0.33283382125544414,0.5677361654978195],[-0.3259524687753298,0.5754590314465484]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.5717023735428284,1.699346221769432,0.71338606911949],"aabb_xy":[[0.554202373297779,1.681846433929865],[0.5892023737878778,1.7168460096089988]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[-0.12050574137971215,1.4361536902222674,0.71338606911949],"aabb_xy":[[-0.1380057416390488,1.4220621480334947],[-0.10300574112037555,1.45024523241104]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[-0.4276060211543161,1.7790695158135352,0.71338606911949],"aabb_xy":[[-0.45260602031994923,1.7721172701081787],[-0.402606021988683,1.7860217615188918]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.3910965249109278,1.435160540810411,0.71338606911949],"aabb_xy":[[-0.40715845236944537,1.3501605389978188],[-0.3750345974524101,1.5201605426230025]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_30","position":[0.332930829615931,-1.302094467499445,0.71338606911949],"aabb_xy":[[0.2529308324563557,-1.313642068457262],[0.4129308267755063,-1.290546866541628]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6750548498458442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5980.png","name":"5980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4286.png","name":"4286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5596.png","name":"5596"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":546.0486090576045,"rotation_z_degrees":97.9455058089148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012665934938047005,-0.008637035577919491,0.008537633480529903]},{"name":"camera_2","offset_m":[0.0011181756242514308,-0.011909463554331255,0.017242959158361344]},{"name":"camera_3","offset_m":[-0.011846949322221833,0.005261789563178604,-0.0016890191152589829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013046002339871451,0.00033110976219047003,0.0003266345190931813],"end_effector_yaw_offset_degrees":0.24984056862894977},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010946629861665904,0.0011083522085854535,-0.000912441843137875],"end_effector_yaw_offset_degrees":-0.6324075151830857},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011359952366298831,0.0009360318944010193,0.0009546577555666793],"end_effector_yaw_offset_degrees":-0.6128241696448613}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004229231697505117,-0.003190799206109438],"position_m":[0.2026707683024949,0.26360920079389055,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00024978344874319273,-0.004228928791995481],"position_m":[0.1895502165512568,0.053371071208004515,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010698349609728312,0.0028195006919773174],"position_m":[0.35733016503902715,0.18141950069197732,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004773488820110637,0.003417075386693118],"position_m":[0.24672651117988936,-0.3619829246133069,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01d7a86248dd9c2991405876f81b7e3cfe358a6b305383b96b84e4dbc8e39614","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7807/tex_ceiling_textures_5596/tex_floor_textures_4286/tex_table_textures_4423/tex_wall_textures_5980","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5698570283598126190,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5698570283598126190,"visual_seed":5698570283598126190,"scene_id":"lab_003","finished_at":"2026-09-03T09:25:23"} +{"episode_id":"ep_000028","started_at":"2026-09-03T09:25:25","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[-0.5545336183810476,-1.5114404544082658,0.71338606911949],"aabb_xy":[[-0.5589642477358878,-1.516888826142949],[-0.5501029890262075,-1.5059920826735835]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.12225210124416575,1.3004120964342865,0.71338606911949],"aabb_xy":[[-0.13200809075333964,1.290649562375052],[-0.11249611173499184,1.310174630493521]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.3581204129043169,-2.2152393141769857,0.71338606911949],"aabb_xy":[[-0.3674674204866122,-2.2295429363946297],[-0.3487734053220217,-2.2009356919593417]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.26584837593981303,-2.386759133661837,0.71338606911949],"aabb_xy":[[0.24805486900489665,-2.4045588792576345],[0.2836418828747295,-2.368959388066039]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.4791664260015063,-1.5994036521575383,0.71338606911949],"aabb_xy":[[0.4191664251406934,-1.6508300821640245],[0.539166426862319,-1.5479772221510517]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[-0.2804327490390187,-2.0654541061812255,0.71338606911949],"aabb_xy":[[-0.30293274856272606,-2.087950053631846],[-0.25793274951531125,-2.0429581587306043]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.44378474858832256,-0.3217140638154339,0.71338606911949],"aabb_xy":[[-0.5237847518461656,-0.4017105716074178],[-0.3637847453304796,-0.24171755602344985]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.020623816667916017,1.6689690224508422,0.71338606911949],"aabb_xy":[[-0.07061692877710792,1.618969021776647],[0.029369295441275877,1.7189690231250383]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.25031482855136283,1.2101877780010644,0.71338606911949],"aabb_xy":[[-0.27482845264836875,1.1859231846990281],[-0.22580120445435703,1.234452371303101]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.40141702490431985,-2.1230220817246694,0.71338606911949],"aabb_xy":[[0.38253264113580965,-2.141908006505022],[0.42030140867283006,-2.1041361569443167]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.2203311013455279,-1.501103796403184,0.71338606911949],"aabb_xy":[[0.18283110099730016,-1.512895191984267],[0.25783110169375567,-1.4893124008221]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.42758372943975925,-2.391861040861335,0.71338606911949],"aabb_xy":[[-0.46508372801538,-2.404597336524893],[-0.3900837308641384,-2.3791247451977773]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.28311059602990607,0.7123097356835739,0.71338606911949],"aabb_xy":[[0.22811059640816023,0.6573260428961013],[0.3381105956516519,0.7672934284710468]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.17714685760131277,0.8304138096510139,0.71338606911949],"aabb_xy":[[-0.21991356448073296,0.7664138062292114],[-0.13438015072189258,0.8944138130728163]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.26428813730830336,-1.25865229893517,0.71338606911949],"aabb_xy":[[0.18428814014872807,-1.270199899892987],[0.34428813446787865,-1.247104697977353]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.14872243868227608,0.5152207486632991,0.71338606911949],"aabb_xy":[[-0.21272243510959798,0.4680511248412027],[-0.08472244225495418,0.5623903724853956]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[0.23628487261835107,1.0949142347493734,0.71338606911949],"aabb_xy":[[0.22537909653078836,1.0149142383505443],[0.24719064870591378,1.1749142311482026]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.6998309476259976,1.329576320301193,0.71338606911949],"aabb_xy":[[0.6885858920553798,1.3183345225770975],[0.7110760031966155,1.340818118025288]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.5133654162457368,-0.46634590362123074,0.71338606911949],"aabb_xy":[[0.489780292781842,-0.5313459058666625],[0.5369505397096317,-0.401345901375799]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.565873262336387,1.6681848706720142,0.71338606911949],"aabb_xy":[[-0.6558732620595611,1.6451115181368339],[-0.4758732626132128,1.6912582232071935]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[0.3360165258573169,0.4414563906183968,0.71338606911949],"aabb_xy":[[0.301016527587197,0.4343822629234086],[0.3710165241274368,0.4485305183133849]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.20138452928215467,-2.2484406772529,0.71338606911949],"aabb_xy":[[-0.21325661229365578,-2.3334406769465503],[-0.18951244627065356,-2.1634406775592496]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.6908085074782326,1.664688709025571,0.71338606911949],"aabb_xy":[[0.6695304993347604,1.599688706699498],[0.7120865156217049,1.7296887113516441]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.023438382665723734,0.6686688895771256,0.71338606911949],"aabb_xy":[[-0.06093838418135544,0.6574421165609804],[0.014061618849907975,0.6798956625932705]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.5671587931198994,-1.8520983711167665,0.71338606911949],"aabb_xy":[[-0.6311587904222457,-1.896464798084623],[-0.5031587958175529,-1.8077319441489095]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.0837816314383042,-0.3179643702757926,0.71338606911949],"aabb_xy":[[-0.1337816308784998,-0.36793229476010886],[-0.03378163199810856,-0.26799644579147625]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.5401172296613392,0.9409160485046755,0.71338606911949],"aabb_xy":[[-0.5601756412745795,0.920850961595518],[-0.520058818048099,0.9609811354138331]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[-0.21542515687398034,-1.243900958146063,0.71338606911949],"aabb_xy":[[-0.24171398119442097,-1.270172391800714],[-0.18913633255353965,-1.2176295244914115]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[0.14856142690031615,-2.266234808224908,0.71338606911949],"aabb_xy":[[0.1286703870199759,-2.2788906195096055],[0.1684524667806564,-2.253578996940212]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[0.546496816062366,-0.21142661645971206,0.71338606911949],"aabb_xy":[[0.5121805388877481,-0.2614266164328898],[0.5808130932369839,-0.16142661648653434]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_30","position":[0.5416461527947063,-2.095659656290863,0.71338606911949],"aabb_xy":[[0.5066461536018879,-2.106626702288525],[0.5766461519875244,-2.0846926102932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847627869125464,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4428.png","name":"4428"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4428.png","name":"4428"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4513.png","name":"4513"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9849.png","name":"9849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3925.png","name":"3925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4399.png","name":"4399"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":817.5681980671902,"rotation_z_degrees":261.6921683323034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014389851819352924,-0.016957282387445014,0.014782471105716111]},{"name":"camera_2","offset_m":[-0.0064801717937506935,0.0037723452428394706,0.0163022931839777]},{"name":"camera_3","offset_m":[-0.002916092317706051,0.01817667298410011,-0.01470925294106523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014496310111456316,-5.493303360993803e-05,-0.0019465786264710242],"end_effector_yaw_offset_degrees":-0.8719818902529808},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011895221768348993,0.0012772467351697663,0.0013340626085444128],"end_effector_yaw_offset_degrees":-0.039968406216169816},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00014626090525938682,-0.00020620020822798317,0.0008254442251533428],"end_effector_yaw_offset_degrees":0.17221975444725302}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014055052003176952,-0.0016440256712553837],"position_m":[0.2083055052003177,0.2651559743287446,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013593725490044263,0.0020846713417462456],"position_m":[0.18844062745099557,0.059684671341746244,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004693519085885664,0.00394361303390921],"position_m":[0.36309351908588566,0.18254361303390923,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018916144652003945,-0.004184480123896266],"position_m":[0.2533916144652004,-0.3695844801238963,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"de2dbebe671cbb9a94237722dc54caf9d0552edab4d3a4910033674f014adffa","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4428/tex_ceiling_textures_4399/tex_floor_textures_3925/tex_table_textures_4513/tex_wall_textures_9849","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5454813315035240843,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5454813315035240843,"visual_seed":5454813315035240843,"scene_id":"lab_003","finished_at":"2026-09-03T09:27:58"} +{"episode_id":"ep_000029","started_at":"2026-09-03T09:28:01","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.16889363379960487,-2.2294692181232056,0.71338606911949],"aabb_xy":[[0.11890052169041301,-2.2794692187974017],[0.2188867459087968,-2.1794692174490105]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.05202444689380503,1.6393902199322308,0.71338606911949],"aabb_xy":[[0.042864567949928434,1.6328590018886935],[0.06118432583768163,1.6459214379757676]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.49229876665285244,0.6416378817359316,0.71338606911949],"aabb_xy":[[0.48042668364135127,0.5566378820422812],[0.5041708496643535,0.7266378814295819]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.2653721301283477,0.707848484304928,0.71338606911949],"aabb_xy":[[0.20537212987694653,0.6535671592684633],[0.3253721303797489,0.7621298093413926]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.06810639796379114,-1.021363320776455,0.71338606911949],"aabb_xy":[[0.018106399317869948,-1.0712828644359171],[0.11810639660971234,-0.9714437771169924]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.6005510130580408,-2.536903049838186,0.71338606911949],"aabb_xy":[[-0.6283960498386479,-2.567687548576498],[-0.5727059762774337,-2.5061185510998745]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[-0.5883677999230683,-0.3361013059968263,0.71338606911949],"aabb_xy":[[-0.6523678019728003,-0.3761957890861342],[-0.5243677978733363,-0.2960068229075183]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.4084169856767157,1.803289527815163,0.71338606911949],"aabb_xy":[[-0.4347058099971563,1.7770180941605116],[-0.382128161356275,1.829560961469814]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.6131873841287203,0.4422432471002966,0.71338606911949],"aabb_xy":[[0.6097467078886631,0.4383818141259322],[0.6166280603687775,0.44610468007466114]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.4476098245654111,-2.3306148236713238,0.71338606911949],"aabb_xy":[[-0.4651098238434979,-2.3479529237376693],[-0.43010982528732417,-2.3132767236049774]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.6008059557449699,-0.8234804672175151,0.71338606911949],"aabb_xy":[[0.5857036542839515,-0.8385819888485766],[0.6159082572059877,-0.808378945586453]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.09647415825656414,-0.898809032556322,0.71338606911949],"aabb_xy":[[-0.1442803258703328,-0.9638090352633809],[-0.04866799064279548,-0.833809029849263]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.3773249295511145,-1.6025944455172119,0.71338606911949],"aabb_xy":[[-0.45732493171387695,-1.6825496291433553],[-0.297324927388352,-1.522639261891068]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.4859823949057996,-0.8671076853817552,0.71338606911949],"aabb_xy":[[-0.4936855855798766,-0.874817056080493],[-0.4782792042317225,-0.859398314683017]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.5358709621159181,1.543558218737513,0.71338606911949],"aabb_xy":[[0.4658709603071727,1.5222044499733256],[0.6058709639246636,1.5649119875017004]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.4628336627953447,0.27120173586373886,0.71338606911949],"aabb_xy":[[-0.49331791292237487,0.22120173608224292],[-0.43234941266831456,0.3212017356452348]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.5337931239638014,1.76189713856648,0.71338606911949],"aabb_xy":[[-0.556293124475842,1.739405280201081],[-0.5112931234517608,1.7843889969318778]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.49804881857590133,-1.2659400282445008,0.71338606911949],"aabb_xy":[[0.4480700100655854,-1.3159400282502196],[0.5480276270862172,-1.215940028238782]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.2689289352342876,-2.24206554378817,0.71338606911949],"aabb_xy":[[0.26023097294357234,-2.2541905180956445],[0.2776268975250029,-2.229940569480695]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.2266214671656191,-1.2942164251936772,0.71338606911949],"aabb_xy":[[-0.23677448271976845,-1.3302859667664173],[-0.2164684516114697,-1.2581468836209366]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[0.005317158673203148,1.1060533946389173,0.71338606911949],"aabb_xy":[[-0.05868284454543471,1.059330282739909],[0.069317161891841,1.1527765065379256]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.5062342796229119,1.1698156499254773,0.71338606911949],"aabb_xy":[[-0.52333635758128,1.1527088443942075],[-0.48913220166454374,1.186922455456747]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.3287119337016299,0.9037805233453118,0.71338606911949],"aabb_xy":[[-0.41871193603564894,0.8262981687601991],[-0.23871193136761082,0.9812628779304244]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.5960240168062827,0.8843399013955535,0.71338606911949],"aabb_xy":[[0.5791132843699408,0.8708676958029389],[0.6129347492426244,0.8978121069881679]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.4829729418764391,-0.7717942559314339,0.71338606911949],"aabb_xy":[[-0.49038539741782755,-0.7776454663530619],[-0.4755604863350506,-0.765943045509806]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.2652327138168151,-1.9423038832391235,0.71338606911949],"aabb_xy":[[-0.31131780507154655,-2.0063038804916786],[-0.21914762256208362,-1.8783038859865684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822333885064897,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4646.png","name":"4646"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4646.png","name":"4646"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1022.png","name":"1022"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/271.png","name":"271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1517.png","name":"1517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9665.png","name":"9665"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":821.1083999924094,"rotation_z_degrees":63.71917839795042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0096722569873566,-0.013248546127812837,-0.012582486785539295]},{"name":"camera_2","offset_m":[-0.005983224197075159,-0.00428133053000216,-0.010641027337479576]},{"name":"camera_3","offset_m":[0.006962565405342409,-0.018112419045908514,0.013599627131600362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007298558093748074,0.0015218232576691133,0.0009343062740833725],"end_effector_yaw_offset_degrees":-0.7822251536194491},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001081980741786189,-0.00032041430059084105,0.0004527245522860093],"end_effector_yaw_offset_degrees":-0.28820960330508627},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015506239725477542,-0.0007205917819030142,0.0003796657571823749],"end_effector_yaw_offset_degrees":-0.7905579815853481}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003777174676798464,-0.0030475552171282715],"position_m":[0.20312282532320153,0.2637524447828717,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003378477880931507,-0.0009300300958942553],"position_m":[0.1931784778809315,0.05666996990410574,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049553002644681906,0.0003006712349275112],"position_m":[0.36335530026446816,0.17890067123492753,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003906068123617915,-0.001837421334985362],"position_m":[0.2518906068123618,-0.3672374213349854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b650205b00f29649ad62005cbfcb327d2b1f6f8b1071e1a010b248adbd25103","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4646/tex_ceiling_textures_9665/tex_floor_textures_1517/tex_table_textures_1022/tex_wall_textures_271","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3720041744315979994,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3720041744315979994,"visual_seed":3720041744315979994,"scene_id":"lab_003","finished_at":"2026-09-03T09:30:52"} +{"episode_id":"ep_000030","started_at":"2026-09-03T09:30:54","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.348373554312146,-1.860763298963585,0.71338606911949],"aabb_xy":[[0.33058004737722957,-1.8785630445593828],[0.36616706124706244,-1.8429635533677875]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.3581324002274806,-0.8117022241810359,0.71338606911949],"aabb_xy":[[0.3468873446568627,-0.8229440219051313],[0.3693774557980984,-0.8004604264569407]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.2507994405057745,-2.3810944472704927,0.71338606911949],"aabb_xy":[[-0.27329944101781506,-2.4035863056358906],[-0.22829943999373387,-2.358602588905094]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.6289423557234515,0.36804164151452445,0.71338606911949],"aabb_xy":[[0.5739501050879405,0.3130416397712117],[0.6839346063589624,0.4230416432578373]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.06198615545628483,-2.1998251119140977,0.71338606911949],"aabb_xy":[[0.045075423019943044,-2.213297317506712],[0.0788968878926266,-2.1863529063214826]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.23568919282631018,1.0540502612834026,0.71338606911949],"aabb_xy":[[-0.30068919393225346,1.0290848882152746],[-0.1706891917203669,1.0790156343515311]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.27357672760581675,0.8817233192518912,0.71338606911949],"aabb_xy":[[0.26428310936866617,0.8442233207637572],[0.28287034584296733,0.919223317740025]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.16875498675146383,0.2651267793756613,0.71338606911949],"aabb_xy":[[-0.1806877211132919,0.25274462656780194],[-0.15682225238963576,0.2775089321835207]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.5120194774065245,-1.034719023704242,0.71338606911949],"aabb_xy":[[-0.5670194756082693,-1.0752409903306794],[-0.45701947920477964,-0.9941970570778044]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.4779726646566844,0.29130742233307005,0.71338606911949],"aabb_xy":[[0.4723909930225557,0.27880742251529456],[0.48355433629081324,0.30380742215084555]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.11434382297029311,1.7566860944309224,0.71338606911949],"aabb_xy":[[-0.16147320197212878,1.6926860933865202],[-0.06721444396845742,1.8206860954753241]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[0.6062251904912854,0.6396482252817624,0.71338606911949],"aabb_xy":[[0.5762576335814598,0.6096482249838766],[0.6361927474011111,0.6696482255796481]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.17827700309503813,0.6861990364352999,0.71338606911949],"aabb_xy":[[0.16640492008353702,0.6011990367416494],[0.19014908610653924,0.7711990361289501]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.4271224514290088,0.6751486201440531,0.71338606911949],"aabb_xy":[[-0.44961887286287283,0.6526486203373056],[-0.40462602999514463,0.6976486199508005]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.3247861960443758,-2.0734675865343775,0.71338606911949],"aabb_xy":[[-0.3887861924716977,-2.120637210356474],[-0.2607861996170539,-2.026297962712281]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[0.36187921298880754,-0.9239194762812795,0.71338606911949],"aabb_xy":[[0.31187921196967233,-0.9603856920191074],[0.4118792140079429,-0.8874532605434515]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.014183916039383737,-2.1060709877223496,0.71338606911949],"aabb_xy":[[0.006147581338098895,-2.1141091070267657],[0.02222025074066858,-2.0980328684179326]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.06807143763093093,-1.8115250134475605,0.71338606911949],"aabb_xy":[[-0.1280714378823321,-1.8658063384840247],[-0.008071437379529742,-1.7572436884110954]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.30837729802992003,-0.34362095652732183,0.71338606911949],"aabb_xy":[[-0.3505617121907507,-0.40762095680453303],[-0.26619288386908924,-0.27962095625011063]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.25265815633391353,-0.8020006715189469,0.71338606911949],"aabb_xy":[[0.24005545719683707,-0.8145960677438125],[0.26526085547099,-0.7894052752940816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815124279836122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7608.png","name":"7608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7608.png","name":"7608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1973.png","name":"1973"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6636.png","name":"6636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8092.png","name":"8092"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5783.png","name":"5783"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":691.7727271762291,"rotation_z_degrees":223.82387709820142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012620150657038677,0.01236377652359755,0.01577782900174052]},{"name":"camera_2","offset_m":[-0.010207108915554977,-0.00122702505381541,0.003524009639278406]},{"name":"camera_3","offset_m":[0.015926428428630148,-0.0013553597881827521,-0.015114830155919341]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011101999178137062,-0.0018582492416084953,-0.001087616799930928],"end_effector_yaw_offset_degrees":-0.9189254788690733},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018793385401277268,0.0012634092823871168,-0.0005336312338963887],"end_effector_yaw_offset_degrees":0.6869193464160579},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013429031447179337,-0.0007988241150227884,0.0018553286554411556],"end_effector_yaw_offset_degrees":-0.20420283394710292}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028036955538166446,-0.003457474693982515],"position_m":[0.20970369555381665,0.2633425253060175,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004763796888497239,-0.0024729781306257284],"position_m":[0.19456379688849723,0.05512702186937427,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029594492542918925,-0.004595347652880858],"position_m":[0.35544055074570813,0.17400465234711915,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002420428609710116,-0.0048763906276573865],"position_m":[0.24907957139028988,-0.3702763906276574,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7be34c7a2edf0d7b23c4d3bae0e88296a823d9be325fe51110f6d156d51c1f95","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7608/tex_ceiling_textures_5783/tex_floor_textures_8092/tex_table_textures_1973/tex_wall_textures_6636","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8787951085124235728,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8787951085124235728,"visual_seed":8787951085124235728,"scene_id":"lab_003","finished_at":"2026-09-03T09:33:35"} +{"episode_id":"ep_000031","started_at":"2026-09-03T09:33:39","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.015196311902144655,-1.568704403499644,0.71338606911949],"aabb_xy":[[-0.06480369026061783,-1.6486595871257876],[0.09519631406490714,-1.4887492198735004]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.20800676069356971,-1.9262280325511798,0.71338606911949],"aabb_xy":[[0.18609807855421864,-1.9481286993712705],[0.22991544283292073,-1.904327365731089]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.38832643776872205,-1.8586466952705165,0.71338606911949],"aabb_xy":[[-0.4383106734768993,-1.9086466940840123],[-0.3383422020605448,-1.8086466964570211]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.04379758700534242,0.46087721803615445,0.71338606911949],"aabb_xy":[[-0.06597011398199323,0.4387015508800312],[-0.021625060028691568,0.48305288519227757]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.5581593273634509,0.8452744247762722,0.71338606911949],"aabb_xy":[[-0.5756593266415377,0.8279363247099262],[-0.540659328085364,0.8626125248426181]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.000636407022861718,-0.7517693922071671,0.71338606911949],"aabb_xy":[[-0.0506138238881153,-0.8017693936964154],[0.04934100984239186,-0.7017693907179183]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[-0.5819711328735672,-0.8259057346078886,0.71338606911949],"aabb_xy":[[-0.6320685968546409,-0.8899057351177004],[-0.5318736688924937,-0.7619057340980768]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.41762378870227845,-1.1771772573660002,0.71338606911949],"aabb_xy":[[0.3526237905463594,-1.2034735019159122],[0.4826237868581975,-1.1508810128160878]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.43421738061103987,-1.3322623261841526,0.71338606911949],"aabb_xy":[[0.3892173791448111,-1.3772621830456333],[0.47921738207726877,-1.287262469322672]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.3552146858424239,1.4133086035127618,0.71338606911949],"aabb_xy":[[0.3375390552538255,1.3956283872333588],[0.37289031643102216,1.4309888197921643]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.03583438818465934,-2.414572373049389,0.71338606911949],"aabb_xy":[[0.027032332875686623,-2.422383699204318],[0.04463644349363204,-2.40676104689446]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.37915039958197005,0.4545110627148894,0.71338606911949],"aabb_xy":[[0.28915040098750017,0.43826047640146837],[0.46915039817644005,0.4707616490283104]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.4213473607673094,-0.28976434901037296,0.71338606911949],"aabb_xy":[[-0.43218783899382424,-0.30695063030102177],[-0.4105068825407944,-0.27257806771972415]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.14532585006627663,0.8900977002061441,0.71338606911949],"aabb_xy":[[0.08132584838827928,0.8415803087268298],[0.20932585174427398,0.9386150916854582]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[0.01755165718667928,-2.279886786744363,0.71338606911949],"aabb_xy":[[0.0067786832653115026,-2.314886784963402],[0.02832463110804706,-2.244886788525324]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.13377030471165618,1.4244308734012159,0.71338606911949],"aabb_xy":[[-0.15131699962777512,1.3869308718369648],[-0.11622360979553725,1.4619308749654674]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[-0.3361182423955237,0.5220160131794693,0.71338606911949],"aabb_xy":[[-0.340753357547757,0.5181486781023206],[-0.33148312724329027,0.5258833482566179]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.525307667762946,1.3791435847632565,0.71338606911949],"aabb_xy":[[0.48400312469921003,1.3151435851951394],[0.566612210826682,1.4431435843313736]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.03406739777695489,-1.1555377442423647,0.71338606911949],"aabb_xy":[[-0.029932599525391512,-1.1999041712102214],[0.09806739507930129,-1.111171317274508]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.07688426636551882,-1.9585113805293068,0.71338606911949],"aabb_xy":[[-0.08729582504600251,-1.963857113865205],[-0.06647270768503509,-1.9531656471934082]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.07696898892266923,-0.5161831949146327,0.71338606911949],"aabb_xy":[[-0.09454729111161608,-0.5337576844887376],[-0.059390686733722386,-0.4986087053405278]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.5216437554897502,-1.1543742899938463,0.71338606911949],"aabb_xy":[[-0.5279558550260885,-1.1601412292470652],[-0.5153316559534118,-1.1486073507406274]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.20457981928615665,1.6672649540142266,0.71338606911949],"aabb_xy":[[0.15457981892559056,1.6172849668046234],[0.25457981964672266,1.7172449412238293]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.19788060955327375,-0.36574926715955014,0.71338606911949],"aabb_xy":[[-0.21050739684047004,-0.37529534086112304],[-0.18525382226607734,-0.35620319345797724]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.46447152857657037,-0.524580814272769,0.71338606911949],"aabb_xy":[[-0.4723948088153187,-0.5470808145107724],[-0.45654824833782204,-0.5020808140347657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6748563790853024,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/499.png","name":"499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/499.png","name":"499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2133.png","name":"2133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1144.png","name":"1144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1802.png","name":"1802"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":610.2135896991213,"rotation_z_degrees":158.52843203057319,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01793667499948129,-0.009119723085422726,2.4217572896233913e-05]},{"name":"camera_2","offset_m":[0.015905502943070648,-0.006972597093902487,-0.011776864378694666]},{"name":"camera_3","offset_m":[-0.009829517876519946,0.011680393665799874,-0.01705109411018364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001305413523597978,0.0009412224356266947,-0.00012262236428917822],"end_effector_yaw_offset_degrees":-0.043396815292448654},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010469767638693799,0.001886240717000076,4.0975370166848515e-05],"end_effector_yaw_offset_degrees":-0.3830755035177149},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000805623418792777,-0.001614549724701948,-0.0014728967658934364],"end_effector_yaw_offset_degrees":0.9005037447768054}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034198400009265574,0.0003173227372108593],"position_m":[0.20348015999907346,0.26711732273721084,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007938384952799436,0.003964326015084357],"position_m":[0.18900616150472005,0.06156432601508435,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003376617772513863,0.0029991759826556883],"position_m":[0.36177661777251385,0.1815991759826557,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004845823892004918,0.003673376264767711],"position_m":[0.2466541761079951,-0.3617266237352323,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1d4337756051d02354b479438c44b908e858c3ea8623602ef0ddeef48a5b8b21","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_499/tex_ceiling_textures_1802/tex_floor_textures_1144/tex_table_textures_2133/tex_wall_textures_376","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8414591612757984633,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8414591612757984633,"visual_seed":8414591612757984633,"scene_id":"lab_003","finished_at":"2026-09-03T09:36:26"} +{"episode_id":"ep_000032","started_at":"2026-09-03T09:36:29","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.6157074207288578,1.507622859423178,0.71338606911949],"aabb_xy":[[0.5807074207523619,1.4981582433755616],[0.6507074207053536,1.5170874754707948]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.43292769409029314,1.507820529026986,0.71338606911949],"aabb_xy":[[-0.4409710540162483,1.4228205279316195],[-0.42488433416433796,1.5928205301223524]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.5556397019001389,-2.065399738638081,0.71338606911949],"aabb_xy":[[-0.5726497991901895,-2.081534227136355],[-0.5386296046100882,-2.049265250139807]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.6518028514889063,0.2365078215542451,0.71338606911949],"aabb_xy":[[0.6173403734758184,0.22984414437132228],[0.6862653295019939,0.24317149873716792]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.4359750573279298,-2.3276136102406557,0.71338606911949],"aabb_xy":[[-0.4999750580313992,-2.373631992713577],[-0.37197505662446045,-2.281595227767735]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.4856714308544967,-0.9686560945844671,0.71338606911949],"aabb_xy":[[0.4556797681206263,-0.9986560939212675],[0.515663093588367,-0.9386560952476665]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.36531876220084225,-2.0057989749859364,0.71338606911949],"aabb_xy":[[0.30031876124371504,-2.0577471869196415],[0.43031876315796946,-1.9538507630522306]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.5065135520663843,-1.401006516693386,0.71338606911949],"aabb_xy":[[-0.5289783220377893,-1.4235065175722463],[-0.48404878209497904,-1.3785065158145253]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.484711532025321,0.6159276730209879,0.71338606911949],"aabb_xy":[[0.45971153209280324,0.6090450048000646],[0.509711531957839,0.6228103412419113]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.4206986140085448,0.6261815089047293,0.71338606911949],"aabb_xy":[[-0.42881226868192185,0.6180756924507003],[-0.41258495933516764,0.6342873253587584]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.5006606085421108,0.27594222133772517,0.71338606911949],"aabb_xy":[[0.45066060752297565,0.2394760055998973],[0.5506606095612462,0.31240843707555316]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.6082760460649395,-0.0011825937749136983,0.71338606911949],"aabb_xy":[[0.5583029805324241,-0.051182593587446604],[0.658249111597455,0.04881740603761921]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.25247448589415755,0.8395153789759644,0.71338606911949],"aabb_xy":[[0.18847448949858447,0.7755520905572308],[0.31647448228973063,0.903478667394698]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.48842006966125373,-0.12699949508113928,0.71338606911949],"aabb_xy":[[0.47554816616031353,-0.20699949549497543],[0.5012919731621938,-0.04699949466730315]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.35988495823260874,-1.0740311224186656,0.71338606911949],"aabb_xy":[[-0.37994336984584903,-1.094096209327823],[-0.33982654661936845,-1.0539660355095082]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.4586231478328793,-1.0251008897127953,0.71338606911949],"aabb_xy":[[-0.4961231481811069,-1.036892285293879],[-0.4211231474846514,-1.0133094941317118]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.4115390547442114,1.1765655491036568,0.71338606911949],"aabb_xy":[[-0.4465390530549068,1.1688505341801114],[-0.37653905643351593,1.1842805640272027]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.3666939764637984,1.6536799234954835,0.71338606911949],"aabb_xy":[[0.3166939755132655,1.622130776491962],[0.4166939774143311,1.6852290704990047]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.42953318285492403,-1.6983631752960093,0.71338606911949],"aabb_xy":[[0.35953318104617854,-1.7197169440601965],[0.4995331846636694,-1.6770094065318217]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.4468054797223732,-0.4427428403278122,0.71338606911949],"aabb_xy":[[-0.4619776490040066,-0.45791169725601555],[-0.43163331044073994,-0.42757398339960884]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.27129658745279694,1.7414943477908822,0.71338606911949],"aabb_xy":[[-0.34129658386275863,1.7210564121392],[-0.20129659104283507,1.7619322834425635]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.6691097931941961,-1.991845406751393,0.71338606911949],"aabb_xy":[[0.6469372662175452,-2.014021073907516],[0.6912823201708469,-1.96966973959527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6798490927548285,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7995.png","name":"7995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7995.png","name":"7995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5216.png","name":"5216"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1341.png","name":"1341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9264.png","name":"9264"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":570.4514277962949,"rotation_z_degrees":78.09850213203264,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01579946254013782,0.005989597385661294,0.015614097565429422]},{"name":"camera_2","offset_m":[-0.004535080547382227,0.00163886260681868,-0.01467766725979991]},{"name":"camera_3","offset_m":[-0.017205272791210372,-0.0017919855334298865,0.0018297002357111798]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[3.5212122697855525e-05,-0.0019114888612335032,-0.0011289785062585894],"end_effector_yaw_offset_degrees":-0.6742476604469008},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015737735462558041,-0.0016739313356938662,-0.0009521077100277183],"end_effector_yaw_offset_degrees":-0.032078076860082794},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00037920337320458686,0.0006595575738987352,0.0001900638089077462],"end_effector_yaw_offset_degrees":-0.13088138164745677}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015049833611021739,-0.004522335386066006],"position_m":[0.20840498336110216,0.262277664613934,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002072712352051054,2.6840352555493677e-05],"position_m":[0.19187271235205106,0.05762684035255549,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003001569508470984,0.000188105698904973],"position_m":[0.36140156950847097,0.178788105698905,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013372841844382496,0.00411573645364078],"position_m":[0.25283728418443824,-0.36128426354635923,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"82c037ddd4fa7d928caa4f8f71bcb86574860e498c2f99e79fbe337ca576f6c6","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7995/tex_ceiling_textures_9264/tex_floor_textures_1341/tex_table_textures_8164/tex_wall_textures_5216","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3382162033199039226,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3382162033199039226,"visual_seed":3382162033199039226,"scene_id":"lab_003","finished_at":"2026-09-03T09:39:10"} +{"episode_id":"ep_000033","started_at":"2026-09-03T09:39:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.0014764695928650706,-1.8887421066237278,0.71338606911949],"aabb_xy":[[-0.03897647110849678,-1.8999688796398726],[0.03602353192276664,-1.8775153336075825]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.6170475020697466,0.7583845860583733,0.71338606911949],"aabb_xy":[[-0.623359601606085,0.7526176468051545],[-0.6107354025334082,0.7641515253115921]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.25613800930060016,-0.9979628579851867,0.71338606911949],"aabb_xy":[[-0.3361380103737205,-1.0077409043225711],[-0.17613800822747983,-0.9881848116478023]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.047510877838557564,-1.3404585128467241,0.71338606911949],"aabb_xy":[[-0.01648912242191324,-1.385467312199652],[0.11151087809902838,-1.295449713493796]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.20454912595799601,0.13358900697619447,0.71338606911949],"aabb_xy":[[-0.21013079759212477,0.12108900715841896],[-0.19896745432386725,0.14608900679396994]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.21537621536738488,1.299863509067447,0.71338606911949],"aabb_xy":[[-0.2366542235108571,1.234863506741374],[-0.1940982072239126,1.3648635113935201]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.27537725792806456,-1.617706774823764,0.71338606911949],"aabb_xy":[[-0.2928772581874012,-1.631798317012537],[-0.25787725766872793,-1.6036152326349917]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.42838826099271143,-2.3531790020431544,0.71338606911949],"aabb_xy":[[0.3643882602892421,-2.3991973845160754],[0.49238826169618083,-2.3071606195702334]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.415307995540817,1.612050222808572,0.71338606911949],"aabb_xy":[[-0.4271800785523181,1.5270502231149214],[-0.4034359125293159,1.6970502225022221]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.5655524092715876,0.6124192772809307,0.71338606911949],"aabb_xy":[[0.5466680255030775,0.593533352500578],[0.5844367930400979,0.6313052020612836]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.5176315976390458,-1.73306197623544,0.71338606911949],"aabb_xy":[[0.5096381078437637,-1.741060108175916],[0.5256250874343278,-1.7250638442949648]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.5389440538974426,0.21114519294781342,0.71338606911949],"aabb_xy":[[-0.5487000434066165,0.20138265888857895],[-0.5291880643882687,0.22090772700704783]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.30055995431022964,-0.4423972391571227,0.71338606911949],"aabb_xy":[[-0.3380599544821016,-0.4750979745400299],[-0.2630599541383577,-0.4096965037742155]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.3918693691551372,0.24522889405412052,0.71338606911949],"aabb_xy":[[-0.44184266315839765,0.19522889349957318],[-0.34189607515187675,0.29522889460866786]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.5584427785304575,-2.5486309436491057,0.71338606911949],"aabb_xy":[[0.5520289648872725,-2.5550407638967734],[0.5648565921736424,-2.5422211234014362]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.5921501588335529,0.4469829384852302,0.71338606911949],"aabb_xy":[[-0.6571501597906801,0.3950347265515246],[-0.5271501578764257,0.49893115041893576]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.474706486400277,-0.9174015199381018,0.71338606911949],"aabb_xy":[[0.3850194100921615,-1.0074015201925524],[0.5643935627083925,-0.8274015196836512]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.48263016523959923,0.4496061866855552,0.71338606911949],"aabb_xy":[[0.46513016499454984,0.43210639884598834],[0.5001301654846486,0.46710597452512204]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.2068511477522671,0.5389671981600026,0.71338606911949],"aabb_xy":[[-0.2443511480444419,0.534925722759399],[-0.16935114746009228,0.5430086735606062]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.050232622015941364,1.3390946409641158,0.71338606911949],"aabb_xy":[[-0.08452953303368199,1.3047977547541745],[-0.015935710998200736,1.373391527174057]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[-0.28927962674020863,-1.9718230717051979,0.71338606911949],"aabb_xy":[[-0.369279624143802,-2.0518156429033803],[-0.20927962933661517,-1.8918305005070148]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.439904321494311,-0.5927867467293564,0.71338606911949],"aabb_xy":[[-0.503904323714718,-0.6371598308546446],[-0.375904319273904,-0.548413662604068]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[-0.36453644273809027,-0.8219109222797925,0.71338606911949],"aabb_xy":[[-0.4010322633653689,-0.8583948647065501],[-0.3280406221108114,-0.785426979853035]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.6283335416559621,0.15224055531021508,0.71338606911949],"aabb_xy":[[-0.652847165752968,0.12797596200817862],[-0.6038199175589563,0.17650514861225153]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.6681818450416679,-0.5365201831729927,0.71338606911949],"aabb_xy":[[0.6131863672210084,-0.5915201846068995],[0.7231773228623272,-0.4815201817390856]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[-0.2882135853802627,-0.61492564630372,0.71338606911949],"aabb_xy":[[-0.2999817721749202,-0.6999256462089416],[-0.2764453985856052,-0.5299256463984985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6758152131990408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4903.png","name":"4903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1255.png","name":"1255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3936.png","name":"3936"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3489.png","name":"3489"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":558.1136377795594,"rotation_z_degrees":233.56274624091637,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014943247953254392,-0.006585513242367939,0.010011174335794924]},{"name":"camera_2","offset_m":[-0.007959251853342062,0.010095884351129063,-0.006606045833023998]},{"name":"camera_3","offset_m":[0.006722551352884042,-0.015783641366445705,-0.00014940590259736666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016904847430705468,0.0003440449694076986,-0.001006310606782292],"end_effector_yaw_offset_degrees":0.5048942960198564},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002674944890839418,-0.0016032033801690257,0.0017547492793416465],"end_effector_yaw_offset_degrees":0.9712957813681362},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009578415795929698,-0.00034191402203131516,-0.00036298069350450745],"end_effector_yaw_offset_degrees":-0.6032068580870891}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027521664741488603,0.0037801469579591867],"position_m":[0.20965216647414886,0.2705801469579592,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003788039567374171,0.0026251176504555104],"position_m":[0.19358803956737416,0.06022511765045551,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00010021016557346888,-0.004164407077259799],"position_m":[0.3582997898344265,0.17443559292274022,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004345768661573169,0.002672591261260217],"position_m":[0.24715423133842684,-0.36272740873873976,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f64b477ee720814c8d19ee32709cf0dfc5b61e5f6159bef182e00527aaa7d26b","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4608/tex_ceiling_textures_3489/tex_floor_textures_3936/tex_table_textures_4903/tex_wall_textures_1255","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6953625567499261705,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6953625567499261705,"visual_seed":6953625567499261705,"scene_id":"lab_003","finished_at":"2026-09-03T09:41:51"} +{"episode_id":"ep_000034","started_at":"2026-09-03T09:41:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.5292267274024567,-1.0936097708183583,0.71338606911949],"aabb_xy":[[0.48704231324162595,-1.1576097710955697],[0.5714111415632874,-1.0296097705411473]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.1271707340939594,-1.6794307365441055,0.71338606911949],"aabb_xy":[[0.09602381525037629,-1.7494307352309124],[0.15831765293754252,-1.609430737857298]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.6280046440670561,1.2369038013344387,0.71338606911949],"aabb_xy":[[0.5680046442204895,1.1800851791413998],[0.688004643913623,1.2937224235274771]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.0703134800873304,-2.54606641480732,0.71338606911949],"aabb_xy":[[-0.0928134803308458,-2.558271049467092],[-0.04781347984381501,-2.5338617801475483]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.5001986255496638,1.3793900452423231,0.71338606911949],"aabb_xy":[[-0.5651986281874573,1.3279104465428762],[-0.4351986229118703,1.43086964394177]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.2616637153151571,0.9138149457188915,0.71338606911949],"aabb_xy":[[0.2552499016719721,0.9074051254712231],[0.26807752895834197,0.9202247659665598]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.1549973127301597,-2.010122021995878,0.71338606911949],"aabb_xy":[[0.1458374337862831,-2.016653240039415],[0.1641571916740363,-2.003590803952341]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.15843552108532155,-1.8621274756170818,0.71338606911949],"aabb_xy":[[-0.18093552159736212,-1.88461933398248],[-0.13593552057328093,-1.8396356172516832]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.42574560621729635,-2.407209991237322,0.71338606911949],"aabb_xy":[[-0.44180753367581393,-2.4922099930499133],[-0.40968367875877865,-2.3222099894247297]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.37220320743204716,0.5253253051627524,0.71338606911949],"aabb_xy":[[-0.37616369120178156,0.5176574405772318],[-0.36824272366231287,0.532993169748273]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.08250192090735453,-1.0568341269280865,0.71338606911949],"aabb_xy":[[-0.09838641417267968,-1.0711870672269104],[-0.06661742764202938,-1.0424811866292623]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.6188914484942103,1.6838978324311573,0.71338606911949],"aabb_xy":[[0.5388914452363673,1.6039013246391733],[0.6988914517520532,1.7638943402231413]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.6377883699510901,0.5785330060224565,0.71338606911949],"aabb_xy":[[-0.67341752585105,0.5429003392656035],[-0.6021592140511305,0.6141656727793094]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.04376027425554874,-1.779015247370943,0.71338606911949],"aabb_xy":[[-0.06077037154559938,-1.7951497358692168],[-0.026750176965498078,-1.762880758872669]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.548582634785119,0.453556048142032,0.71338606911949],"aabb_xy":[[0.48858263427726617,0.3967093144561107],[0.608582635292972,0.5104027818279533]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.26965607524811047,-0.23950170019265737,0.71338606911949],"aabb_xy":[[-0.2790735498179732,-0.24891787733037637],[-0.2602386006782477,-0.23008552305493832]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.11703384800300431,-2.535872260412839,0.71338606911949],"aabb_xy":[[0.05303384566020276,-2.5808131116569717],[0.18103385034580588,-2.4909314091687067]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.6791874323868492,-0.805213117650192,0.71338606911949],"aabb_xy":[[-0.6872307923128045,-0.8902131187455584],[-0.6711440724608941,-0.7202131165548256]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.6169262447657299,1.6140311859398389,0.71338606911949],"aabb_xy":[[-0.6223841904027498,1.5340311826321797],[-0.6114682991287097,1.694031189247498]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.6203082016891353,-1.42509464299998,0.71338606911949],"aabb_xy":[[0.6011958943311564,-1.4442294218772223],[0.6394205090471141,-1.4059598641227382]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.3045141939825841,-0.3535525876034211,0.71338606911949],"aabb_xy":[[-0.33795436917860366,-0.38699621343435114],[-0.27107401878656445,-0.320108961772491]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.25583490214585597,1.2137967472426041,0.71338606911949],"aabb_xy":[[-0.2933349026432142,1.2098280636944854],[-0.21833490164849773,1.2177654307907224]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[0.4854216962152478,-1.9965764475682617,0.71338606911949],"aabb_xy":[[0.4817184348861088,-2.000278465876979],[0.4891249575443866,-1.9928744292595437]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[0.649697921857026,0.19226102647883136,0.71338606911949],"aabb_xy":[[0.6018917542432572,0.12726102377177242],[0.6975040894707946,0.25726102918589033]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[-0.5564709970954421,-1.549574679417641,0.71338606911949],"aabb_xy":[[-0.5645986852887553,-1.5584882878283488],[-0.5483433089021289,-1.5406610710069333]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[0.6012676698652226,0.6607369805592342,0.71338606911949],"aabb_xy":[[0.5668051918521348,0.6540733033763113],[0.6357301478783104,0.667400657742157]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_26","position":[0.23290456802735826,-2.320875704005563,0.71338606911949],"aabb_xy":[[0.1964087474000795,-2.3573596464323208],[0.269400388654637,-2.2843917615788056]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[0.6912954706170376,-1.5323960455591534,0.71338606911949],"aabb_xy":[[0.6871596142843374,-1.5698960450035104],[0.6954313269497377,-1.4948960461147964]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[0.006808374813215279,0.8192720036783356,0.71338606911949],"aabb_xy":[[-0.05819162522108745,0.7725713269980083],[0.07180837484751801,0.8659726803586629]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[0.09016235711918441,-1.31181370946942,0.71338606911949],"aabb_xy":[[0.03516235749743857,-1.3667974022568927],[0.14516235674093025,-1.2568300166819473]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_30","position":[0.431598771558505,-0.21162319579020306,0.71338606911949],"aabb_xy":[[0.4065987716259871,-0.2185058640111264],[0.4565987714910229,-0.20474052756927977]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_31","position":[0.25916327742124856,1.2319978330603294,0.71338606911949],"aabb_xy":[[0.2498162698389534,1.2176942108426856],[0.26851028500354385,1.2463014552779736]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6786441020620352,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8098.png","name":"8098"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8098.png","name":"8098"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6910.png","name":"6910"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6800.png","name":"6800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3375.png","name":"3375"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9631.png","name":"9631"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":554.3987753018819,"rotation_z_degrees":242.44161219864256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018981329565980407,6.474879982934847e-05,0.01332366078517409]},{"name":"camera_2","offset_m":[-0.014767626203991356,-0.0035112745183975974,-0.002457030797801813]},{"name":"camera_3","offset_m":[-0.015929984860645417,0.01371626121910902,0.009513744812995134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019243820326108403,-0.0013162466100684654,0.0008701793833023031],"end_effector_yaw_offset_degrees":0.2660604468642145},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00038642849908574915,-0.0012995768120059284,-0.0005806892229661025],"end_effector_yaw_offset_degrees":-0.4019217911124531},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008013788783518133,0.0009532311865266046,-0.0019295817930292504],"end_effector_yaw_offset_degrees":0.31256983881154254}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009377875627375716,-0.0029519185943047556],"position_m":[0.20783778756273757,0.2638480814056952,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013166012153652852,0.004497860937291802],"position_m":[0.19111660121536528,0.0620978609372918,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002829295031506595,-0.003628023780184536],"position_m":[0.3581170704968493,0.17497197621981547,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.1819752687942587e-05,0.004318578664254326],"position_m":[0.25154181975268797,-0.36108142133574567,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"db0843403ba8dc2d37ed4db2388bb51d45d20457bc4a6bc8ecdbacb71ade7b7f","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8098/tex_ceiling_textures_9631/tex_floor_textures_3375/tex_table_textures_6910/tex_wall_textures_6800","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8804369916305912868,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8804369916305912868,"visual_seed":8804369916305912868,"scene_id":"lab_003","finished_at":"2026-09-03T09:44:32"} +{"episode_id":"ep_000035","started_at":"2026-09-03T09:44:35","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.19364774965652853,1.324546941960394,0.71338606911949],"aabb_xy":[[0.13865453831939176,1.2695469416216005],[0.24864096099366528,1.3795469422991877]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.3942729741742787,-2.5078957107191693,0.71338606911949],"aabb_xy":[[-0.48427297389745283,-2.5309690632543487],[-0.30427297445110446,-2.484822358183989]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.3233153771752413,0.5278460990306479,0.71338606911949],"aabb_xy":[[0.24331537391739833,0.44784959123866386],[0.40331538043308424,0.6078426068226318]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.6676711993587876,-1.855939099829211,0.71338606911949],"aabb_xy":[[0.656102218611851,-1.8809390999461426],[0.6792401801057242,-1.8309390997122792]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[0.0059832740152409025,-2.0428373899863432,0.71338606911949],"aabb_xy":[[-0.06401672811618864,-2.0655993556120387],[0.07598327614667044,-2.020075424360647]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.605911649367424,-0.44418201882769415,0.71338606911949],"aabb_xy":[[-0.6233423644464304,-0.46145413349154485],[-0.5884809342884174,-0.4269099041638432]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.44019353917793774,-0.00024948071282837603,0.71338606911949],"aabb_xy":[[-0.504193539881407,-0.04626786318574939],[-0.37619353847446846,0.045768901760092635]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.39310669218189287,-2.2853031824189713,0.71338606911949],"aabb_xy":[[-0.47810669087396757,-2.31728904581385],[-0.3081066934898183,-2.2533173190240925]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.07931663190259008,0.968325880373134,0.71338606911949],"aabb_xy":[[-0.09711013883750653,0.9505261347773363],[-0.06152312496767366,0.9861256259689316]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.0826531042652846,1.3064302191759687,0.71338606911949],"aabb_xy":[[-0.1051495256991487,1.2839302193692212],[-0.060156682831420505,1.3289302189827161]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.02038359306380433,-2.5542051014329394,0.71338606911949],"aabb_xy":[[-0.10038359007805231,-2.57433965310635],[0.05961640395044365,-2.534070549759528]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.41181047595120407,-2.106797787793289,0.71338606911949],"aabb_xy":[[-0.501810474545674,-2.1230483741067103],[-0.3218104773567341,-2.0905472014798687]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.2544818662263013,-2.1441344700431575,0.71338606911949],"aabb_xy":[[0.24636821155292415,-2.1522402864971864],[0.26259552089967836,-2.1360286535891277]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.10104759777961314,-1.4408130052265158,0.71338606911949],"aabb_xy":[[-0.12604759771213103,-1.447695673447439],[-0.07604759784709525,-1.4339303370055925]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.3282517741712397,0.5635226377717184,0.71338606911949],"aabb_xy":[[-0.3332077943561209,0.5410226375695969],[-0.32329575398635846,0.5860226379738401]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.44731263809926225,1.0202818521679116,0.71338606911949],"aabb_xy":[[0.40998136157401965,0.9856287973730595],[0.48464391462450485,1.054934906962764]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.35328847067652225,-1.6163267875513978,0.71338606911949],"aabb_xy":[[0.3386450651224892,-1.630985507208182],[0.3679318762305552,-1.6016680678946136]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.6695173447388696,-2.5475212388813335,0.71338606911949],"aabb_xy":[[0.6391192336397259,-2.577928140883003],[0.6999154558380131,-2.517114336879664]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.030650046433121303,-0.8039846892901632,0.71338606911949],"aabb_xy":[[-0.08828051532039215,-0.8639846882168737],[0.026980422454149548,-0.7439846903634526]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[0.3302684297971945,-0.9167096349701711,0.71338606911949],"aabb_xy":[[0.2652684316412755,-0.9430058795200833],[0.3952684279531136,-0.8904133904202589]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.3609619723197355,-0.5395513520758355,0.71338606911949],"aabb_xy":[[-0.3650401302267852,-0.5436323323240988],[-0.35688381441268574,-0.5354703718275722]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.4534911368790291,-2.5039780689741535,0.71338606911949],"aabb_xy":[[0.4159911365868542,-2.5080195443747573],[0.49099113717120385,-2.49993659357355]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.6178808343041262,1.6562623500313456,0.71338606911949],"aabb_xy":[[0.611467020660941,1.6498525297836772],[0.6242946479473109,1.662672170279014]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.08818232047548802,0.826923961373708,0.71338606911949],"aabb_xy":[[-0.11447114479592867,0.8006525277190567],[-0.06189349615504735,0.8531953950283592]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.36019447287281686,0.8662175241326207,0.71338606911949],"aabb_xy":[[-0.3689965281817896,0.8584061979776915],[-0.35139241756384415,0.8740288502875496]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[0.6298751688887019,0.16338148115227646,0.71338606911949],"aabb_xy":[[0.6048751696167395,0.1470361175561141],[0.654875168160664,0.17972684474843878]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[0.2032830964888771,-2.4404260285954433,0.71338606911949],"aabb_xy":[[0.1432830962374759,-2.4947073536319078],[0.2632830967402783,-2.386144703558979]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_27","position":[0.14311228157195965,-1.6713594206233173,0.71338606911949],"aabb_xy":[[0.07311227996968017,-1.684792213824975],[0.21311228317423914,-1.6579266274216597]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.28872043013820015,0.9998420269400845,0.71338606911949],"aabb_xy":[[0.2537204287867184,0.9794822909832637],[0.3237204314896819,1.0202017628969053]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_29","position":[-0.5447367268840988,0.8696742864948037,0.71338606911949],"aabb_xy":[[-0.609736727841226,0.8177260745610981],[-0.47973672592697164,0.9216224984285093]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[-0.4789046793412242,-1.4976305351016461,0.71338606911949],"aabb_xy":[[-0.528904680291757,-1.5291796821051673],[-0.42890467839069135,-1.4660813880981245]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6804914477168994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2473.png","name":"2473"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2473.png","name":"2473"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7038.png","name":"7038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6238.png","name":"6238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3481.png","name":"3481"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6074.png","name":"6074"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":675.1769143750076,"rotation_z_degrees":293.307353350294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019658587170500758,0.014580112428586315,0.009020778502930468]},{"name":"camera_2","offset_m":[0.017250509073140744,-0.009972298659058847,0.018872243425733713]},{"name":"camera_3","offset_m":[0.00759934478155477,0.0009171655842207735,-0.005702156950210249]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006040908989907287,-0.0015675346060995787,0.0014936790181298543],"end_effector_yaw_offset_degrees":-0.6853456196847509},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00033083221182272134,0.0009247602126255523,-0.0005331115397067209],"end_effector_yaw_offset_degrees":0.8886181961164727},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00038977859198047996,0.0016295994418642303,-0.0019241135061475378],"end_effector_yaw_offset_degrees":-0.8313711031869255}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024037936142473895,-0.002235492504107689],"position_m":[0.2093037936142474,0.2645645074958923,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00011762829737021942,0.0033487769878846737],"position_m":[0.18968237170262978,0.06094877698788467,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022919323859884513,-0.003977227760003398],"position_m":[0.36069193238598846,0.17462277223999662,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023847059092755984,0.004577846151524549],"position_m":[0.2538847059092756,-0.36082215384847544,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6d03fa3d71de6ccd6483cd464fb8e58700e843cab0b19aa7522789ee109354dc","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2473/tex_ceiling_textures_6074/tex_floor_textures_3481/tex_table_textures_7038/tex_wall_textures_6238","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1131241374244099322,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1131241374244099322,"visual_seed":1131241374244099322,"scene_id":"lab_003","finished_at":"2026-09-03T09:47:12"} +{"episode_id":"ep_000036","started_at":"2026-09-03T09:47:16","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.26153688549751475,-1.6790633585369041,0.71338606911949],"aabb_xy":[[0.20390641661024383,-1.7390633574636143],[0.31916735438478555,-1.619063359610193]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.11509558054245206,-1.7422425738856393,0.71338606911949],"aabb_xy":[[-0.15259557911807284,-1.754978869549197],[-0.07759558196683124,-1.7295062782220811]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.20829641916247776,1.097661405446598,0.71338606911949],"aabb_xy":[[-0.2722964195400114,1.047916138595786],[-0.14429641878494412,1.1474066722974106]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.041043237589526216,0.7091511363019203,0.71338606911949],"aabb_xy":[[-0.06969256994994244,0.6805055770248445],[-0.012393905229109985,0.7377966955789961]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.05166613262150588,-2.534102129225166,0.71338606911949],"aabb_xy":[[-0.07458184550655578,-2.5570064263615895],[-0.02875041973645598,-2.5111978320887425]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.6298340712398011,0.050657156703559636,0.71338606911949],"aabb_xy":[[-0.6898340721006136,-0.0007692733029267608],[-0.569834070378988,0.102083586710046]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.4011631130055622,-0.39744242538580243,0.71338606911949],"aabb_xy":[[0.3667007656074203,-0.431936307783625],[0.4356254604037039,-0.3629485429879796]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.3719461265722208,1.3911784142749624,0.71338606911949],"aabb_xy":[[0.32196731806190493,1.3411784142692436],[0.4219249350825367,1.4411784142806812]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.3239760872734338,0.3632401983207978,0.71338606911949],"aabb_xy":[[-0.32741676351349097,0.3593787653464333],[-0.3205354110333766,0.36710163129516227]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.05072967617375679,1.7312616380362553,0.71338606911949],"aabb_xy":[[0.047026414844617906,1.7275596197275376],[0.05443293750289564,1.734963656344973]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.6505344022663635,-1.3542820318017714,0.71338606911949],"aabb_xy":[[-0.6680343357003468,-1.371782031722006],[-0.63303446883238,-1.3367820318815369]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.4817292416562422,-1.3692381192383807,0.71338606911949],"aabb_xy":[[0.42673699102073137,-1.4242381209816932],[0.5367214922917533,-1.3142381174950677]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.3516287773746677,-0.146390875325761,0.71338606911949],"aabb_xy":[[-0.3580425910178525,-0.15280069557342935],[-0.34521496373148264,-0.13998105507809266]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.37015781174433565,1.745003088438946,0.71338606911949],"aabb_xy":[[-0.41963823295829444,1.6810030905260942],[-0.32067739053037686,1.8090030863517979]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.4700872002576395,0.24629243589248562,0.71338606911949],"aabb_xy":[[0.4366080329965986,0.21281332252137858],[0.5035663675186806,0.2797715492635926]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[0.08349261202959368,-1.1897924446779564,0.71338606911949],"aabb_xy":[[0.07645116107884609,-1.1968191964157509],[0.09053406298034128,-1.182765692940162]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.18504314959404145,-1.3898160906983175,0.71338606911949],"aabb_xy":[[0.15126759040334847,-1.4038545859114826],[0.21881870878473442,-1.3757775954851528]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[0.2797179508559755,-2.245074785344564,0.71338606911949],"aabb_xy":[[0.19971795287519048,-2.252676326306416],[0.35971794883676056,-2.237473244382712]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.0011081115970252853,1.5282954480589805,0.71338606911949],"aabb_xy":[[-0.0030078385150473785,1.5241798930261348],[0.005224061709097949,1.5324110030918259]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.621608771907425,0.7960645897594261,0.71338606911949],"aabb_xy":[[0.6124488929635485,0.7895333717158891],[0.6307686508513017,0.8025958078029632]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855019060217145,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4420.png","name":"4420"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4420.png","name":"4420"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6111.png","name":"6111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7178.png","name":"7178"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5260.png","name":"5260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2873.png","name":"2873"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":802.6736006996173,"rotation_z_degrees":166.93276842082372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01266007566269314,-0.008257731099945608,0.001604712351971807]},{"name":"camera_2","offset_m":[0.018986356522349885,0.012038327758732068,-0.006655424008650291]},{"name":"camera_3","offset_m":[-0.012695440348478217,0.010751450639183351,0.018998241587256614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008653401228536318,-0.0006153505738886796,0.0018892091546084725],"end_effector_yaw_offset_degrees":-0.01770809600148504},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010123892515458578,0.0008593251977074253,-0.0002755411989839387],"end_effector_yaw_offset_degrees":-0.42728757024308184},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001514621698030761,-0.0003795214808722171,0.00101759566086293],"end_effector_yaw_offset_degrees":0.43648403064667507}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030309014691611855,0.0019057223944145794],"position_m":[0.20993090146916119,0.26870572239441454,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001069797249488024,0.0002600666221303982],"position_m":[0.18873020275051197,0.0578600666221304,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008877402283242932,0.0012588746286940613],"position_m":[0.35928774022832427,0.17985887462869407,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004957578831146108,-0.0007438826645078467],"position_m":[0.2564575788311461,-0.36614388266450787,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b6a5abd885d8e68d52e771fd589d7955fafcdf0a2e4d09aa5f400ee0e2d5d25d","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4420/tex_ceiling_textures_2873/tex_floor_textures_5260/tex_table_textures_6111/tex_wall_textures_7178","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5087304066488563301,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5087304066488563301,"visual_seed":5087304066488563301,"scene_id":"lab_003","finished_at":"2026-09-03T09:49:57"} +{"episode_id":"ep_000037","started_at":"2026-09-03T09:50:00","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.6033373512044966,0.130975242967879,0.71338606911949],"aabb_xy":[[0.580837350692456,0.10848338460248064],[0.6258373517165372,0.15346710133327734]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.16844121030954373,-1.5484053247500982,0.71338606911949],"aabb_xy":[[0.08844121290595032,-1.6283978959482808],[0.24844120771313716,-1.4684127535519151]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.6245936770242553,0.8617208726247849,0.71338606911949],"aabb_xy":[[-0.6346753841028286,0.7817208747326702],[-0.6145119699456817,0.9417208705168995]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[0.432747821312365,1.603406447456917,0.71338606911949],"aabb_xy":[[0.42396659416512894,1.5946267001683871],[0.4415290484596014,1.6121861947454477]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.4600371523659019,-1.9148527862779186,0.71338606911949],"aabb_xy":[[0.4381284702265508,-1.936753453098009],[0.4819458345052529,-1.8929521194578276]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.008096867573470168,-2.4499684081758364,0.71338606911949],"aabb_xy":[[-0.03292107581290071,-2.499968408806794],[0.04911481095984105,-2.3999684075448795]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.3421478777902245,0.346165062720424,0.71338606911949],"aabb_xy":[[0.335835778253886,0.3403981234672052],[0.34845997732656286,0.3519320019736428]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[-0.4100080284191424,-0.36394692388586813,0.71338606911949],"aabb_xy":[[-0.4900080255787177,-0.3754945248436851],[-0.3300080312595671,-0.35239932292805104]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.47733536112978303,1.725590106659404,0.71338606911949],"aabb_xy":[[0.45983536199541586,1.7157104796218159],[0.4948353602641502,1.7354697336969915]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[0.6252682160975456,-0.9874048569281002,0.71338606911949],"aabb_xy":[[0.6203689237909821,-1.015081776230669],[0.6301675084041091,-0.9597279376255313]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.1910075156909179,-1.1401755524533834,0.71338606911949],"aabb_xy":[[-0.1989307959296662,-1.1626755526913868],[-0.18308423545216954,-1.11767555221538]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.10816885169738633,-1.0180406159186128,0.71338606911949],"aabb_xy":[[0.058168853051465116,-1.0679601595780752],[0.15816885034330752,-0.9681210722591505]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.6058911631555773,0.5750394599878152,0.71338606911949],"aabb_xy":[[-0.6858911601186165,0.4979638183440417],[-0.5258911661925382,0.6521151016315886]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[-0.4619153628225689,-0.6295154240181013,0.71338606911949],"aabb_xy":[[-0.4969153610926887,-0.6365895517130895],[-0.4269153645524489,-0.6224412963231132]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.38001640190998137,0.90084291889413,0.71338606911949],"aabb_xy":[[-0.4175164020155743,0.8940207570411488],[-0.34251640180438836,0.907665080747111]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.38667492925200786,-0.13296279719242765,0.71338606911949],"aabb_xy":[[-0.47667492598761807,-0.1861462605097222],[-0.29667493251639765,-0.07977933387513317]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.22101574980966798,1.6588854089426834,0.71338606911949],"aabb_xy":[[0.2137334334330043,1.568885405333174],[0.2282980661863316,1.748885412552192]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[0.41675493383526674,-1.014267705999037,0.71338606911949],"aabb_xy":[[0.390466109514826,-1.040539139653688],[0.44304375815570735,-0.9879962723443857]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.17659286448322997,-2.343194784383867,0.71338606911949],"aabb_xy":[[-0.1943863714181464,-2.360994529979665],[-0.15879935754831354,-2.3253950387880695]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.31941899946219215,-2.1402163751142407,0.71338606911949],"aabb_xy":[[-0.3418837694335972,-2.1627163759931007],[-0.296954229490787,-2.1177163742353797]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.3614244553203853,-1.3304263125412568,0.71338606911949],"aabb_xy":[[-0.4114244556809513,-1.3804062997508595],[-0.3114244549598192,-1.2804463253316536]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.4545555400274168,-1.8336488503358557,0.71338606911949],"aabb_xy":[[-0.4654613161149795,-1.9136488467346848],[-0.44364976393985406,-1.7536488539370265]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.6618747358396405,-2.1343477060963867,0.71338606911949],"aabb_xy":[[-0.6843884276630977,-2.204347706697394],[-0.6393610440161833,-2.064347705495379]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677863962462689,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7109.png","name":"7109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7109.png","name":"7109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1863.png","name":"1863"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4251.png","name":"4251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6645.png","name":"6645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8896.png","name":"8896"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.9872549635835,"rotation_z_degrees":146.4871734339006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012549074046885655,-0.0011873027768193913,0.015546252696357937]},{"name":"camera_2","offset_m":[0.015066742031684812,-0.003631631354744109,-0.007002622344833936]},{"name":"camera_3","offset_m":[0.019617463112099092,-0.013831881047908286,0.0027169497226024186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016432616063364052,-0.0014731791210616674,-0.0015119001966280433],"end_effector_yaw_offset_degrees":0.748084170868931},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001540398324156889,0.001119878301012419,-0.001288027997474758],"end_effector_yaw_offset_degrees":0.5601320036603725},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00012094245486064283,-0.001907073388900622,-0.0014358125184944634],"end_effector_yaw_offset_degrees":0.7151132510857976}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004335058724127738,-0.004455303706884971],"position_m":[0.20733350587241278,0.262344696293115,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003382858979875028,0.0035253876772955084],"position_m":[0.19318285897987503,0.06112538767729551,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002048435494458328,-0.00018259514787328894],"position_m":[0.3604484354944583,0.17841740485212673,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007034318461453951,0.004598907069015781],"position_m":[0.2507965681538546,-0.3608010929309842,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ec271945e08f32dc15e124b26e78baab134c1eec3246b01eb7887ef497baf6cd","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7109/tex_ceiling_textures_8896/tex_floor_textures_6645/tex_table_textures_1863/tex_wall_textures_4251","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":7146365051240298753,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":7146365051240298753,"visual_seed":7146365051240298753,"scene_id":"lab_003","finished_at":"2026-09-03T09:52:36"} +{"episode_id":"ep_000038","started_at":"2026-09-03T09:52:40","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.057421922151047244,-2.4645007457550716,0.71338606911949],"aabb_xy":[[0.021508417726057563,-2.500414253971826],[0.09333542657603693,-2.4285872375383164]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.14374095062959735,-0.6276888579889763,0.71338606911949],"aabb_xy":[[0.09376214211928147,-0.677688857994695],[0.19371975913991324,-0.5776888579832574]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.2872305250692305,0.8715745786403959,0.71338606911949],"aabb_xy":[[0.25276817767108867,0.8370806962425731],[0.32169287246737227,0.9060684610382185]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.46307688392736746,-1.3229263396807942,0.71338606911949],"aabb_xy":[[-0.4691138969280321,-1.3289530407497427],[-0.4570398709267027,-1.3168996386118461]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.033345157181327134,-0.7083870102577681,0.71338606911949],"aabb_xy":[[0.02684352067332252,-0.7181548322840778],[0.03984679368933175,-0.6986191882314583]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.05513137711210947,0.3633616125475858,0.71338606911949],"aabb_xy":[[-0.07871650057600432,0.298361610302154],[-0.031546253648214624,0.4283616147930176]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.23684035561811223,0.1924406758935353,0.71338606911949],"aabb_xy":[[-0.25239612502837755,0.1768902426491281],[-0.22128458620784702,0.2079911091379425]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.4878061549854058,-0.5694033224712904,0.71338606911949],"aabb_xy":[[0.4528061558554501,-0.5751485435469544],[0.5228061541153615,-0.5636581013956262]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.2918852744752252,1.314639957935428,0.71338606911949],"aabb_xy":[[-0.3558852768180268,1.2696991066912955],[-0.22788527213242368,1.3595808091795605]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[-0.12515789078929263,-2.1055487190579423,0.71338606911949],"aabb_xy":[[-0.1300014855505226,-2.110400371536927],[-0.12031429602806265,-2.1006970665789586]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.6130549937817157,-1.5515514728688116,0.71338606911949],"aabb_xy":[[-0.6210983537076709,-1.636551473964178],[-0.6050116338557605,-1.4665514717734451]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.23233324137226086,-1.1054007963062924,0.71338606911949],"aabb_xy":[[-0.2417507159421236,-1.1148169734440112],[-0.2229157668023981,-1.0959846191685731]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.01626921483001753,-2.182548180152959,0.71338606911949],"aabb_xy":[[0.0057017351719185205,-2.1930932102659675],[0.02683669448811654,-2.1720031500399504]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[0.23247886526206663,1.721957823772264,0.71338606911949],"aabb_xy":[[0.21058911767312583,1.6319578264830148],[0.2543686128510074,1.811957821061513]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.5723241850464156,-0.1046773947401558,0.71338606911949],"aabb_xy":[[0.5270455701652664,-0.16867739408833948],[0.617602799927565,-0.040677395391972127]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.3386763555025998,1.6111779873169394,0.71338606911949],"aabb_xy":[[-0.423676353920023,1.5263036918546544],[-0.25367635708517655,1.6960522827792244]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.5729823537877465,0.36059366485172717,0.71338606911949],"aabb_xy":[[0.5379823538112508,0.3511290488041106],[0.6079823537642425,0.37005828089934384]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.07024806025822106,-2.0424925524978197,0.71338606911949],"aabb_xy":[[0.03595114924048042,-2.07678943870776],[0.10454497127596167,-2.0081956662878775]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.5477776279277622,-1.1253838432578456,0.71338606911949],"aabb_xy":[[-0.5863233207529632,-1.163929614314034],[-0.5092319351025612,-1.0868380722016566]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.08158428755171832,-1.2967867301526357,0.71338606911949],"aabb_xy":[[-0.11535984674241129,-1.3108252253658006],[-0.04780872836102534,-1.2827482349394708]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.5218220930669901,0.7256995935067363,0.71338606911949],"aabb_xy":[[-0.5568220913371099,0.718625465811748],[-0.4868220947968701,0.7327737212017243]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.10633433334437448,1.1340699080106935,0.71338606911949],"aabb_xy":[[-0.1863281569229327,1.054069905417852],[-0.02634050976581627,1.214069910603535]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.5058565868427087,0.6320894739194505,0.71338606911949],"aabb_xy":[[0.4258565888619236,0.6244879329575986],[0.5858565848234937,0.6396910148813025]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[0.5865144746951696,1.3946686496788323,0.71338606911949],"aabb_xy":[[0.5366317778174735,1.3446686504325576],[0.6363971715728659,1.444668648925107]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[0.36447543835645924,-1.2132700176713862,0.71338606911949],"aabb_xy":[[0.34779830236336373,-1.2299699416453165],[0.38115257434955474,-1.196570093697456]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.5862689553982137,-0.3104354180179567,0.71338606911949],"aabb_xy":[[-0.5936814109396021,-0.31628662843958466],[-0.5788564998568252,-0.30458420759632876]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.4251044759857706,0.520727442686773,0.71338606911949],"aabb_xy":[[-0.4891044776637679,0.4722100512074586],[-0.3611044743077732,0.5692448341660871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6817815109123347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1304.png","name":"1304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1304.png","name":"1304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/914.png","name":"914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4410.png","name":"4410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7710.png","name":"7710"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":744.0065286512812,"rotation_z_degrees":301.6438253916826,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009493082119410712,-0.0020742637578866595,-0.018290652669071223]},{"name":"camera_2","offset_m":[0.008406059080547635,-0.0002499386524189573,-0.006574787182315318]},{"name":"camera_3","offset_m":[-0.0073326189212884925,0.01220204519243442,-0.0056786846412800115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009077496548083627,-0.0004941539202062714,-0.001886804751967158],"end_effector_yaw_offset_degrees":0.09731822593940875},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00013270457980609418,-0.00029998282249963683,0.0006338280838143538],"end_effector_yaw_offset_degrees":0.30710215360140825},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001767700498355736,-0.0005306517407770346,-0.0015312816206792565],"end_effector_yaw_offset_degrees":0.26898920702259477}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002566370479262419,0.0002634910027355707],"position_m":[0.20433362952073758,0.2670634910027356,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009594042303162258,0.0009383168328745183],"position_m":[0.18884059576968376,0.05853831683287452,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003951986178407888,-0.0024997356166545936],"position_m":[0.36235198617840786,0.17610026438334542,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003966507973482548,0.004675305026188789],"position_m":[0.2554665079734825,-0.3607246949738112,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dacc952c4a596912c363bded2d64c17757b1c628ea4e3bcb74884104de5de5e7","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1304/tex_ceiling_textures_7710/tex_floor_textures_5891/tex_table_textures_914/tex_wall_textures_4410","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2885082920029317672,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2885082920029317672,"visual_seed":2885082920029317672,"scene_id":"lab_003","finished_at":"2026-09-03T09:55:20"} +{"episode_id":"ep_000039","started_at":"2026-09-03T09:55:23","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.6841331890957636,-0.6743086030559573,0.71338606911949],"aabb_xy":[[0.6797025597409234,-0.6797569747906399],[0.6885638184506038,-0.6688602313212747]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.20821238444295775,-0.6580949875999658,0.71338606911949],"aabb_xy":[[0.1707123846259242,-0.6627331989111076],[0.2457123842599913,-0.6534567762888239]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.598228541791225,-0.146985232327272,0.71338606911949],"aabb_xy":[[-0.6622285441340264,-0.19192608357140448],[-0.5342285394484233,-0.1020443810831395]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.21119659911874167,-1.567468943312482,0.71338606911949],"aabb_xy":[[0.19113818750550138,-1.5875340302216394],[0.23125501073198196,-1.5474038564033241]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.41283635848525085,-2.3866975016262293,0.71338606911949],"aabb_xy":[[-0.4406813952658579,-2.417482000364541],[-0.3849913217046437,-2.3559130028879176]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.03641632337938128,-1.7846614126205687,0.71338606911949],"aabb_xy":[[-0.04583379794924402,-1.7940775897582877],[-0.02699884880951852,-1.7752452354828496]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.5700716963417019,-1.5425234258601332,0.71338606911949],"aabb_xy":[[-0.5925716961556042,-1.546998042230614],[-0.5475716965277995,-1.5380488094896525]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.1359350643625482,-2.257424881979983,0.71338606911949],"aabb_xy":[[0.04593506463937402,-2.2804982345151625],[0.22593506408572236,-2.234351529444803]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.10970216889384765,-1.5748702894692561,0.71338606911949],"aabb_xy":[[-0.12011372757433136,-1.5802160228051543],[-0.09929061021336394,-1.5695245561333575]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.4047682934386101,-1.1486995041910106,0.71338606911949],"aabb_xy":[[0.35476829479268895,-1.198619047850473],[0.45476829208453134,-1.0987799605315482]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.19380081199860977,1.1665463467005455,0.71338606911949],"aabb_xy":[[-0.20844421755264275,1.1518876270437612],[-0.17915740644457678,1.1812050663573297]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.6525342367414699,-2.2263592144127813,0.71338606911949],"aabb_xy":[[-0.6700342360195568,-2.243697314479127],[-0.6350342374633831,-2.209021114346435]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.12882889025255861,-1.2112696488255361,0.71338606911949],"aabb_xy":[[0.048835066674000394,-1.2912696514183777],[0.20882271383111684,-1.1312696462326945]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.38821053810399064,1.6723938960387268,0.71338606911949],"aabb_xy":[[-0.41011922024334174,1.650493229218636],[-0.36630185596463966,1.6942945628588175]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.37725165342867184,-2.290912922402982,0.71338606911949],"aabb_xy":[[0.3723523611221083,-2.318589841705551],[0.3821509457352353,-2.2632360031004133]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.28233320528109873,-0.8306086067606879,0.71338606911949],"aabb_xy":[[0.2664487120157736,-0.844961547059512],[0.2982176985464239,-0.8162556664618639]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.11724775141093502,-1.0697489959497193,0.71338606911949],"aabb_xy":[[0.037247750337814675,-1.0795270422871037],[0.19724775248405535,-1.0599709496123348]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.4717969541193783,-0.3454723550257075,0.71338606911949],"aabb_xy":[[-0.49000277778062595,-0.3564977556076992],[-0.4535911304581306,-0.3344469544437159]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.5973227613895358,-2.4695275841747133,0.71338606911949],"aabb_xy":[[0.5333227622197658,-2.5162942712936758],[0.6613227605593057,-2.422760897055751]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.283682413618493,-0.375477682096649,0.71338606911949],"aabb_xy":[[-0.3027947209764718,-0.394612460973891],[-0.2645701062605141,-0.356342903219407]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.42835224409511385,-1.2708698079889116,0.71338606911949],"aabb_xy":[[-0.508352242752,-1.2853746669131747],[-0.3483522454382279,-1.256364949064649]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.0593990746038493,-2.035118175519891,0.71338606911949],"aabb_xy":[[-0.07697737679279615,-2.0526926650939954],[-0.04182077241490245,-2.0175436859457854]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.08303010673668443,1.7389018601757713,0.71338606911949],"aabb_xy":[[-0.09459908748362099,1.71390186005884],[-0.07146112598974784,1.7639018602927035]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.07441091650963838,-0.9440607171695365,0.71338606911949],"aabb_xy":[[-0.09691091651978666,-0.9581569368091397],[-0.051910916499490076,-0.9299644975299332]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.5690473186570981,1.5793256534014648,0.71338606911949],"aabb_xy":[[0.515031722375198,1.5153256505092076],[0.623062914938998,1.643325656293722]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[-0.4678026932938587,1.331398020577386,0.71338606911949],"aabb_xy":[[-0.5328026942943592,1.280611655422711],[-0.4028026922933582,1.3821843857320608]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.00815310413445891,0.7037285673373326,0.71338606911949],"aabb_xy":[[-0.058152379302895074,0.6537285660613854],[0.04184617103397725,0.7537285686132797]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[0.1674960471905217,-1.9328129384274062,0.71338606911949],"aabb_xy":[[0.09749604538177625,-1.9541667071915936],[0.23749604899926713,-1.9114591696632188]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.21236107241663865,-2.41163365232015,0.71338606911949],"aabb_xy":[[-0.24101040477705485,-2.4402792115972254],[-0.1837117400562224,-2.382988093043074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6817258355935177,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2227.png","name":"2227"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2227.png","name":"2227"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2861.png","name":"2861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4604.png","name":"4604"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":765.5976283005957,"rotation_z_degrees":22.95660737199345,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005469350617879001,-0.004927747515509635,0.006667863753398246]},{"name":"camera_2","offset_m":[0.006453132207176571,-0.0014642642675735326,-0.019644761327752606]},{"name":"camera_3","offset_m":[-0.008888861016882884,-0.017985865520579087,0.01664383601324983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.559637266403268e-05,-5.083107041323437e-05,-0.00016290062601972987],"end_effector_yaw_offset_degrees":0.7329806107994479},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00021948756124081942,0.00018593892893683812,-0.00039657461977739413],"end_effector_yaw_offset_degrees":-0.27581417912494044},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001226764089148403,0.0014477319229633805,0.0019831913039232074],"end_effector_yaw_offset_degrees":-0.09746408228153292}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00033515427807929814,-0.0027630362502842442],"position_m":[0.2072351542780793,0.26403696374971575,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004175407881464523,0.0026747082566092664],"position_m":[0.18562459211853546,0.060274708256609265,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016747361621984513,-0.004966768276301816],"position_m":[0.35672526383780157,0.17363323172369818,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012839396963346319,0.0005123072945032404],"position_m":[0.2527839396963346,-0.36488769270549676,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b423cff10cb4ad4504aa4c1a906ac8b9612cbdaadf7cca02c449eacc5329ba93","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2227/tex_ceiling_textures_4604/tex_floor_textures_4230/tex_table_textures_8839/tex_wall_textures_2861","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1801955425250954629,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1801955425250954629,"visual_seed":1801955425250954629,"scene_id":"lab_003","finished_at":"2026-09-03T09:57:58"} +{"episode_id":"ep_000040","started_at":"2026-09-03T09:58:01","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.261149023781173,-1.8472301359865764,0.71338606911949],"aabb_xy":[[0.22435439065626672,-1.8841360110831582],[0.29794365690607927,-1.8103242608899937]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.6123962258285693,0.699810698372068,0.71338606911949],"aabb_xy":[[0.5748962256566973,0.6671099629891607],[0.6498962260004412,0.7325114337549751]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[0.18556628954851218,-0.7910785723667293,0.71338606911949],"aabb_xy":[[0.17541327399436277,-0.8271481139394694],[0.1957193051026615,-0.7550090307939887]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.012954011551551403,-0.6613737743490513,0.71338606911949],"aabb_xy":[[-0.007104400061688889,-0.6814388612582089],[0.03301242316479169,-0.6413086874398938]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.16169799055431167,1.1520983335822779,0.71338606911949],"aabb_xy":[[0.11170315762637006,1.1020983346870343],[0.21169282348225327,1.2020983324775214]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.5688334509561153,-1.8156200348807119,0.71338606911949],"aabb_xy":[[0.5188403388469235,-1.865620035554908],[0.6188265630653073,-1.7656200342065167]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.31876814280319427,-2.555286719065954,0.71338606911949],"aabb_xy":[[-0.3291797014836779,-2.5606324524018524],[-0.3083565841227105,-2.5499409857300557]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.15145269072252365,0.8728677825617304,0.71338606911949],"aabb_xy":[[-0.2064526898991131,0.8178781077867727],[-0.09645269154593414,0.927857457336688]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.14063100271347528,-2.0221640829333607,0.71338606911949],"aabb_xy":[[0.11813100220143469,-2.044655941298759],[0.16313100322551588,-1.9996722245679623]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.6580476707993441,1.5476401300065068,0.71338606911949],"aabb_xy":[[0.6454208835121477,1.538094056304934],[0.6706744580865404,1.5571862037080797]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.05280316191606016,-0.7697053951853772,0.71338606911949],"aabb_xy":[[0.0433856873461974,-0.7791215723230962],[0.0622206364859229,-0.7602892180476581]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.511981281339887,-0.3643928584074514,0.71338606911949],"aabb_xy":[[0.47850211407884613,-0.3978719717785584],[0.545460448600928,-0.3309137450363444]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.47925632706365207,-1.0589321117015131,0.71338606911949],"aabb_xy":[[0.4152563247208505,-1.1038729629456456],[0.5432563294064536,-1.0139912604573806]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.2930574451115474,-2.0351087088149344,0.71338606911949],"aabb_xy":[[0.2596172699155277,-2.0685523346458634],[0.3264976203075669,-2.0016650829840037]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.38393350909913226,-2.2552839724186047,0.71338606911949],"aabb_xy":[[0.3139335072903868,-2.2766377411827916],[0.4539335109078777,-2.233930203654417]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.3189811053537999,-0.10512466146184352,0.71338606911949],"aabb_xy":[[-0.3564811051708334,-0.10976287277298537],[-0.2814811055367663,-0.10048645015070164]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.1421382914671766,-2.0318567074797347,0.71338606911949],"aabb_xy":[[-0.20213829232798936,-2.083283137486221],[-0.08213829060636375,-1.980430277473248]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.009163046906027872,0.9460002506103327,0.71338606911949],"aabb_xy":[[-0.05483695168054459,0.8989932872108238],[0.07316304549260033,0.9930072140098413]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.3592054665869041,-2.1369881618878255,0.71338606911949],"aabb_xy":[[-0.4232054636990098,-2.186020531682236],[-0.2952054694747984,-2.087955792093415]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.487596269471448,-2.248645774845398,0.71338606911949],"aabb_xy":[[-0.5220587474845357,-2.25530945202832],[-0.45313379145836025,-2.2419820976624747]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.3182365982898423,1.678340741562104,0.71338606911949],"aabb_xy":[[-0.3632291850082927,1.6333407422876554],[-0.2732440115713919,1.7233407408365529]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[0.0025954573783137924,1.7521261490260414,0.71338606911949],"aabb_xy":[[-0.07740454478444869,1.672170965399898],[0.08259545954107628,1.8320813326521852]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.33321458452026764,-0.8151003441434022,0.71338606911949],"aabb_xy":[[-0.39721458656999964,-0.8551948272327101],[-0.26921458247053565,-0.7750058610540942]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.1528292013547099,-0.675725182625315,0.71338606911949],"aabb_xy":[[-0.18782920048466553,-0.6814704037009791],[-0.11782920222475421,-0.6699799615496509]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.4201960391924223,0.36596486589451294,0.71338606911949],"aabb_xy":[[-0.47019604085391703,0.31596642363881017],[-0.3701960375309275,0.4159633081502156]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.2074612643340461,-1.6586287037977345,0.71338606911949],"aabb_xy":[[0.1424612616962526,-1.7101083024971815],[0.2724612669718396,-1.6071491050982876]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.11182693228097984,-1.5083029475350997,0.71338606911949],"aabb_xy":[[0.10097532603210423,-1.5191622382627505],[0.12267853852985543,-1.4974436568074485]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.6389564827860179,1.2635308658815316,0.71338606911949],"aabb_xy":[[0.6281835088646501,1.2285308676624926],[0.6497294567073857,1.2985308641005706]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.3503177605560697,1.1749269944352996,0.71338606911949],"aabb_xy":[[-0.43031775921295573,1.160422135511037],[-0.2703177618991837,1.1894318533595627]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_29","position":[-0.19676429730749634,-0.41385175407902697,0.71338606911949],"aabb_xy":[[-0.2864513736156118,-0.5038517543334776],[-0.10707722099938088,-0.32385175382457654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6808647054771008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9514.png","name":"9514"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4666.png","name":"4666"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4755.png","name":"4755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4251.png","name":"4251"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":613.0722049867461,"rotation_z_degrees":344.09180868366275,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00821889367447143,-0.0002678363763696512,0.0034277208433166166]},{"name":"camera_2","offset_m":[-0.01787760029167243,0.014053361714895931,-0.012662582578979155]},{"name":"camera_3","offset_m":[-0.01022627596961422,-0.010140978233028229,0.012486746044713563]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012096203234198077,0.001631327470429056,-0.0006201505283778884],"end_effector_yaw_offset_degrees":-0.21877978142722365},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001365722599116671,0.0010138736766301336,0.0019958576412441214],"end_effector_yaw_offset_degrees":0.9743186043908472},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[3.686663803666298e-05,0.001882204044448106,-0.00015360355081221397],"end_effector_yaw_offset_degrees":-0.5752530384999432}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00409038984316278,-0.0012274679602332804],"position_m":[0.2109903898431628,0.2655725320397667,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005728210143265437,-0.0019824858295336522],"position_m":[0.18922717898567346,0.05561751417046635,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001699440497800628,-0.0016291326017775134],"position_m":[0.3600994404978006,0.1769708673982225,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021379672626382663,0.0034809527695752627],"position_m":[0.25363796726263826,-0.36191904723042473,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4d507b40912db360294626014dabf201e1ee9fca685ef9becc3b2eb0c0bb10d8","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3038/tex_ceiling_textures_4251/tex_floor_textures_4755/tex_table_textures_9514/tex_wall_textures_4666","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":938106181109390234,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":938106181109390234,"visual_seed":938106181109390234,"scene_id":"lab_003","finished_at":"2026-09-03T10:00:42"} +{"episode_id":"ep_000041","started_at":"2026-09-03T10:00:45","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.31556081184153717,-2.1069143812010265,0.71338606911949],"aabb_xy":[[0.23056081314946253,-2.1389002445959058],[0.4005608105336118,-2.074928517806148]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.5141268902785747,0.6212284756574076,0.71338606911949],"aabb_xy":[[0.4241268916841048,0.6049778893439866],[0.6041268888730447,0.6374790619708286]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.35488594848705124,-1.8761441329937705,0.71338606911949],"aabb_xy":[[0.3323859479750106,-1.8986359913591686],[0.3773859489990918,-1.853652274628372]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.5473760357679719,0.8316205452486063,0.71338606911949],"aabb_xy":[[-0.6113760328800775,0.7825881754541957],[-0.4833760386558661,0.8806529150430169]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.19580575021722302,0.7397462934025638,0.71338606911949],"aabb_xy":[[0.14081253888008627,0.6847462930637702],[0.25079896155435977,0.7947462937413575]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.5441156968983507,1.0850100166859358,0.71338606911949],"aabb_xy":[[0.46039347139826825,0.9950100131512398],[0.6278379223984332,1.1750100202206317]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.37918854753405534,0.5187054086958729,0.71338606911949],"aabb_xy":[[-0.4241811342525057,0.47370540942142414],[-0.3341959608156049,0.5637054079703216]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[0.5382844186318554,-0.25302324583046154,0.71338606911949],"aabb_xy":[[0.48329216799634445,-0.3080232475737743],[0.5932766692673663,-0.19802324408714878]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[-0.6054998523118144,-0.8991934386741351,0.71338606911949],"aabb_xy":[[-0.669499853719805,-0.9509823901980599],[-0.5414998509038237,-0.8474044871502104]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.6839567938894904,1.114477394794882,0.71338606911949],"aabb_xy":[[-0.6937127833986643,1.1047148607356474],[-0.6742008043803165,1.1242399288541163]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.6351919557225205,1.2969081667615736,0.71338606911949],"aabb_xy":[[-0.6851867886504621,1.24690816786633],[-0.5851971227945789,1.3469081656568171]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.4496992339444148,-1.2360897080370745,0.71338606911949],"aabb_xy":[[-0.4577355686456996,-1.2441278273414913],[-0.4416628992431299,-1.2280515887326577]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.506538312682182,0.26117516916334704,0.71338606911949],"aabb_xy":[[-0.5145318024774641,0.25317703722287144],[-0.49854482288690005,0.26917330110382276]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.037040767447449996,1.21106961410096,0.71338606911949],"aabb_xy":[[-0.1270407641830602,1.1578861507836653],[0.052959229288160214,1.2642530774182543]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.6607979344732258,0.39509079313797146,0.71338606911949],"aabb_xy":[[-0.6649337908059261,0.35759079369361446],[-0.6566620781405257,0.43259079258232846]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.5566642604174125,-0.2618273113568841,0.71338606911949],"aabb_xy":[[-0.6019428752985617,-0.3258273107050677],[-0.5113856455362632,-0.19782731200870035]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.3674767965041661,-2.3959672346493175,0.71338606911949],"aabb_xy":[[0.2974768000942042,-2.4164051703009983],[0.4374767929141278,-2.375529298997635]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.46936551936571813,-0.6956171494135244,0.71338606911949],"aabb_xy":[[-0.49933307627554374,-0.7256171497114102],[-0.4393979624558924,-0.6656171491156387]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.18689471526966794,-1.8153733943572423,0.71338606911949],"aabb_xy":[[0.14587677188329706,-1.8653733949881997],[0.22791265865603882,-1.765373393726285]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.33604821004658647,1.2187549641654272,0.71338606911949],"aabb_xy":[[0.2861655131688903,1.1687549649191527],[0.3859309069242827,1.2687549634117021]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.3686317684105928,0.1303687783333558,0.71338606911949],"aabb_xy":[[-0.3905404505499438,0.10846811151326508],[-0.3467230862712417,0.15226944515344654]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.5505546742100718,-1.9653223926316619,0.71338606911949],"aabb_xy":[[0.5130546734180763,-1.9716902335898523],[0.5880546750020672,-1.9589545516734719]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[-0.21273867429414234,1.7768732208181954,0.71338606911949],"aabb_xy":[[-0.27673867751278025,1.7301501089191873],[-0.1487386710755045,1.823596332717204]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[0.305470995476135,0.9097816046577711,0.71338606911949],"aabb_xy":[[0.25547099511556887,0.8598016174481682],[0.355470995836701,0.9597615918673741]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[-0.08088920233371699,0.5234452349829146,0.71338606911949],"aabb_xy":[[-0.14088920218028378,0.46662661278987594],[-0.02088920248715019,0.5802638571759533]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[0.5351833769352594,-1.8509323902694634,0.71338606911949],"aabb_xy":[[0.5068536669867193,-1.8553931324631807],[0.5635130868837998,-1.8464716480757466]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[-0.2768290583853191,1.0800343598112119,0.71338606911949],"aabb_xy":[[-0.28504360350100305,1.0713577695135703],[-0.2686145132696351,1.088710950108853]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_27","position":[-0.26239321920307707,-1.1316812936865168,0.71338606911949],"aabb_xy":[[-0.2998932176264774,-1.1448455076543473],[-0.22489322077967672,-1.1185170797186859]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[0.2572552039171099,1.5104441472596775,0.71338606911949],"aabb_xy":[[0.24208303463547654,1.4952752903314743],[0.2724273731987432,1.525613004187881]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[0.6503960300836442,-0.6408163041973436,0.71338606911949],"aabb_xy":[[0.6278960305599367,-0.6633122516479643],[0.6728960296073515,-0.6183203567467227]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[0.5726443421707721,-1.20175649477903,0.71338606911949],"aabb_xy":[[0.5617385660832094,-1.2817564911778592],[0.5835501182583348,-1.1217564983802009]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845231989067322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/600.png","name":"600"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/600.png","name":"600"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3617.png","name":"3617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8981.png","name":"8981"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9984.png","name":"9984"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4442.png","name":"4442"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":602.9642672116274,"rotation_z_degrees":271.9206931950323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012808122633618831,0.009778635067532147,-0.0017856851661630334]},{"name":"camera_2","offset_m":[-0.014775040186137511,0.0054960871512602025,-8.188259808330003e-05]},{"name":"camera_3","offset_m":[0.018489794901935485,0.012368190026772061,0.01870537871361384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014857664875340265,-0.001168508086248918,-0.0004524172176111358],"end_effector_yaw_offset_degrees":0.3980770239376008},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007801347468257655,-0.00017757733107467413,-0.0004962619495517098],"end_effector_yaw_offset_degrees":0.006039511989665458},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00010077551596858209,0.0011318177450890025,-0.0007963872867179029],"end_effector_yaw_offset_degrees":-0.5162916629119085}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003194668162282849,-0.0015889250452472627],"position_m":[0.20370533183771716,0.2652110749547527,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00019046859357571468,0.0007062224872758441],"position_m":[0.1899904685935757,0.05830622248727584,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004808632580334223,-0.0009746389506081546],"position_m":[0.3535913674196658,0.17762536104939186,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001135545936094229,-0.004918404806345782],"position_m":[0.2526355459360942,-0.37031840480634576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"92dc6e0a0c79348b4cde3157d4ff77ba89564d3aab75d9a445a8f7f3a78dd886","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_600/tex_ceiling_textures_4442/tex_floor_textures_9984/tex_table_textures_3617/tex_wall_textures_8981","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3279792702237266669,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3279792702237266669,"visual_seed":3279792702237266669,"scene_id":"lab_003","finished_at":"2026-09-03T10:03:31"} +{"episode_id":"ep_000042","started_at":"2026-09-03T10:03:34","dimensions":{"distractor":{"count":32,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.333032081102913,-0.9125332967022766,0.71338606911949],"aabb_xy":[[-0.3459039846038531,-0.9925332971161127],[-0.3201601776019728,-0.8325332962884404]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.025993075297664703,-0.2381449593563829,0.71338606911949],"aabb_xy":[[-0.03203008829832943,-0.24417166042533117],[-0.019956062296999977,-0.23211825828743476]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.4108574533522127,-1.5201462647768496,0.71338606911949],"aabb_xy":[[0.40143997878235,-1.5295624419145686],[0.4202749279220755,-1.5107300876391305]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.014576787334666164,1.4679632985133009,0.71338606911949],"aabb_xy":[[-0.0009789820755991016,1.4524128652688937],[0.030132556744931434,1.483513731757708]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.4796639411764612,0.6615687761935933,0.71338606911949],"aabb_xy":[[-0.5296372351797216,0.6115687756390459],[-0.4296906471732007,0.7115687767481406]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.4665330431312048,-2.1186107072476026,0.71338606911949],"aabb_xy":[[-0.5502552686312873,-2.2086107107822985],[-0.38281081763112235,-2.0286107037129066]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.6977916761827982,-1.3479272630870396,0.71338606911949],"aabb_xy":[[0.6884980579456476,-1.3854272615751735],[0.7070852944199487,-1.3104272645989057]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.665951232443173,-2.233386404723356,0.71338606911949],"aabb_xy":[[-0.6739945923691281,-2.3183864058187225],[-0.6579078725172177,-2.1483864036279896]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.5976627129091169,1.642525652639359,0.71338606911949],"aabb_xy":[[-0.6426627143753457,1.5975257957778786],[-0.552662711442888,1.68752550950084]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.6603240612721799,-0.3840526343761157,0.71338606911949],"aabb_xy":[[0.6434133288358381,-0.3975248399687301],[0.6772347937085217,-0.37058042878350106]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.05472135530691402,-2.439015731740373,0.71338606911949],"aabb_xy":[[0.0048386584292178245,-2.489015730986648],[0.10460405218461025,-2.3890157324940984]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.23626362086240899,-1.5096597965296081,0.71338606911949],"aabb_xy":[[-0.2612636204141474,-1.5198022803947429],[-0.21126362131067047,-1.4995173126644734]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.40553101763324395,-1.8609460003602278,0.71338606911949],"aabb_xy":[[-0.42742076522218475,-1.9509459976494767],[-0.38364127004430315,-1.7709460030709785]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.34040572506306854,-1.8829156383731172,0.71338606911949],"aabb_xy":[[0.2904057234015737,-1.9329140806288196],[0.39040572672456325,-1.8329171961174142]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.2579652362791137,0.57636450901648,0.71338606911949],"aabb_xy":[[0.21015906866534506,0.5113645063094209],[0.3057714038928824,0.6413645117235388]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.16498088444070202,-1.3078533099810248,0.71338606911949],"aabb_xy":[[0.09498088104914003,-1.3431690836844556],[0.23498088783226398,-1.272537536277594]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.47183268042049287,0.7948442341316193,0.71338606911949],"aabb_xy":[[0.4642084123303147,0.7872110105950757],[0.47945694851067117,0.8024774576681631]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.051605257878864164,-1.4379361173992524,0.71338606911949],"aabb_xy":[[0.02295592551844794,-1.466581676676328],[0.08025459023928039,-1.4092905581221764]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.09773077280186215,1.6437202410522151,0.71338606911949],"aabb_xy":[[0.033730776406289076,1.5797569526334814],[0.16173076919743523,1.7076835294709485]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.4737013647873909,0.466074473690004,0.71338606911949],"aabb_xy":[[0.393701364317175,0.4577637660756557],[0.5537013652576068,0.4743851813043525]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.6179863617772292,0.20675930664571318,0.71338606911949],"aabb_xy":[[0.6009762644871784,0.19062481814743926],[0.6349964590672798,0.2228937951439871]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.15600805829006836,0.6200173354653993,0.71338606911949],"aabb_xy":[[-0.1859997210239387,0.5900173361285986],[-0.12601639555619804,0.6500173348021997]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.6765156847953229,-1.7018651519853072,0.71338606911949],"aabb_xy":[[0.6430365175342819,-1.7353442653564142],[0.7099948520563638,-1.6683860386142002]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.5334596749199398,-1.618022264460175,0.71338606911949],"aabb_xy":[[0.5281271602653268,-1.6233465927054105],[0.5387921895745529,-1.6126979362149394]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[-0.5688407312545729,0.2227252183876378,0.71338606911949],"aabb_xy":[[-0.6063407311983393,0.21443212835280123],[-0.5313407313108065,0.2310183084224744]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.5202420092662927,-0.9516662455094209,0.71338606911949],"aabb_xy":[[0.5121283545929156,-0.9597720619634499],[0.5283556639396698,-0.9435604290553917]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[-0.29249962072163227,0.5323587646806973,0.71338606911949],"aabb_xy":[[-0.3025813278002057,0.45235876678858256],[-0.28241791364305874,0.6123587625728119]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.41872523554795094,-0.602896563835646,0.71338606911949],"aabb_xy":[[0.40356236257101397,-0.6180620211307649],[0.4338881085248881,-0.5877311065405274]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[0.5775155655116866,1.542374774228398,0.71338606911949],"aabb_xy":[[0.5410197448844077,1.5058908318016404],[0.6140113861389652,1.5788587166551555]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[-0.5471794409492572,0.4650709364100254,0.71338606911949],"aabb_xy":[[-0.5817705238033023,0.4000709361249943],[-0.5125883580952119,0.5300709366950563]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_30","position":[0.5592725181189011,0.8680871688539833,0.71338606911949],"aabb_xy":[[0.5480274625482833,0.856845371129888],[0.5705175736895189,0.8793289665780786]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[0.1956444807014861,-1.0429109624788464,0.71338606911949],"aabb_xy":[[0.18684242539251333,-1.0507222886337753],[0.20444653601045876,-1.035099636323917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6821555447446186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3614.png","name":"3614"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3614.png","name":"3614"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7444.png","name":"7444"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6157.png","name":"6157"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2627.png","name":"2627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/617.png","name":"617"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":565.9751321185596,"rotation_z_degrees":350.85203757962967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0090711635172707,0.007704259969817273,-0.005432369394787303]},{"name":"camera_2","offset_m":[0.0026520822425881926,-0.0017197893831161527,-0.015570708402256802]},{"name":"camera_3","offset_m":[-0.006872107293626192,0.0017231610783192963,0.00945438423910679]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008340981259476994,0.0006685062811375517,0.001935260882287411],"end_effector_yaw_offset_degrees":-0.35008307194806787},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015383341074762928,-0.0013953214299215243,0.0010068974961149318],"end_effector_yaw_offset_degrees":0.43029494964315274},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001632448170071485,0.001705159272960327,0.0018657354214037468],"end_effector_yaw_offset_degrees":0.7807420117302815}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022981124079430723,-0.002641941335902089],"position_m":[0.20919811240794306,0.2641580586640979,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003253618371846084,-0.0011751071808965173],"position_m":[0.1930536183718461,0.056424892819103484,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.801740143800883e-05,-0.0022156041742335962],"position_m":[0.358488017401438,0.1763843958257664,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001373903023701383,-0.0001481797318850335],"position_m":[0.2528739030237014,-0.365548179731885,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99a24886310c2df8c8c2f405549c02c5dd7533e292559861f964af0bd0df5ca6","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3614/tex_ceiling_textures_617/tex_floor_textures_2627/tex_table_textures_7444/tex_wall_textures_6157","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4754549692622884563,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4754549692622884563,"visual_seed":4754549692622884563,"scene_id":"lab_003","finished_at":"2026-09-03T10:06:18"} +{"episode_id":"ep_000043","started_at":"2026-09-03T10:06:22","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.3604581924795911,1.4548698818344357,0.71338606911949],"aabb_xy":[[0.34378105648649565,1.4381699578605054],[0.37713532847268666,1.471569805808366]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.08358114645096615,1.3507152894208807,0.71338606911949],"aabb_xy":[[-0.09160741708159216,1.3419637944435283],[-0.07555487582034016,1.3594667843982335]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.5822420344651305,-1.1378018461969346,0.71338606911949],"aabb_xy":[[0.5597420339530899,-1.1602937045623327],[0.604742034977171,-1.115309987831536]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.47158039535547924,1.4405930113716354,0.71338606911949],"aabb_xy":[[-0.5215754063149314,1.390593012336044],[-0.42158538439602733,1.4905930104072274]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.33923364431749725,1.6110591148151605,0.71338606911949],"aabb_xy":[[0.2752336470318486,1.5695523958623163],[0.4032336416031459,1.6525658337680043]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.20378809884312765,1.655200234773417,0.71338606911949],"aabb_xy":[[-0.2937880985663017,1.632126882238237],[-0.11378809911995343,1.6782735873085968]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.07727390353775254,1.7690174413146962,0.71338606911949],"aabb_xy":[[0.048624571177336304,1.7403718820376202],[0.10592323589816875,1.7976630005917718]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.5744277074334674,-1.531345531065514,0.71338606911949],"aabb_xy":[[-0.6244277068736629,-1.5813134555498303],[-0.5244277079932717,-1.4813776065811977]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.3244209699192355,-1.4290311306609886,0.71338606911949],"aabb_xy":[[-0.3463107175081763,-1.5190311279502375],[-0.3025312223302947,-1.3390311333717393]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.6028591447097069,-2.4391348792784386,0.71338606911949],"aabb_xy":[[-0.6668548421048034,-2.503134877579147],[-0.5388634473146102,-2.3751348809777295]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.05742729212549169,-0.31715447956062004,0.71338606911949],"aabb_xy":[[-0.09492729194252525,-0.3217926908717618],[-0.01992729230845814,-0.31251626824947815]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.12826443961318235,-0.01648262921951371,0.71338606911949],"aabb_xy":[[-0.17044885377401306,-0.08048262949672491],[-0.08608002545235158,0.04751737105769749]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.4790832420988804,0.5202757643531948,0.71338606911949],"aabb_xy":[[0.38908323976486137,0.4427934097680821],[0.5690832444328995,0.5977581189383074]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.0045244850638878065,-1.387592322647121,0.71338606911949],"aabb_xy":[[-0.015091964721986817,-1.3981373527601295],[0.006042994594211204,-1.3770472925341124]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.3576976461215375,-2.077495726420632,0.71338606911949],"aabb_xy":[[-0.43769764308457665,-2.1545713680644054],[-0.2776976491584983,-2.0004200847768585]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.1615598470957248,-1.4768674716858987,0.71338606911949],"aabb_xy":[[-0.2515598465140957,-1.5102429685300884],[-0.07155984767735388,-1.443491974841709]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.21669368492836782,-2.378673839053353,0.71338606911949],"aabb_xy":[[-0.2806936872711694,-2.4236146902974856],[-0.15269368258556626,-2.3337329878092206]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.49999212692108097,1.517998352139132,0.71338606911949],"aabb_xy":[[0.4539070356663495,1.453998354886577],[0.5460772181758125,1.5819983493916872]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.13353235691245258,-1.7730836303307307,0.71338606911949],"aabb_xy":[[0.11836948393551552,-1.7882490876258497],[0.14869522988938969,-1.7579181730356122]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.5117001420172556,-0.09128874362190187,0.71338606911949],"aabb_xy":[[-0.576700144655049,-0.14276834232134883],[-0.44670013937946207,-0.03980914492245491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787749470570196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4772.png","name":"4772"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4772.png","name":"4772"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5463.png","name":"5463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7144.png","name":"7144"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7468.png","name":"7468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2370.png","name":"2370"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":736.7019805262244,"rotation_z_degrees":112.58646783398423,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008120599717833372,4.062664461179644e-06,0.004579937656171092]},{"name":"camera_2","offset_m":[-0.004400767056599909,-0.010217829294238121,-0.01783467058419729]},{"name":"camera_3","offset_m":[0.01686615949402358,0.015044215119227492,0.009093064798309888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019650696944288754,-1.8629154307711615e-05,-0.0017000845118433122],"end_effector_yaw_offset_degrees":-0.911295787736903},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001170474304430112,0.0011463775995597457,0.0012864187531029252],"end_effector_yaw_offset_degrees":-0.027819661220335412},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00014425994298518808,0.0011458257954770346,0.0015412725515943572],"end_effector_yaw_offset_degrees":0.005306497483107853}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003924405554333782,0.0027391639351886385],"position_m":[0.2029755944456662,0.2695391639351886,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016207146941904149,0.003799390299661411],"position_m":[0.19142071469419042,0.06139939029966141,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011424312979080257,0.0034425548926383153],"position_m":[0.359542431297908,0.18204255489263832,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004614131805877492,-0.003227571601781061],"position_m":[0.2468858681941225,-0.36862757160178106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"68b8a64d41a6309cf7c4e24bcae66d398e2e2b5a81f662fe94be3c097fda21a5","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4772/tex_ceiling_textures_2370/tex_floor_textures_7468/tex_table_textures_5463/tex_wall_textures_7144","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4219777369228769658,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4219777369228769658,"visual_seed":4219777369228769658,"scene_id":"lab_003","finished_at":"2026-09-03T10:09:14"} +{"episode_id":"ep_000044","started_at":"2026-09-03T10:09:18","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.6908839002681415,-1.230413602787055,0.71338606911949],"aabb_xy":[[0.6733055980791947,-1.24798809236116],[0.7084622024570884,-1.21283911321295]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.03337102509183476,-1.4338505349186883,0.71338606911949],"aabb_xy":[[-0.11337102205487393,-1.5109261765624615],[0.046628971871204405,-1.3567748932749146]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.2764311695635,0.18265993459581598,0.71338606911949],"aabb_xy":[[-0.340431171613232,0.142565451506508],[-0.212431167513768,0.22275441768512394]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.1547306339181841,0.3637055233128388,0.71338606911949],"aabb_xy":[[-0.20472564487763617,0.3137055242772471],[-0.1047356229587321,0.4137055223484306]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.0619795193314443,0.8818253194925592,0.71338606911949],"aabb_xy":[[-0.07391225369327237,0.8694431666846998],[-0.05004678496961623,0.8942074723004185]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.40213650283829794,1.4077417383118451,0.71338606911949],"aabb_xy":[[-0.41769227224856326,1.3921913050674382],[-0.38658073342803273,1.4232921715562525]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.23426328093510224,-1.448147540794987,0.71338606911949],"aabb_xy":[[-0.2379665422642411,-1.4518495591037044],[-0.23056001960596337,-1.444445522486269]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.005977620590440713,-1.685560252190022,0.71338606911949],"aabb_xy":[[-0.08597762166356104,-1.6953382985274066],[0.07402238048267962,-1.6757822058526377]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.39713800267318167,-2.529918924341697,0.71338606911949],"aabb_xy":[[0.3421447913360449,-2.584918924680491],[0.45213121401031847,-2.4749189240029037]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.385407995988388,-1.3211569478713385,0.71338606911949],"aabb_xy":[[-0.46540799396917304,-1.3287584888331905],[-0.30540799800760293,-1.3135554069094866]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.23489928535022542,1.3446108410642261,0.71338606911949],"aabb_xy":[[-0.271749833287213,1.3071108402411924],[-0.19804873741323784,1.3821108418872599]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.19874258682212176,-1.8398749615182612,0.71338606911949],"aabb_xy":[[0.19170227688858482,-1.919874960917933],[0.2057828967556588,-1.7598749621185903]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.38635813077136955,0.5100861414790279,0.71338606911949],"aabb_xy":[[-0.3928597672793742,0.5003183194527182],[-0.379856494263365,0.5198539635053377]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.48180916905824067,-1.2492530988938964,0.71338606911949],"aabb_xy":[[0.4605311609147685,-1.3142531012199692],[0.5030871772017129,-1.184253096567823]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.1982720126348917,1.2031349838908127,0.71338606911949],"aabb_xy":[[0.19269034100076293,1.1906349840730373],[0.20385368426902045,1.2156349837085882]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5581332150385334,-2.207715284826258,0.71338606911949],"aabb_xy":[[0.4731332166211102,-2.292589580288543],[0.6431332134559566,-2.122840989363973]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.4646789751782141,0.8124533395639966,0.71338606911949],"aabb_xy":[[0.3746789765837442,0.7962027532505755],[0.554678973772684,0.8287039258774176]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.16705972068060948,-0.7404685922764758,0.71338606911949],"aabb_xy":[[0.1626290913257693,-0.7459169640111584],[0.17149035003544966,-0.7350202205417932]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.6265798588698419,0.37907060252330194,0.71338606911949],"aabb_xy":[[0.6091491437908353,0.361798487859451],[0.6440105739488483,0.39634271718715264]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[-0.27061305199191504,-2.212195187801486,0.71338606911949],"aabb_xy":[[-0.2849474771180785,-2.2242554033560245],[-0.2562786268657516,-2.200134972246947]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.4313095005386687,-0.47994623485354815,0.71338606911949],"aabb_xy":[[0.4026601681782524,-0.5085917941306239],[0.45995883289908485,-0.4513006755764723]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.20525028653515154,0.5698030037877588,0.71338606911949],"aabb_xy":[[-0.22774670796901564,0.5473030039810114],[-0.18275386510128744,0.5923030035945063]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.45227181606946365,-0.2765999559652803,0.71338606911949],"aabb_xy":[[-0.5222718176717431,-0.2900327491669379],[-0.3822718144671841,-0.26316716276362273]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[0.3938039671136937,1.7494635270425625,0.71338606911949],"aabb_xy":[[0.3338039654707718,1.6974633777506183],[0.4538039687566155,1.8014636763345067]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.05845512474609427,1.3740943312089966,0.71338606911949],"aabb_xy":[[-0.021544877416668218,1.294139147582853],[0.13845512690885675,1.4540495148351402]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.3027211480294755,1.629567158455901,0.71338606911949],"aabb_xy":[[0.2987606642597411,1.6218992938703805],[0.3066816317992098,1.6372350230414217]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.5381094556674834,0.7894012496986824,0.71338606911949],"aabb_xy":[[-0.5505768137772191,0.7769359250653588],[-0.5256420975577478,0.8018665743320058]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[-0.45290678631099657,0.469742330610305,0.71338606911949],"aabb_xy":[[-0.4647788693224977,0.38474233091665466],[-0.44103470329949546,0.5547423303039554]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[0.10678714282351187,-2.5216401413929415,0.71338606911949],"aabb_xy":[[0.10183112263863069,-2.5441401415950633],[0.11174316300839308,-2.4991401411908196]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820509454696666,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3234.png","name":"3234"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9509.png","name":"9509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3616.png","name":"3616"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":657.2344478989187,"rotation_z_degrees":83.34325489991788,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01748236433891869,0.0060945058291400935,-0.014367617738820133]},{"name":"camera_2","offset_m":[0.0020840458108998573,-0.013216105239833964,0.012370040460457681]},{"name":"camera_3","offset_m":[-0.01700074285130375,-0.0040469257263948955,0.000960467244291538]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001509291993955623,0.0004302814411182628,-0.0009526587448077928],"end_effector_yaw_offset_degrees":-0.862143688963666},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016973150282229756,0.0007891573389399026,0.0007454219804855539],"end_effector_yaw_offset_degrees":0.7119322169149518},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007009454709148947,-0.001956652714391758,0.0015682568981006863],"end_effector_yaw_offset_degrees":-0.3201267920523234}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017656640249065613,0.0040429517745693725],"position_m":[0.20513433597509345,0.27084295177456935,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037127229175856814,-0.0008792660378958957],"position_m":[0.18608727708241432,0.0567207339621041,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004487073131379153,-0.00040286081279387615],"position_m":[0.35391292686862086,0.17819713918720614,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012330862241840424,-0.0040304398502714325],"position_m":[0.25026691377581595,-0.3694304398502714,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"46538446fcadc2513f3f4c6d721f9bce24e27cb9fe82984731e87ac111623d4d","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4894/tex_ceiling_textures_3616/tex_floor_textures_9509/tex_table_textures_6102/tex_wall_textures_3234","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3191284969236131192,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3191284969236131192,"visual_seed":3191284969236131192,"scene_id":"lab_003","finished_at":"2026-09-03T10:12:00"} +{"episode_id":"ep_000045","started_at":"2026-09-03T10:12:03","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.15313840986467653,-0.30119256051327037,0.71338606911949],"aabb_xy":[[-0.17068510478079546,-0.33869256207752163],[-0.1355917149485576,-0.2636925589490191]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.5490745656994778,0.0857888273319114,0.71338606911949],"aabb_xy":[[0.53830159177811,0.05078882911287241],[0.5598475396208455,0.12078882555095038]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.31216389193086247,1.0027316058540778,0.71338606911949],"aabb_xy":[[0.27361819910566143,0.9641858347978892],[0.3507095847560635,1.0412773769102666]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.2311571551403377,1.4579335876640687,0.71338606911949],"aabb_xy":[[-0.3161571538324123,1.4259477242691898],[-0.14615715644826302,1.4899194510589475]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.24633034529773368,1.135723096637792,0.71338606911949],"aabb_xy":[[-0.2640059758863319,1.118042880358389],[-0.2286547147091353,1.1534033129171946]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.1323538052534361,0.44469772295525933,0.71338606911949],"aabb_xy":[[-0.19735380381050893,0.4149451895413767],[-0.06735380669636326,0.47445025636914195]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.610408945134276,-0.28653488122861637,0.71338606911949],"aabb_xy":[[0.5554089455125302,-0.34151857401608915],[0.6654089447560219,-0.2315511884411437]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.6351420350497786,0.1530750956148248,0.71338606911949],"aabb_xy":[[-0.6851420360003113,0.12152594861130336],[-0.5851420340992457,0.18462424261834617]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.17943104568208212,-1.641251777106902,0.71338606911949],"aabb_xy":[[-0.198543353040061,-1.660386555984144],[-0.16031873832410326,-1.62211699822966]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.2249562350093836,0.13705192436649005,0.71338606911949],"aabb_xy":[[-0.27493365187463714,0.08705192287724149],[-0.17497881814413,0.18705192585573857]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.4862297660190398,-0.6082610661181842,0.71338606911949],"aabb_xy":[[0.4764737765098659,-0.6180236001774186],[0.49598575552821367,-0.5984985320589498]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.2760719908542253,1.288916612031576,0.71338606911949],"aabb_xy":[[0.2508511539943855,1.263692861178689],[0.30129282771406485,1.3141403628844626]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.6006856668046214,-0.3684211722634654,0.71338606911949],"aabb_xy":[[-0.6646856687169639,-0.4243323215214759],[-0.5366856648922792,-0.312510023005455]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.015105144972473616,-2.2275018444655803,0.71338606911949],"aabb_xy":[[-0.0791051420845793,-2.276534214259991],[0.04889485213963207,-2.1784694746711697]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.16732437458227123,1.390115630497399,0.71338606911949],"aabb_xy":[[0.13029026515421152,1.3557384231636893],[0.20435848401033094,1.4244928378311081]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.11095751786417296,-2.541075044166922,0.71338606911949],"aabb_xy":[[0.046957515814440964,-2.58116952725623],[0.17495751991390496,-2.500980561077614]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.6549250533229677,-1.230362953557691,0.71338606911949],"aabb_xy":[[-0.6774250538350082,-1.2528548119230891],[-0.632425052810927,-1.2078710951922924]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.4238091129228624,-1.6408313651618947,0.71338606911949],"aabb_xy":[[-0.5138091165997805,-1.7022637717389986],[-0.3338091092459442,-1.5793989585847898]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.1152462404928477,-1.62197745309853,0.71338606911949],"aabb_xy":[[0.09278147052144259,-1.6444774539773903],[0.13771101046425283,-1.5994774522196693]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.024730433459276946,-2.362555193591058,0.71338606911949],"aabb_xy":[[-0.04140756945237245,-2.379255117564988],[-0.008053297466181438,-2.3458552696171275]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.27285544317176735,-1.1929542372891424,0.71338606911949],"aabb_xy":[[0.1928554399139244,-1.2729507450811264],[0.3528554464296103,-1.1129577294971584]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[0.6596501483623807,0.3071966695787536,0.71338606911949],"aabb_xy":[[0.6351365242653748,0.2829320762767171],[0.6841637724593865,0.33146126288079003]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.218300916419226,-1.0116240720518237,0.71338606911949],"aabb_xy":[[0.21008637130354202,-1.0203006623494648],[0.22651546153490998,-1.0029474817541821]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.6698682565940115,1.5231490458286232,0.71338606911949],"aabb_xy":[[0.6348682566979926,1.514774810316683],[0.7048682564900304,1.531523281340563]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.23021723826988016,0.5145988075603785,0.71338606911949],"aabb_xy":[[0.22578660891504002,0.5091504358256959],[0.23464786762472037,0.5200471792950611]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6816770211576523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3527.png","name":"3527"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3527.png","name":"3527"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7036.png","name":"7036"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7728.png","name":"7728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7833.png","name":"7833"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":596.5543007485928,"rotation_z_degrees":316.9581232387773,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0042015275350997736,-0.00918737568952932,0.005541293228865894]},{"name":"camera_2","offset_m":[-0.0073429962475599995,-0.017941200075779994,-0.013955734783549358]},{"name":"camera_3","offset_m":[0.017153818049198088,0.017957272449046994,0.002458341111193564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008585925402717063,-0.0010598965370641408,-0.0014636872120608242],"end_effector_yaw_offset_degrees":-0.9146502296113013},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007103378854945084,-0.0013888990435439333,-0.0014107589258799016],"end_effector_yaw_offset_degrees":0.2804874732533471},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012393403355159477,0.001363418129918872,-0.00014269057954246914],"end_effector_yaw_offset_degrees":-0.4071789226984095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001433914253526943,-0.003190611651009245],"position_m":[0.20833391425352693,0.2636093883489907,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022390450710827636,-0.00244874995924102],"position_m":[0.18756095492891722,0.05515125004075898,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003362360592689505,0.004336229551837447],"position_m":[0.3550376394073105,0.18293622955183744,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002120771522586994,0.0019278279711028821],"position_m":[0.253620771522587,-0.36347217202889714,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2efbb44e2d2b0b5278f38dcb53e44a8af7a6465783c4d878fc6c01085b60003","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3527/tex_ceiling_textures_7833/tex_floor_textures_7728/tex_table_textures_7036/tex_wall_textures_9615","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6277691127335513987,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6277691127335513987,"visual_seed":6277691127335513987,"scene_id":"lab_003","finished_at":"2026-09-03T10:14:42"} +{"episode_id":"ep_000046","started_at":"2026-09-03T10:14:46","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.17096026648857787,-1.8999315659373295,0.71338606911949],"aabb_xy":[[0.1583334792013815,-1.909477639638902],[0.1835870537757742,-1.8903854922357561]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.15719853683631313,-0.9633796342024254,0.71338606911949],"aabb_xy":[[0.12605161799272996,-1.0333796328892326],[0.1883454556798962,-0.8933796355156184]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.6374433547286571,-2.027337907536509,0.71338606911949],"aabb_xy":[[0.6015298503036673,-2.063251415753264],[0.6733568591536466,-1.9914243993197547]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.2931478948251349,-2.0943231772402666,0.71338606911949],"aabb_xy":[[0.2581478948486391,-2.1037877932878835],[0.32814789480163076,-2.0848585611926507]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.5680909691344287,-0.3563746704467503,0.71338606911949],"aabb_xy":[[0.5505909700000614,-0.3662542974843381],[0.5855909682687958,-0.34649504340916243]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.6958564886626277,1.5936191965319453,0.71338606911949],"aabb_xy":[[0.6739667410736869,1.5036191992426962],[0.7177462362515685,1.6836191938211944]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.33832301782938323,0.7299830029194427,0.71338606911949],"aabb_xy":[[-0.36083670965284037,0.6599830023184352],[-0.315809326005926,0.7999830035204503]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.1837812197152502,-1.8536409113634322,0.71338606911949],"aabb_xy":[[-0.19249518876518468,-1.87614091202262],[-0.1750672506653157,-1.8311409107042436]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.5907549771180681,1.0482556801351715,0.71338606911949],"aabb_xy":[[-0.6707549741323161,1.02812112846176],[-0.5107549801038201,1.0683902318085825]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.4640813957413375,-0.4255905333040664,0.71338606911949],"aabb_xy":[[-0.5280813950355057,-0.4895766736729205],[-0.4000813964471693,-0.3616043929352121]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.12779414632111497,1.3475217787385043,0.71338606911949],"aabb_xy":[[0.06279414368332145,1.2960421800390574],[0.19279414895890842,1.3990013774379513]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.4432994439844826,1.1321566436559611,0.71338606911949],"aabb_xy":[[0.4323936678969199,1.052156647257132],[0.45420522007204533,1.2121566400547903]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.5136932443687222,-0.9640647850765189,0.71338606911949],"aabb_xy":[[-0.6036932408695939,-1.009976427494977],[-0.4236932478678504,-0.9181531426580606]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.5661467239457336,-1.5585537920423638,0.71338606911949],"aabb_xy":[[0.5470344165877548,-1.5776885709196058],[0.5852590313037125,-1.5394190131651218]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.17045749258750187,-0.6846279777522968,0.71338606911949],"aabb_xy":[[-0.2079574910109022,-0.6977921917201273],[-0.1329574941641015,-0.671463763784466]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.554429447310734,0.14091150371285766,0.71338606911949],"aabb_xy":[[-0.5789756629334846,0.1106626071638206],[-0.5298832316879831,0.17116040026189472]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.5003231134270343,1.371539086720762,0.71338606911949],"aabb_xy":[[0.4103231140086634,1.3381635898765722],[0.5903231128454052,1.4049145835649517]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.5629709849419806,-0.03014400360353875,0.71338606911949],"aabb_xy":[[-0.5711855300576644,-0.03882059390118003],[-0.5547564398262964,-0.02146741330589746]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.4139222651346204,-1.4427810017572795,0.71338606911949],"aabb_xy":[[0.3920135829952693,-1.4646816685773705],[0.43583094727397137,-1.420880334937189]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.4072772418315875,-1.8710229741646898,0.71338606911949],"aabb_xy":[[-0.4447772424961661,-1.8867100321649115],[-0.3697772411670087,-1.8553359161644671]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[0.0012224176017295862,-2.517677465903207,0.71338606911949],"aabb_xy":[[-0.04486267365300189,-2.581677463155762],[0.04730750885646106,-2.453677468650652]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.6132353382633455,-0.799202774210926,0.71338606911949],"aabb_xy":[[0.5828372271642018,-0.8296096762125954],[0.643633449362489,-0.7687958722092564]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.0022951124645330667,-1.814530517234181,0.71338606911949],"aabb_xy":[[-0.06629511480733462,-1.8594713684783135],[0.06170488987826849,-1.7695896659900485]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.3073738578193641,-1.8722850827712396,0.71338606911949],"aabb_xy":[[0.29867589552864887,-1.8844100570787148],[0.31607182011007945,-1.8601601084637653]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.09822157588433511,-1.1872935754718732,0.71338606911949],"aabb_xy":[[-0.10472321239233974,-1.197061397498183],[-0.0917199393763305,-1.1775257534455634]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.2547536154851444,1.3279828946371555,0.71338606911949],"aabb_xy":[[-0.31875361870378227,1.2812597827381471],[-0.19075361226650656,1.3747060065361638]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.174880219157742,1.078215681580395,0.71338606911949],"aabb_xy":[[0.16695693891899369,1.0557156813423916],[0.18280349939649035,1.1007156818183983]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.19221152555730592,0.5732206212243125,0.71338606911949],"aabb_xy":[[0.1881333676502562,0.5691396409760492],[0.19628968346435569,0.5773016014725758]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[-0.3064959544846156,0.4712070378510278,0.71338606911949],"aabb_xy":[[-0.34149595367743374,0.4602399918533651],[-0.2714959552917972,0.48217408384869037]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_29","position":[-0.607870679119341,0.9158199916902947,0.71338606911949],"aabb_xy":[[-0.6578439731226013,0.8658199911357471],[-0.5578973851160804,0.9658199922448418]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[-0.5250369279803839,-0.672716152230564,0.71338606911949],"aabb_xy":[[-0.5555211781074141,-0.72271615201206],[-0.4945526778533538,-0.6227161524490681]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_31","position":[-0.31645616497300516,0.5544719924668349,0.71338606911949],"aabb_xy":[[-0.3241593556470822,0.5467626217680969],[-0.3087529742989281,0.5621813631655729]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_32","position":[-0.36323918366127544,0.12066377338702683,0.71338606911949],"aabb_xy":[[-0.3975554608358934,0.0706637734138491],[-0.3289229064866575,0.17066377336020455]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_33","position":[0.36006968331849465,-0.6119572568013933,0.71338606911949],"aabb_xy":[[0.2960696869229216,-0.6759205452201269],[0.4240696797140678,-0.5479939683826598]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6802971602911905,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2507.png","name":"2507"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2507.png","name":"2507"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9775.png","name":"9775"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6124.png","name":"6124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5982.png","name":"5982"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":780.9063180164131,"rotation_z_degrees":271.00855538789216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016420794524533919,-0.0053253993247294185,0.013384204637206267]},{"name":"camera_2","offset_m":[-0.003136867823299014,0.00017573479185063398,0.010033180031024044]},{"name":"camera_3","offset_m":[0.007394852595159457,-0.004457277267266316,-0.017780231364917874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017211264247985847,-0.0007662814601485603,0.0015822357945513396],"end_effector_yaw_offset_degrees":0.7257215222341784},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006983782804298936,5.8850538538049706e-05,0.0013998487479621458],"end_effector_yaw_offset_degrees":0.3058007614974847},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005758856031632224,-0.0006518392621685143,0.0010056321722885322],"end_effector_yaw_offset_degrees":-0.3264463482413049}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036070379559158807,-0.004184462281769011],"position_m":[0.21050703795591588,0.262615537718231,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003617379014743013,-0.0018051697895863305],"position_m":[0.18618262098525698,0.05579483021041367,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018198711711054786,0.004967115086965192],"position_m":[0.3602198711711055,0.1835671150869652,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00027892408440750773,0.0007156905841205277],"position_m":[0.2512210759155925,-0.3646843094158795,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"849cbce886d77009342ec92b184f96990e277b12ea93c6ad9cda8fe7d50ab48a","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2507/tex_ceiling_textures_5982/tex_floor_textures_6124/tex_table_textures_8220/tex_wall_textures_9775","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1688283220892159508,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1688283220892159508,"visual_seed":1688283220892159508,"scene_id":"lab_003","finished_at":"2026-09-03T10:17:26"} +{"episode_id":"ep_000047","started_at":"2026-09-03T10:17:28","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.6603332854329149,1.3909358898095499,0.71338606911949],"aabb_xy":[[0.6378332856190125,1.3864612734390693],[0.6828332852468173,1.3954105061800308]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.2639887934368386,1.0884968855723556,0.71338606911949],"aabb_xy":[[-0.313962087440099,1.0384968850178082],[-0.21401549943357812,1.138496886126903]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[-0.4420262266406499,-0.07537615686579846,0.71338606911949],"aabb_xy":[[-0.49702622484239467,-0.11589812349223605],[-0.387026228438905,-0.03485419023936088]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.3331647552224817,0.6248526605755207,0.71338606911949],"aabb_xy":[[-0.355664754746189,0.6023567131248997],[-0.3106647556987742,0.6473486080261412]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[0.5684248652885,-0.33542529402546206,0.71338606911949],"aabb_xy":[[0.518446056778184,-0.38542529403118087],[0.6184036737988158,-0.28542529401974326]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.28387234386839233,-1.731257243355607,0.71338606911949],"aabb_xy":[[-0.29191570379434745,-1.8162572444509735],[-0.2758289839424371,-1.6462572422602406]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.641889579206765,-0.811758358838268,0.71338606911949],"aabb_xy":[[-0.6793895777823857,-0.8244946545018259],[-0.6043895806311441,-0.79902206317471]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.14496862564627155,-1.0865947161720058,0.71338606911949],"aabb_xy":[[0.13411701939739595,-1.0974540068996568],[0.15582023189514715,-1.0757354254443547]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.3024805621514885,0.86010533840245,0.71338606911949],"aabb_xy":[[-0.3524805638129832,0.8101068961467471],[-0.2524805604899937,0.9101037806581526]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.11830035988980148,-1.4316045323214803,0.71338606911949],"aabb_xy":[[-0.1982941834683597,-1.5116045349143221],[-0.03830653631124327,-1.351604529728639]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.5631420569533632,-0.47824461713702027,0.71338606911949],"aabb_xy":[[0.5261079475253033,-0.5126218244707296],[0.6001761663814228,-0.4438674098033107]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.5799582882769876,-0.10475189702244059,0.71338606911949],"aabb_xy":[[0.5574582877649469,-0.12724375538783894],[0.6024582887890281,-0.08226003865704223]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.18790475349280955,-1.9705171948207367,0.71338606911949],"aabb_xy":[[0.16539106166935236,-2.040517195421744],[0.21041844531626674,-1.900517194219729]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.6206795400605625,1.694832652993163,0.71338606911949],"aabb_xy":[[-0.6333063273477588,1.68528657929159],[-0.6080527527733661,1.704378726694736]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.5016633891679911,0.5494450057756448,0.71338606911949],"aabb_xy":[[-0.5469420040491404,0.48544500642746113],[-0.4563847742868419,0.6134450051238285]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[0.47638368926418084,1.5247165575013795,0.71338606911949],"aabb_xy":[[0.46032176180566325,1.4397165556887872],[0.49244561672269854,1.6097165593139708]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.16707223104646296,1.5924355277229219,0.71338606911949],"aabb_xy":[[0.16311174727672859,1.5847676631374013],[0.17103271481619733,1.6001033923084425]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[-0.5373273060003809,-0.255822474719257,0.71338606911949],"aabb_xy":[[-0.5453636407016658,-0.26386059402367373],[-0.5292909712990961,-0.24778435541484017]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.3001836571736197,-0.2108941139594651,0.71338606911949],"aabb_xy":[[-0.33518365715011555,-0.22035873000708173],[-0.2651836571971239,-0.2014294979118485]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.4395094257758718,-0.7253694735093188,0.71338606911949],"aabb_xy":[[0.37450942466992854,-0.7503348465774471],[0.5045094268818151,-0.7004041004411905]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.47456641606665273,-2.3369312781824365,0.71338606911949],"aabb_xy":[[0.4599230105126197,-2.3515899978392207],[0.48920982162068566,-2.3222725585256523]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.22508008147377068,-1.9244180101557178,0.71338606911949],"aabb_xy":[[-0.28908008288176135,-1.9762069616796423],[-0.16108008006578,-1.8726290586317929]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[0.6139035418765368,-2.112811821736955,0.71338606911949],"aabb_xy":[[0.523903543282067,-2.1290624080503764],[0.7039035404710069,-2.096561235423535]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.605240681430977,-0.029050452723430542,0.71338606911949],"aabb_xy":[[-0.6702406793126249,-0.08017411642997141],[-0.5402406835493293,0.022073210983110336]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[0.38245780991098366,-1.119643887411985,0.71338606911949],"aabb_xy":[[0.33297738869702487,-1.1836438853248368],[0.43193823112494245,-1.0556438894991331]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.5890252853522197,1.6101600883442928,0.71338606911949],"aabb_xy":[[-0.6265252858495779,1.6061914047961738],[-0.5515252848548614,1.6141287718924109]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_26","position":[-0.253318835961798,-0.10001333020605596,0.71338606911949],"aabb_xy":[[-0.2572327091572205,-0.10876234561261272],[-0.24940496276637547,-0.0912643147994992]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_27","position":[-0.6153065925843854,1.0686088682036652,0.71338606911949],"aabb_xy":[[-0.650306593935867,1.0482491322468444],[-0.5803065912329035,1.088968604160486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791153971828747,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5954.png","name":"5954"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5954.png","name":"5954"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7117.png","name":"7117"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2634.png","name":"2634"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":642.175845739485,"rotation_z_degrees":42.69883400589022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015356410464740924,-0.01591962956113092,-0.0026260297167655794]},{"name":"camera_2","offset_m":[-0.011090649440316848,0.015304848616646122,0.013238293173887816]},{"name":"camera_3","offset_m":[0.0035270590560200314,0.005933079286532705,0.018194311338793113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012838365973172447,0.0008039509255005537,-0.0001462439526723914],"end_effector_yaw_offset_degrees":-0.5778141245355797},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001388784259518717,0.0007421661893216342,0.0008526569860802008],"end_effector_yaw_offset_degrees":0.5772618972725245},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016353756135929222,-0.0016778532550529072,0.0008159471311978989],"end_effector_yaw_offset_degrees":-0.5228650479385819}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004134480013741659,0.002486784107139591],"position_m":[0.21103448001374167,0.2692867841071396,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030768222833640604,0.002103427214592525],"position_m":[0.19287682228336406,0.05970342721459252,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035690623408141707,0.002264590258554501],"position_m":[0.35483093765918583,0.1808645902585545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004148320146023193,-0.003134104179619077],"position_m":[0.2473516798539768,-0.36853410417961907,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"10daf121ae1d46fb623874f550864e0eed99657ee96e9ee97e0605d7a1fb6ac2","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5954/tex_ceiling_textures_2634/tex_floor_textures_6475/tex_table_textures_3961/tex_wall_textures_7117","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4378740777993173654,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4378740777993173654,"visual_seed":4378740777993173654,"scene_id":"lab_003","finished_at":"2026-09-03T10:20:04"} +{"episode_id":"ep_000048","started_at":"2026-09-03T10:20:08","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.40931246996501924,0.8785250436704364,0.71338606911949],"aabb_xy":[[0.39915945441086975,0.8424555020976958],[0.4194654855191685,0.9145945852431765]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.0916412297248681,1.4736572763593032,0.71338606911949],"aabb_xy":[[0.07646906044323476,1.4584884194311],[0.10681339900650144,1.4888261332875068]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.020576524318681955,0.9408222690724801,0.71338606911949],"aabb_xy":[[-0.0434234773593154,0.8923048775931659],[0.08457652599667931,0.9893396605517943]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.4797564703411259,0.9511758498306753,0.71338606911949],"aabb_xy":[[0.46688456684018576,0.8711758494168391],[0.49262837384206604,1.0311758502445114]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.3914622926381903,-0.32991854508164975,0.71338606911949],"aabb_xy":[[-0.41397598446164746,-0.3999185456826573],[-0.3689486008147331,-0.2599185444806422]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.14332627580874024,-1.2376677568492627,0.71338606911949],"aabb_xy":[[-0.20732627802914724,-1.282040840974551],[-0.07932627358833319,-1.1932946727239744]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.5922725800439701,0.292766541034609,0.71338606911949],"aabb_xy":[[-0.6147725798578725,0.2882919246641283],[-0.5697725802300677,0.29724115740508966]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.4582512096764104,-2.0828908734284584,0.71338606911949],"aabb_xy":[[0.44070451476029154,-2.12039087499271],[0.4757979045925294,-2.045390871864207]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.42708331984593895,0.44214079500254444,0.71338606911949],"aabb_xy":[[0.3433610943458565,0.3521407914678485],[0.5108055453460214,0.5321407985372404]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.621453443306899,-0.47405925320975273,0.71338606911949],"aabb_xy":[[-0.6764271653432319,-0.5290592527739859],[-0.5664797212705661,-0.4190592536455196]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.4997822337913711,-1.5887373985383806,0.71338606911949],"aabb_xy":[[0.4357822365057225,-1.6302441174912248],[0.5637822310770197,-1.5472306795855368]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.38176331670804275,1.182660827350301,0.71338606911949],"aabb_xy":[[0.33176331568890743,1.1461946116124733],[0.431763317727178,1.2191270430881291]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[0.13816896020456293,0.751067076812256,0.71338606911949],"aabb_xy":[[0.12947099791384764,0.7389421025047813],[0.14686692249527822,0.7631920511197309]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.323269326058347,-2.1188523777747457,0.71338606911949],"aabb_xy":[[0.2982693261258291,-2.1257350459956696],[0.3482693259908649,-2.1119697095538226]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.6639589608102945,-2.2079956029390706,0.71338606911949],"aabb_xy":[[0.6583772891761657,-2.220495602756846],[0.6695406324444233,-2.1954956031212953]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.5505434988125268,1.1540712765521373,0.71338606911949],"aabb_xy":[[-0.5597033777564034,1.1475400585086002],[-0.5413836198686502,1.1606024945956743]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.2762670145887666,-2.104294025720452,0.71338606911949],"aabb_xy":[[-0.3100425737794596,-2.118332520933617],[-0.24249145539807365,-2.090255530507287]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.13414347287789896,1.734213544919203,0.71338606911949],"aabb_xy":[[-0.19814346999000465,1.6851811751247925],[-0.07014347576579327,1.7832459147136137]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.09775358981111815,-2.273916187629367,0.71338606911949],"aabb_xy":[[-0.12025358933482554,-2.2964121350799878],[-0.07525359028741073,-2.251420240178746]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.6194634509712849,-0.5878818799445666,0.71338606911949],"aabb_xy":[[0.6114694623935815,-0.5958819600396569],[0.6274574395489882,-0.5798817998494762]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.4830223660871127,-1.8870260152802554,0.71338606911949],"aabb_xy":[[-0.5630223647439987,-1.9015308742045185],[-0.40302236743022674,-1.8725211563559927]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[-0.059098114505681254,-0.543813914464224,0.71338606911949],"aabb_xy":[[-0.06253879074573843,-0.5476753474385885],[-0.05565743826562408,-0.5399524814898595]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.651126550861529,-0.3681239844111559,0.71338606911949],"aabb_xy":[[-0.6886265513588873,-0.3720926679592743],[-0.6136265503641708,-0.3641553008630375]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.01725657420816673,-0.827839394554531,0.71338606911949],"aabb_xy":[[-0.028501629778784565,-0.8390811922786263],[-0.006011518637548896,-0.8165975968304358]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[-0.4156461794278957,-1.516158637856957,0.71338606911949],"aabb_xy":[[-0.43322448161684257,-1.5337331274310622],[-0.3980678772389489,-1.4985841482828521]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850396647343375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2510.png","name":"2510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2812.png","name":"2812"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5117.png","name":"5117"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1534.png","name":"1534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7948.png","name":"7948"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":604.5981809324634,"rotation_z_degrees":81.204655204544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010063015184397096,-0.013951298316464552,-0.005007903115636876]},{"name":"camera_2","offset_m":[-0.017448872480424607,0.002452833505576551,-0.0074929524544318]},{"name":"camera_3","offset_m":[0.010189452803309004,-0.010693136883187905,-0.012002998747956281]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016914794883016123,-0.0001846357533051516,-0.00014397054824937775],"end_effector_yaw_offset_degrees":-0.13143484531995542},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001159526268282161,0.0005732381331529598,0.0010508865933974657],"end_effector_yaw_offset_degrees":-0.48885221863018335},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010175263239986733,-0.0008990978514556117,-0.001791366198389547],"end_effector_yaw_offset_degrees":0.691315883593093}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020912374704031233,-0.0006335514839042114],"position_m":[0.20480876252959687,0.2661664485160958,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014041067306890696,-0.0008848231308391519],"position_m":[0.18839589326931092,0.05671517686916085,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003508614447176808,-0.0013545240801562186],"position_m":[0.3548913855528232,0.1772454759198438,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018973446354260447,-0.0046882888959832525],"position_m":[0.25339734463542607,-0.3700882888959833,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"efab5a1edefadb24415b991ce0d1b7380bc1c1eaf36af353ee41c15da51b99c7","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2510/tex_ceiling_textures_7948/tex_floor_textures_1534/tex_table_textures_2812/tex_wall_textures_5117","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6705829380756495495,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6705829380756495495,"visual_seed":6705829380756495495,"scene_id":"lab_003","finished_at":"2026-09-03T10:22:42"} +{"episode_id":"ep_000049","started_at":"2026-09-03T10:22:48","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.08729805734398133,1.0669723771783834,0.71338606911949],"aabb_xy":[[-0.12462933386922395,1.032319322383531],[-0.049966780818738704,1.1016254319732355]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.5321347756053575,1.294789340851339,0.71338606911949],"aabb_xy":[[-0.5492368535637256,1.2776825353200691],[-0.5150326976469893,1.3118961463826087]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.5090860370589039,-0.29735499195246984,0.71338606911949],"aabb_xy":[[0.474623689660762,-0.3318488743502924],[0.5435483844570456,-0.26286110955464703]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.2402500916198812,-0.835743999878156,0.71338606911949],"aabb_xy":[[0.23613414150780848,-0.8398595549110015],[0.2443660417319538,-0.8316284448453104]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.49082678031844784,-2.3233364671659986,0.71338606911949],"aabb_xy":[[0.4268267779756463,-2.3682773184101307],[0.5548267826612494,-2.2783956159218657]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.4524665972389319,-1.0359516323086675,0.71338606911949],"aabb_xy":[[0.44330671829505536,-1.0424828503522046],[0.46162647618280855,-1.0294204142651304]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.09073551562169868,-1.8044145328997723,0.71338606911949],"aabb_xy":[[0.0826218609483216,-1.8125203493538014],[0.0988491702950758,-1.7963087164457432]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.5999462627004803,0.33965016752615007,0.71338606911949],"aabb_xy":[[-0.637446263048708,0.32785877194506646],[-0.5624462623522525,0.35144156310723357]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.12149715197376021,-0.5808221079482987,0.71338606911949],"aabb_xy":[[-0.13929065890867665,-0.5986218535440964],[-0.10370364503884376,-0.563022362352501]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.475242654317669,-0.4726025117294581,0.71338606911949],"aabb_xy":[[-0.5102426526283645,-0.4803175266530038],[-0.4402426560069736,-0.4648874968059125]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.45175684474060684,-1.6184927436680372,0.71338606911949],"aabb_xy":[[0.4284750025424755,-1.703492744965265],[0.4750386869387382,-1.533492742370809]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.3535967575736152,-1.1021519356674885,0.71338606911949],"aabb_xy":[[0.31982119838292217,-1.1161904308806534],[0.3873723167643081,-1.0881134404543236]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.37835207998365605,-2.056832293833782,0.71338606911949],"aabb_xy":[[-0.38891955964175506,-2.0673773239467907],[-0.36778460032555704,-2.0462872637207736]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.2812372110974667,0.569510561543932,0.71338606911949],"aabb_xy":[[-0.291390226651616,0.5334410199711915],[-0.27108419554331725,0.6055801031166722]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.6428782123631074,-1.4540284050304129,0.71338606911949],"aabb_xy":[[0.5928782114125745,-1.485577552033934],[0.6928782133136401,-1.4224792580268912]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.549951206149984,-0.9698040743924337,0.71338606911949],"aabb_xy":[[-0.5545863213022173,-0.9736714094695822],[-0.5453160909977506,-0.9659367393152849]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.35537811939533404,0.7250625831161361,0.71338606911949],"aabb_xy":[[0.30037812021874455,0.6700729083411784],[0.4103781185719235,0.7800522578910937]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.35163083062061107,0.5128682099462187,0.71338606911949],"aabb_xy":[[0.2876308335085054,0.4638358401518081],[0.41563082773271676,0.5619005797406293]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.12831192311013284,-2.394528199058782,0.71338606911949],"aabb_xy":[[-0.15353275996997245,-2.4197519499116686],[-0.10309108625029313,-2.3693044482058947]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.5641344035081373,-0.4057400314872863,0.71338606911949],"aabb_xy":[[0.555436441217422,-0.41786500579476116],[0.5728323657988525,-0.3936150571798117]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.025748211005414356,0.7391505314290368,0.71338606911949],"aabb_xy":[[-0.038899456976703724,0.7141505316723503],[-0.012596965034125,0.7641505311857235]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[-0.2721440028795389,-1.4885710588324492,0.71338606911949],"aabb_xy":[[-0.27627985921223913,-1.5260710582768062],[-0.26800814654683874,-1.4510710593880922]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.3261499474024514,1.5975451900516169,0.71338606911949],"aabb_xy":[[0.2361499476792772,1.5744718375164368],[0.41614994712562553,1.6206185425867965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842408299370643,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4068.png","name":"4068"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4068.png","name":"4068"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9938.png","name":"9938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6927.png","name":"6927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5633.png","name":"5633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5918.png","name":"5918"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":623.4148601909337,"rotation_z_degrees":337.55434258871236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010063551082759851,-0.008339686688282182,0.0016029442889630013]},{"name":"camera_2","offset_m":[0.015446039928211319,0.00897156651212257,-0.019658578639054767]},{"name":"camera_3","offset_m":[0.01472959135349122,0.014077705315082335,0.007903413912399567]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004367753004838326,-0.0007005045660498075,0.0011886363407469119],"end_effector_yaw_offset_degrees":-0.9802454528194968},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013957018274243947,-0.0001106770125340439,0.0015076413836257168],"end_effector_yaw_offset_degrees":-0.059655732134248574},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017995281588972407,-0.001491120062294923,-0.0012267110543494912],"end_effector_yaw_offset_degrees":-0.4091653492483376}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046409435346194605,0.0006566158109293256],"position_m":[0.21154094353461947,0.26745661581092933,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00047716349490858206,0.0031976392327476176],"position_m":[0.19027716349490859,0.06079763923274761,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024946180382632247,0.0030242276693268995],"position_m":[0.3608946180382632,0.1816242276693269,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038621321163383278,-0.00011672169683097158],"position_m":[0.25536213211633835,-0.36551672169683097,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a1b3a52774bc04cd37a6cc5486e26c348703f27036c8e082ff97a4937770a92b","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4068/tex_ceiling_textures_5918/tex_floor_textures_5633/tex_table_textures_9938/tex_wall_textures_6927","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6947228908767126720,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6947228908767126720,"visual_seed":6947228908767126720,"scene_id":"lab_003","finished_at":"2026-09-03T10:25:05"} +{"episode_id":"ep_000050","started_at":"2026-09-03T10:25:09","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.4116915215032641,-1.7494578083031778,0.71338606911949],"aabb_xy":[[-0.4716915217546652,-1.8037391333396424],[-0.35169152125186287,-1.695176483266713]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.5732222645956584,-0.28718251288134855,0.71338606911949],"aabb_xy":[[0.5092222672933119,-0.33154893984920525],[0.6372222618980047,-0.24281608591349174]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.3411202510013852,0.85420917236587,0.71338606911949],"aabb_xy":[[-0.3493347961170691,0.8455325820682285],[-0.3329057058857011,0.8628857626635111]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.07923874637513373,-1.9105771029656258,0.71338606911949],"aabb_xy":[[0.014238745418006514,-1.9625253148993316],[0.1442387473322609,-1.8586288910319204]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.36646080728745783,0.9769913893668338,0.71338606911949],"aabb_xy":[[-0.3877388154309301,0.9119913870407608],[-0.3451827991439856,1.0419913916929069]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.3569890317990571,-0.996009827881907,0.71338606911949],"aabb_xy":[[-0.4068717286767534,-1.0460098271281817],[-0.30710633492136097,-0.9460098286356321]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.37036058102161395,-0.6335349989879202,0.71338606911949],"aabb_xy":[[0.31536058281986906,-0.6740569656143577],[0.42536057922335874,-0.5930130323614825]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.19583848928723757,0.8574596166844124,0.71338606911949],"aabb_xy":[[0.1318384878792469,0.8056706651604877],[0.25983849069522824,0.9092485682083371]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.5086722885855992,0.8319668486128431,0.71338606911949],"aabb_xy":[[-0.5311722883995016,0.8274922322423623],[-0.4861722887716968,0.8364414649833238]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[0.627375170530377,1.0150334017459963,0.71338606911949],"aabb_xy":[[0.5898751704247839,1.008211239893015],[0.6648751706359698,1.0218555635989772]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[-0.5423360590983726,0.5195965252826582,0.71338606911949],"aabb_xy":[[-0.5483730720990373,0.51356982421371],[-0.5362990460977078,0.5256232263516064]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.24135149348653562,1.6094933929919288,0.71338606911949],"aabb_xy":[[0.1773514941923674,1.5455072526230746],[0.30535149278070384,1.673479533360783]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.6476850568504638,-1.8737997673940296,0.71338606911949],"aabb_xy":[[-0.6655541646049193,-1.8876326753712407],[-0.6298159490960084,-1.8599668594168186]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.020438514550413234,-1.1592782169894091,0.71338606911949],"aabb_xy":[[-0.040496926163653524,-1.1793433038985666],[-0.00038010293717294363,-1.1392131300802517]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.5286584366686609,-0.056604784909271455,0.71338606911949],"aabb_xy":[[0.5246979528989265,-0.06427264949479206],[0.5326189204383952,-0.048936920323750854]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.15422935840117724,-1.117101950220058,0.71338606911949],"aabb_xy":[[0.14286762374789105,-1.128470416626346],[0.16559109305446337,-1.1057334838137698]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.36839966985668676,-0.7991906309488077,0.71338606911949],"aabb_xy":[[-0.4058996696737203,-0.8038288422599494],[-0.3308996700396532,-0.7945524196376658]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.5683890505646445,1.5856649781956311,0.71338606911949],"aabb_xy":[[-0.6135603684128136,1.5216649810510932],[-0.5232177327164756,1.64966497534017]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.081661670077114,-2.489579242177291,0.71338606911949],"aabb_xy":[[-0.008338332256905057,-2.5670615967624038],[0.17166167241113306,-2.4120968875921784]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.525946955454994,1.2175663635028449,0.71338606911949],"aabb_xy":[[-0.5759469568158812,1.1675884589274292],[-0.47594695409410676,1.2675442680782605]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.2203704512937218,1.1814196878556142,0.71338606911949],"aabb_xy":[[0.17037045027458653,1.1449534721177865],[0.27037045231285706,1.2178859035934424]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.5237381130563386,-1.9317543213349722,0.71338606911949],"aabb_xy":[[0.44374428947778033,-2.0117543239278137],[0.6037319366348968,-1.8517543187421306]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.21274074979978486,-0.6499808649813743,0.71338606911949],"aabb_xy":[[-0.27037121868705566,-0.7099808639080847],[-0.15511028091251397,-0.5899808660546635]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.10942811620275616,-1.2423067502309852,0.71338606911949],"aabb_xy":[[0.05942811662642147,-1.2922873291830914],[0.1594281157790909,-1.1923261712788795]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.23467984718499768,-1.3858244002295592,0.71338606911949],"aabb_xy":[[-0.32436692349311314,-1.4758244004840098],[-0.14499277087688225,-1.2958243999751087]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[0.4190780138802108,-1.3864630327323415,0.71338606911949],"aabb_xy":[[0.3550780118304789,-1.4265575158216495],[0.48307801592994287,-1.3463685496430335]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[0.054408630878238995,1.2033596803318227,0.71338606911949],"aabb_xy":[[0.05096795463818182,1.1994982473574582],[0.05784930711829617,1.2072211133061872]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[-0.19878098707262298,-2.1047150049812045,0.71338606911949],"aabb_xy":[[-0.2887809864909939,-2.1380905018253937],[-0.10878098765425209,-2.0713395081370143]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.5739060413912147,-0.518983856045407,0.71338606911949],"aabb_xy":[[-0.6639060411143888,-0.5420572085805866],[-0.48390604166804047,-0.495910503510227]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[0.3505588464262064,-1.0874876191545548,0.71338606911949],"aabb_xy":[[0.32016073532706274,-1.1178945211562241],[0.3809569575253499,-1.057080717152885]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[-0.4877980786823174,-1.9128182553715676,0.71338606911949],"aabb_xy":[[-0.5156431154629246,-1.9436027541098793],[-0.4599530419017103,-1.882033756633256]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_31","position":[-0.06926955189007489,1.1085489340119348,0.71338606911949],"aabb_xy":[[-0.11926456284952693,1.058548934976343],[-0.019274540930622853,1.1585489330475265]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855028256466729,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6099.png","name":"6099"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8610.png","name":"8610"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4505.png","name":"4505"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":802.409074432789,"rotation_z_degrees":95.65753770667013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012672537833190653,-0.01340440166523659,0.017599185427989907]},{"name":"camera_2","offset_m":[0.0016644052506141725,0.019538784234016313,-0.01078371646412054]},{"name":"camera_3","offset_m":[-0.011626675852379873,-0.008502962538028194,-0.012212628242650916]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006019060934286911,0.0006479270591427696,0.00016252523256155438],"end_effector_yaw_offset_degrees":0.9033791056524487},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008146342092583616,-0.001002545361317162,-0.001992202145108997],"end_effector_yaw_offset_degrees":-0.3978609063125669},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014386247892178797,0.0018977258095639175,-0.0010517527320026794],"end_effector_yaw_offset_degrees":-0.2741565763856699}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004369195060055564,1.6657719001052056e-05],"position_m":[0.20253080493994444,0.26681665771900104,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024732175612378485,0.0043677112748777185],"position_m":[0.19227321756123786,0.06196771127487772,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019696673825394303,-0.0017138505723461282],"position_m":[0.36036966738253945,0.17688614942765388,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033815966019845644,-0.003228151337439317],"position_m":[0.25488159660198456,-0.3686281513374393,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a576e2143caa7f416a0c60b5cee5cb879edf7ac06a7eac3be3304236c5e041ae","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5516/tex_ceiling_textures_4505/tex_floor_textures_8610/tex_table_textures_6099/tex_wall_textures_1059","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":9180272069933179737,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":9180272069933179737,"visual_seed":9180272069933179737,"scene_id":"lab_003","finished_at":"2026-09-03T10:27:45"} +{"episode_id":"ep_000051","started_at":"2026-09-03T10:27:48","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.6594702198577526,-0.02039319982431076,0.71338606911949],"aabb_xy":[[-0.6899544699847827,-0.0703931996058067],[-0.6289859697307224,0.02960679995718518]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.2895099259452199,-1.3424375256972998,0.71338606911949],"aabb_xy":[[-0.3595099223551816,-1.362875461348981],[-0.21950992953525802,-1.3219995900456176]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[0.5066481592594407,0.447313841738779,0.71338606911949],"aabb_xy":[[0.4426481560408029,0.4005907298397706],[0.5706481624780786,0.4940369536377873]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.17395038426987597,1.359833101139837,0.71338606911949],"aabb_xy":[[-0.19584013185881677,1.2698331038505877],[-0.15206063668093517,1.449833098429086]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.3510116321140176,1.538604628349098,0.71338606911949],"aabb_xy":[[-0.4060116317357635,1.4836209355616254],[-0.2960116324922718,1.593588321136571]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.340486342640242,1.4299410155154333,0.71338606911949],"aabb_xy":[[0.3036917095153358,1.3930351404188512],[0.37728097576514835,1.4668468906120158]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.5646259307550339,-2.5654810089564735,0.71338606911949],"aabb_xy":[[0.5599908156028004,-2.569348344033622],[0.5692610459072671,-2.5616136738793243]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.12226643689183381,-1.630566555468167,0.71338606911949],"aabb_xy":[[-0.1632843802782047,-1.6805665560991243],[-0.08124849350546291,-1.5805665548372096]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.3091906810386006,-2.3171615412396105,0.71338606911949],"aabb_xy":[[-0.36919068189941334,-2.368587971246096],[-0.24919068017778775,-2.265735111233124]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.1463293467909519,-0.5951590782471561,0.71338606911949],"aabb_xy":[[-0.1633394440810025,-0.6112935667454299],[-0.1293192495009012,-0.579024589748882]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.4845813110678898,-1.5366294843865205,0.71338606911949],"aabb_xy":[[-0.564575134646448,-1.6166294869793623],[-0.40458748748933165,-1.4566294817936791]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.36970618676217315,-0.2718538631776264,0.71338606911949],"aabb_xy":[[0.3591387071040742,-0.28239889329063494],[0.3802736664202722,-0.26130883306461783]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.46343754359859135,1.572657594980813,0.71338606911949],"aabb_xy":[[0.42640343417053156,1.5382803876471034],[0.5004716530266511,1.6070348023145222]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.6575944046707118,-0.9573549365563474,0.71338606911949],"aabb_xy":[[0.652012733036583,-0.9698549363741229],[0.6631760763048407,-0.9448549367385719]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.18060574345784042,-0.3364037618919502,0.71338606911949],"aabb_xy":[[-0.25060574684940234,-0.37171953559538107],[-0.11060574006627842,-0.30108798818851934]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.2414745180463656,-0.97907393754848,0.71338606911949],"aabb_xy":[[-0.2789745178633991,-0.9837121488596218],[-0.20397451822933202,-0.9744357262373381]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.12938077955106875,0.8812545492751571,0.71338606911949],"aabb_xy":[[0.0653807822654201,0.8397478303223131],[0.1933807768367174,0.9227612682280011]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.40580068623336985,0.9412550521469814,0.71338606911949],"aabb_xy":[[-0.4958006827342415,0.895343409728523],[-0.315800689732498,0.9871666945654395]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.17935277805612848,1.5234937248007738,0.71338606911949],"aabb_xy":[[-0.2071978148367356,1.4927092260624621],[-0.15150774127552136,1.5542782235390855]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.661948732952583,0.8521779816177681,0.71338606911949],"aabb_xy":[[0.6374025173298323,0.8219290850687312],[0.6864949485753338,0.8824268781668053]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.6512350449884151,0.5520376626923609,0.71338606911949],"aabb_xy":[[-0.6940017518678353,0.4880376592705583],[-0.6084683381089949,0.6160376661141632]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.2227972507778329,0.4540546532068479,0.71338606911949],"aabb_xy":[[-0.23370302686539562,0.3740546568080187],[-0.2118914746902702,0.5340546496056771]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.6050734443924382,-0.8736785785717474,0.71338606911949],"aabb_xy":[[-0.6289096620330433,-0.963678579380234],[-0.5812372267518332,-0.7836785777632611]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.008988871167161627,-1.827100665609461,0.71338606911949],"aabb_xy":[[-0.07298887284515898,-1.875618057088775],[0.055011130510835726,-1.7785832741301466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765606597777833,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1760.png","name":"1760"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1760.png","name":"1760"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3471.png","name":"3471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2624.png","name":"2624"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2727.png","name":"2727"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":779.4396537965195,"rotation_z_degrees":166.8784879787387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011442972078706457,0.019682875724085235,-0.019964418279776054]},{"name":"camera_2","offset_m":[0.007659528289152159,0.01631567708398844,-0.003889456544673587]},{"name":"camera_3","offset_m":[0.0065202849517489135,-0.004282165150625978,0.01921004811185965]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018109651838289255,0.0007424168927071223,-0.00042432809715850983],"end_effector_yaw_offset_degrees":-0.4873022945845349},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013853631309846065,-0.001828066539979904,0.0008804678410303931],"end_effector_yaw_offset_degrees":-0.7045769009621916},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00037672699375058917,-0.00017524425723240721,0.00031755543475844557],"end_effector_yaw_offset_degrees":0.09528552372212018}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00013809574627174272,0.0039497603576972825],"position_m":[0.20676190425372826,0.27074976035769727,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018855669485706604,0.0027651090381843766],"position_m":[0.18791443305142932,0.06036510903818437,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008085427849158187,-0.004564758797638651],"position_m":[0.3592085427849158,0.17403524120236136,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002691269051644827,0.0038896606559659834],"position_m":[0.24880873094835518,-0.36151033934403404,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f1cfb97b2387f6835e0ab4b6a31cce0c3ad2c5457d83af0c594b61a3526544c","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1760/tex_ceiling_textures_2727/tex_floor_textures_5057/tex_table_textures_3471/tex_wall_textures_2624","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3400347551394519177,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3400347551394519177,"visual_seed":3400347551394519177,"scene_id":"lab_003","finished_at":"2026-09-03T10:30:30"} +{"episode_id":"ep_000052","started_at":"2026-09-03T10:30:33","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.05794706547407724,1.6487329055125959,0.71338606911949],"aabb_xy":[[-0.14294706416615188,1.616747042117717],[0.027052933217997392,1.6807187689074747]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.15424445340432036,-1.036094947566057,0.71338606911949],"aabb_xy":[[-0.17552246154779264,-1.10109494989213],[-0.13296644526084814,-0.971094945239984]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.31335775813044164,-0.6519739810589749,0.71338606911949],"aabb_xy":[[0.30851416336921167,-0.656825633537959],[0.3182013528916716,-0.6471223285799907]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5715608664913967,0.8584386977186953,0.71338606911949],"aabb_xy":[[0.5065608664570939,0.811738021038368],[0.6365608665256993,0.9051393743990226]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.5379189174658248,-2.133693653310151,0.71338606911949],"aabb_xy":[[-0.6019189206844626,-2.180416765209159],[-0.4739189142471869,-2.086970541411142]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.5617360220857448,-0.1098478539251806,0.71338606911949],"aabb_xy":[[0.5465638528041115,-0.12501671085338395],[0.5769081913673781,-0.09467899699697724]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.23035475498198388,0.7330352828939088,0.71338606911949],"aabb_xy":[[0.16635475169227573,0.6897003638899911],[0.29435475827169194,0.7763702018978264]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.06956762391459126,-2.0483666752607435,0.71338606911949],"aabb_xy":[[0.005567625328018799,-2.0953736386602517],[0.13356762250116372,-2.0013597118612343]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.39218390822666904,-0.799805049268596,0.71338606911949],"aabb_xy":[[-0.414683043952896,-0.8223050500468588],[-0.36968477250044207,-0.7773050484903329]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.16856408156957792,0.6276083178362359,0.71338606911949],"aabb_xy":[[-0.258564083903597,0.5501259632511233],[-0.07856407923555883,0.7050906724213486]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.3400672500499764,0.9637051457557679,0.71338606911949],"aabb_xy":[[-0.38719662905181196,0.8997051447113659],[-0.2929378710481406,1.0277051468001699]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.43339627807348113,0.8015075669020697,0.71338606911949],"aabb_xy":[[-0.46771255524809907,0.7515075669288921],[-0.3990800008988632,0.8515075668752475]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.07574481578735504,1.1653611345069708,0.71338606911949],"aabb_xy":[[-0.09395063944860271,1.1543357339249791],[-0.05753899212610736,1.1763865350889624]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.319981973285659,-1.53970885853625,0.71338606911949],"aabb_xy":[[0.3067510277509777,-1.5529362775582491],[0.33321291882034026,-1.5264814395142503]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.33666947016831905,1.245336588884213,0.71338606911949],"aabb_xy":[[0.29916946937632355,1.2389687479260227],[0.37416947096031444,1.2517044298424032]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.37264681841376346,-2.14438970965462,0.71338606911949],"aabb_xy":[[0.3687329452183409,-2.1531387250611767],[0.3765606916091859,-2.135640694248063]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.2914715030909578,-2.2587418871709,0.71338606911949],"aabb_xy":[[0.2414715035146231,-2.3087224661230064],[0.34147150266729254,-2.2087613082187945]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.6858377119763464,-1.4107299975274354,0.71338606911949],"aabb_xy":[[0.6633729420049411,-1.433229998406296],[0.7083024819477514,-1.388229996648575]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.28606428529243016,-1.6211705581161278,0.71338606911949],"aabb_xy":[[-0.2989361887933703,-1.701170558529964],[-0.27319238179149,-1.5411705577022916]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.39252576481603374,-1.2870172931878834,0.71338606911949],"aabb_xy":[[-0.45652576398580375,-1.3337839803068459],[-0.32852576564626385,-1.240250606068921]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.2706975780259745,1.1570379292727102,0.71338606911949],"aabb_xy":[[-0.3206968531944107,1.107037927996763],[-0.2206983028575384,1.2070379305486574]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.36100878180071144,-2.5222792549156186,0.71338606911949],"aabb_xy":[[-0.3960087800708313,-2.5293533826106063],[-0.3260087835305915,-2.51520512722063]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.2843564340559779,-1.7625485516201982,0.71338606911949],"aabb_xy":[[0.23447373717828168,-1.8125485508664732],[0.3342391309336741,-1.7125485523739237]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.4734689664165137,1.2268064515510337,0.71338606911949],"aabb_xy":[[-0.49596896623041614,1.222331835180553],[-0.4509689666026114,1.2312810679215145]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.47633423773860345,0.0981393135901718,0.71338606911949],"aabb_xy":[[-0.48361655411526705,0.008139309980662797],[-0.46905192136193974,0.18813931719968074]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[0.4296414212865687,1.7436040457916042,0.71338606911949],"aabb_xy":[[0.41214142200848175,1.726265945725258],[0.4471414205646555,1.76094214585795]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[-0.04599082626963091,0.867572713970302,0.71338606911949],"aabb_xy":[[-0.11099082415127871,0.8164490502637612],[0.01900917161201689,0.918696377676843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674689732385337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3650.png","name":"3650"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3650.png","name":"3650"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7119.png","name":"7119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8365.png","name":"8365"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/167.png","name":"167"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":542.665364546713,"rotation_z_degrees":182.13632803834415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006406577611525162,-0.018326017646134177,-0.009501697329338402]},{"name":"camera_2","offset_m":[0.017710828848216387,0.0026507113613578603,0.01534726488406524]},{"name":"camera_3","offset_m":[0.007049883346289594,0.00021262091080733597,-0.010137159919214577]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006888256555666072,0.0017304482318617228,0.0014855488286783574],"end_effector_yaw_offset_degrees":0.5425541216420999},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010035863195640318,0.0012043113470546316,-0.0012482330010770855],"end_effector_yaw_offset_degrees":-0.8841547032527421},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000110788978023199,0.00010571273478318004,-0.001486161737438792],"end_effector_yaw_offset_degrees":-0.4308326662283051}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017325827934255604,-0.001768923005539995],"position_m":[0.20863258279342556,0.26503107699446,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00448280580763602,-0.002933867363023136],"position_m":[0.18531719419236398,0.05466613263697686,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024485120667668636,-0.00465470944614789],"position_m":[0.3559514879332331,0.1739452905538521,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004702113159617086,0.004211003356197801],"position_m":[0.24679788684038292,-0.3611889966438022,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"24208736ddb120bf4e1415d7bd119200554f3de1b96f98a6091685c2b38538f9","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3650/tex_ceiling_textures_167/tex_floor_textures_8365/tex_table_textures_6275/tex_wall_textures_7119","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2135298172257253578,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2135298172257253578,"visual_seed":2135298172257253578,"scene_id":"lab_003","finished_at":"2026-09-03T10:33:11"} +{"episode_id":"ep_000053","started_at":"2026-09-03T10:33:14","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[0.4309303026272162,-1.029310591623984,0.71338606911949],"aabb_xy":[[0.42051874394673244,-1.0346563249598821],[0.44134186130769987,-1.0239648582880854]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[0.5759299665952822,-2.2932775401170313,0.71338606911949],"aabb_xy":[[0.5409299666187863,-2.3027421561646477],[0.610929966571778,-2.283812924069415]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.3916139574930433,-2.4792345649303162,0.71338606911949],"aabb_xy":[[0.30192688118492783,-2.569234565184767],[0.48130103380115874,-2.3892345646758657]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.5712594068859547,-2.1408315375051896,0.71338606911949],"aabb_xy":[[-0.621142103763651,-2.190831536751465],[-0.5213767100082586,-2.0908315382589153]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[-0.19040003405034878,0.49472787557031417,0.71338606911949],"aabb_xy":[[-0.27040003452056477,0.4864171679559659],[-0.11040003358013287,0.5030385831846627]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.5246565581546353,1.2238781139526802,0.71338606911949],"aabb_xy":[[-0.5621565565780355,1.2107138999848492],[-0.48715655973123484,1.2370423279205107]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.22708883058144064,1.154336092290737,0.71338606911949],"aabb_xy":[[-0.2445195456604471,1.137063977626886],[-0.20965811550243407,1.1716082069545877]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.308670426432993,0.3408212015784571,0.71338606911949],"aabb_xy":[[-0.39867042615616705,0.3177478490432772],[-0.2186704267098187,0.36389455411363686]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.36576297774945976,0.8852012914130052,0.71338606911949],"aabb_xy":[[0.3514285526232963,0.8731410758584663],[0.3800974028756232,0.897261506967544]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.6578541378156084,-1.0833532928373848,0.71338606911949],"aabb_xy":[[0.6482225015951787,-1.0929906056170935],[0.6674857740360379,-1.0737159800576757]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.23107919096882779,-0.7253882517180961,0.71338606911949],"aabb_xy":[[0.20856549914537056,-0.7953882523191036],[0.253592882792285,-0.6553882511170885]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.19506927502047078,0.7475507702150908,0.71338606911949],"aabb_xy":[[0.1821973715195306,0.6675507698012545],[0.2079411785214109,0.8275507706289268]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.16832057399652245,-1.0437112429409108,0.71338606911949],"aabb_xy":[[0.12707176296660766,-1.098711242453128],[0.20956938502643713,-0.9887112434286932]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.4028217164541603,-0.9618081293136485,0.71338606911949],"aabb_xy":[[-0.4403217163979267,-0.9701012193484848],[-0.3653217165103939,-0.9535150392788116]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.5979096161981017,0.8368768677791638,0.71338606911949],"aabb_xy":[[-0.6154096164431511,0.8193770799395967],[-0.5804096159530523,0.8543766556187304]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.1067935259388384,-2.036655528281836,0.71338606911949],"aabb_xy":[[0.08673511432559809,-2.0567206151909936],[0.1268519375520787,-2.0165904413726787]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.44369317281423704,0.1328316455178702,0.71338606911949],"aabb_xy":[[-0.4986886506348963,0.07783164408396323],[-0.38869769499357754,0.1878316469517771]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[-0.6615007061793285,-0.42580162233555585,0.71338606911949],"aabb_xy":[[-0.6712566956885024,-0.43556415639479024],[-0.6517447166701547,-0.41603908827632136]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.32600071401317454,-1.6400362397343529,0.71338606911949],"aabb_xy":[[-0.34850071353688183,-1.6625321871849734],[-0.303500714489467,-1.6175402922837319]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.2832162421489578,1.707700793022903,0.71338606911949],"aabb_xy":[[-0.3482162432549011,1.6827354199547746],[-0.2182162410430145,1.7326661660910312]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.5510403253056213,1.547503686849407,0.71338606911949],"aabb_xy":[[0.5145445046783426,1.5110197444226492],[0.5875361459329,1.5839876292761643]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[-0.4423982117174081,0.9082864086025282,0.71338606911949],"aabb_xy":[[-0.47739821002810356,0.9005713936789824],[-0.4073982134067127,0.9160014235260737]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[-0.32194132445620255,-2.428481391602612,0.71338606911949],"aabb_xy":[[-0.3859370218512991,-2.49248138990332],[-0.2579456270611059,-2.3644813933019027]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.23167045610068165,-1.0624936972243888,0.71338606911949],"aabb_xy":[[-0.2816478729659352,-1.1124936987136371],[-0.181693039235428,-1.01249369573514]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.6019316039871838,-1.5079769973252926,0.71338606911949],"aabb_xy":[[-0.6659316053951744,-1.5597659488492173],[-0.537931602579193,-1.4561880458013678]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.0689295845629605,-0.6870079029155465,0.71338606911949],"aabb_xy":[[-0.10240875182400146,-0.7204870162866536],[-0.03545041730191958,-0.6535287895444396]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.4918405113303389,-0.23463310223801592,0.71338606911949],"aabb_xy":[[-0.5196855481109461,-0.2654176009763276],[-0.46399547454973183,-0.20384860349970424]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.6676160823146626,-0.5833765360160217,0.71338606911949],"aabb_xy":[[0.6176372738043467,-0.6333765360217405],[0.7175948908249785,-0.5333765360103029]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[-0.4783858400970112,-1.2769552643926503,0.71338606911949],"aabb_xy":[[-0.5158858404452389,-1.2887466599737338],[-0.4408858397487835,-1.2651638688115667]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_29","position":[0.3493951152731285,1.6672162532572519,0.71338606911949],"aabb_xy":[[0.33692775716339285,1.6547509286239284],[0.36186247338286415,1.6796815778905754]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[-0.2679337725225081,0.6616293759074865,0.71338606911949],"aabb_xy":[[-0.27597010722379295,0.6535912566030697],[-0.25989743782122326,0.6696674952119033]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_31","position":[-0.000318372483388063,0.7815773899987173,0.71338606911949],"aabb_xy":[[-0.06031837299124098,0.724730656312796],[0.059681628024464854,0.8384241236846386]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_32","position":[-0.6095265556109826,0.4647888496497319,0.71338606911949],"aabb_xy":[[-0.679526557419728,0.4434350808855445],[-0.5395265538022371,0.48614261841391926]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_33","position":[-0.5725435950844763,-2.434966667778903,0.71338606911949],"aabb_xy":[[-0.5774428873910397,-2.462643587081472],[-0.5676443027779127,-2.4072897484763343]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_34","position":[0.5051752793563766,0.14252136435151685,0.71338606911949],"aabb_xy":[[0.48267614363014966,0.12002136357325388],[0.5276744150826036,0.16502136512977983]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828956546683694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2441.png","name":"2441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2441.png","name":"2441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4526.png","name":"4526"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8996.png","name":"8996"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9468.png","name":"9468"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":785.8446426063151,"rotation_z_degrees":71.02558339901393,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006872674919580053,0.007937537534302323,-0.00242566595827573]},{"name":"camera_2","offset_m":[-0.008120896684361778,-0.0003433227822428747,-0.015250600442588507]},{"name":"camera_3","offset_m":[-0.0003434958242530227,0.0031337100051120927,-0.010259676545725158]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001455012533361486,0.0010331696465276426,0.00024358539413028412],"end_effector_yaw_offset_degrees":0.6461967208728401},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001306530007549869,0.0005473090316630009,-0.001325013733062725],"end_effector_yaw_offset_degrees":0.5648424136312467},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014790899192327056,0.0005573264895711886,-0.0015060903879318731],"end_effector_yaw_offset_degrees":0.023833415261997892}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008324878254746329,0.003995702209139407],"position_m":[0.20773248782547463,0.2707957022091394,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004461715909799652,0.003197824263759968],"position_m":[0.18533828409020034,0.060797824263759966,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031539216372913894,0.003008216011378435],"position_m":[0.3552460783627086,0.18160821601137844,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016077310619589166,-0.0011601561491380208],"position_m":[0.25310773106195894,-0.366560156149138,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2618a7a928eb1bfd9f252d514f7c4e17c09684301cc7aa52d369a4f7890105b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2441/tex_ceiling_textures_9468/tex_floor_textures_8996/tex_table_textures_4526/tex_wall_textures_6258","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3931203291083724994,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3931203291083724994,"visual_seed":3931203291083724994,"scene_id":"lab_003","finished_at":"2026-09-03T10:36:11"} +{"episode_id":"ep_000054","started_at":"2026-09-03T10:36:14","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.006714584902011378,-2.20746914192693,0.71338606911949],"aabb_xy":[[-0.05728111249308521,-2.2714691402276386],[0.07071028229710796,-2.143469143626221]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.5455416373696224,-0.9153576286687255,0.71338606911949],"aabb_xy":[[-0.6155416337795839,-0.935795564320407],[-0.4755416409596604,-0.8949196930170435]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.08176121212719234,-0.13048678860506913,0.71338606911949],"aabb_xy":[[-0.09491245809848171,-0.15548678836175567],[-0.06860996615590298,-0.10548678884838258]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.190950515954195,-1.7896562322467149,0.71338606911949],"aabb_xy":[[0.12595051499706775,-1.8416044441804205],[0.25595051691132215,-1.7377080203130093]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.04572497692459088,1.6978446482085494,0.71338606911949],"aabb_xy":[[0.031390551798427424,1.6857844326540106],[0.06005940205075433,1.7099048637630883]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.4169309342923462,-2.474138899057408,0.71338606911949],"aabb_xy":[[0.3369309371327709,-2.485686500015225],[0.49693093145192146,-2.462591298099591]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.3025279175225881,0.7191843881018829,0.71338606911949],"aabb_xy":[[0.2650279171743603,0.7073929925207993],[0.3400279178708158,0.7309757836829665]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.393070530959879,-1.1781090081149004,0.71338606911949],"aabb_xy":[[-0.4011138908858341,-1.2631090092102666],[-0.38502717103392375,-1.0931090070195337]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.5804509190383693,-0.10714078912760838,0.71338606911949],"aabb_xy":[[-0.6304509186147041,-0.15712136807971436],[-0.5304509194620347,-0.05716021017550246]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.06026618458395505,-0.8040993831952743,0.71338606911949],"aabb_xy":[[-0.003733814710213168,-0.8680855235641284],[0.12426618387812327,-0.74011324282642]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.5965543484509634,0.8066321623420043,0.71338606911949],"aabb_xy":[[0.5790543493165963,0.7967525353044165],[0.6140543475853306,0.8165117893795921]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.5275343356806017,0.2096758649074646,0.71338606911949],"aabb_xy":[[-0.5609745108766211,0.17623223907653449],[-0.49409416048458193,0.24311949073839464]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.35780220881069247,-2.0413003305516537,0.71338606911949],"aabb_xy":[[0.27780221140709904,-2.121292901749836],[0.4378022062142859,-1.9613077593534707]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.36563025797003657,0.8564615453416491,0.71338606911949],"aabb_xy":[[0.3311679105718947,0.8219676629438261],[0.4000926053681783,0.8909554277394715]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.006922807737091752,-1.2162512498067333,0.71338606911949],"aabb_xy":[[-0.058077190819981084,-1.246003783220616],[0.07192280629416459,-1.1864987163928506]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[0.1377375490831224,-1.0144164243486393,0.71338606911949],"aabb_xy":[[0.12010471348959482,-1.032039370364262],[0.15537038467664996,-0.9967934783330162]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.055914531864955985,-0.02865373780818059,0.71338606911949],"aabb_xy":[[-0.06936105849899932,-0.042123589461271815],[-0.04246800523091265,-0.015183886155089369]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.5929311275519134,1.2747935620699216,0.71338606911949],"aabb_xy":[[0.5289311272914424,1.2297847627169933],[0.656931127812384,1.3198023614228493]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.28264168352242064,1.3722991929762869,0.71338606911949],"aabb_xy":[[-0.3039196916658929,1.307299190650214],[-0.2613636753789484,1.4372991953023602]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.31450354879684905,-0.8670885461886171,0.71338606911949],"aabb_xy":[[0.3100729194420089,-0.8725369179232998],[0.31893417815168923,-0.8616401744539346]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.4059176240766376,0.786722711526262,0.71338606911949],"aabb_xy":[[-0.42371113101155405,0.7689229659304644],[-0.3881241171417212,0.8045224571220597]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.017944499498316557,1.4221814289826509,0.71338606911949],"aabb_xy":[[0.007171525576948775,1.387181430763612],[0.028717473419684333,1.4571814272016899]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827587519532611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1424.png","name":"1424"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1424.png","name":"1424"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3338.png","name":"3338"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2087.png","name":"2087"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5464.png","name":"5464"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4323.png","name":"4323"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":704.5361653276084,"rotation_z_degrees":293.6439353455513,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011766655949984783,-0.0017703130480005193,0.006424450526791376]},{"name":"camera_2","offset_m":[-0.001255276236581778,0.01831492443499409,0.015119118543908416]},{"name":"camera_3","offset_m":[0.005071197809678667,-0.019148657974288247,-7.587987991916623e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00010681780961899895,-0.0013610676167089056,-0.00024313090767386384],"end_effector_yaw_offset_degrees":-0.8092416666991806},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00019909846499723948,-9.56021616573652e-05,-0.001753832789460367],"end_effector_yaw_offset_degrees":0.5572209406272475},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019428892359368041,0.0003504080784011666,-0.0019566010090867093],"end_effector_yaw_offset_degrees":0.3059773052786605}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003980963942629719,0.0001325881874756265],"position_m":[0.21088096394262973,0.2669325881874756,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013084147617995834,0.0005791451018997548],"position_m":[0.19110841476179957,0.058179145101899754,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015361031289499905,0.00029966228452323225],"position_m":[0.35686389687105,0.17889966228452325,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018944008376182257,-0.0004537588062526257],"position_m":[0.2533944008376182,-0.36585375880625265,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"792da7c1876aea2719f6e28e74581dc4dee4194725e533610bdcced624968888","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1424/tex_ceiling_textures_4323/tex_floor_textures_5464/tex_table_textures_3338/tex_wall_textures_2087","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6022321875398534608,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6022321875398534608,"visual_seed":6022321875398534608,"scene_id":"lab_003","finished_at":"2026-09-03T10:38:53"} +{"episode_id":"ep_000055","started_at":"2026-09-03T10:38:55","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.5347624194029572,1.4151504215772897,0.71338606911949],"aabb_xy":[[-0.6244494957110727,1.3251504213228391],[-0.44507534309484176,1.5051504218317402]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.445138738272159,-1.8329763084303565,0.71338606911949],"aabb_xy":[[0.4357212637022963,-1.8423924855680756],[0.4545562128420218,-1.8235601312926375]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[0.01772131605470928,0.8027282746550357,0.71338606911949],"aabb_xy":[[-0.037278682147035544,0.7622063080285982],[0.0727213142564541,0.8432502412814734]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.0033959966564058863,1.591062417143697,0.71338606911949],"aabb_xy":[[-0.005897621580744694,1.553562418655563],[0.012689614893556467,1.6285624156318308]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.6794358693095597,-0.9249125134820055,0.71338606911949],"aabb_xy":[[0.6680741346562734,-0.9362809798882937],[0.6907976039628457,-0.9135440470757176]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.379374866429634,0.5074056255763448,0.71338606911949],"aabb_xy":[[-0.38349081654170664,0.5032900705434992],[-0.3752589163175613,0.5115211806091903]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.3697740556284539,-0.5640327702647778,0.71338606911949],"aabb_xy":[[0.3327399462003941,-0.5984099775984872],[0.40680816505651357,-0.5296555629310684]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.5193501728641856,-0.9009374516696136,0.71338606911949],"aabb_xy":[[0.5156469115350466,-0.9046394699783313],[0.5230534341933244,-0.8972354333608956]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.5575729606520539,1.814591073252576,0.71338606911949],"aabb_xy":[[-0.5615334444217883,1.8069232086670557],[-0.5536124768823196,1.822258937838097]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.11623275185824289,1.3478943846484737,0.71338606911949],"aabb_xy":[[0.08245719266754992,1.3338558894353085],[0.15000831104893586,1.3619328798616384]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.1339920687031554,-0.4785132996176711,0.71338606911949],"aabb_xy":[[-0.1689920678959736,-0.48948034561533366],[-0.09899206951033707,-0.4675462536200084]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.4933276159059441,-1.2711064232505638,0.71338606911949],"aabb_xy":[[-0.5021296712149167,-1.2789177494054926],[-0.4845255605969713,-1.2632950970956345]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[-0.5128284874078488,-1.104440593737941,0.71338606911949],"aabb_xy":[[-0.5303284876528981,-1.1219403815775078],[-0.49532848716279937,-1.086940805898374]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.41467245559058336,-2.039758670660441,0.71338606911949],"aabb_xy":[[-0.4646724559511494,-2.0897386578700434],[-0.3646724552300173,-1.9897786834508377]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.4704665826483752,0.5754206444099883,0.71338606911949],"aabb_xy":[[-0.47816977332245225,0.5677112737112502],[-0.46276339197429817,0.5831300151087262]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.024433707703619967,1.7369255405436577,0.71338606911949],"aabb_xy":[[-0.03147515865436756,1.729898788805863],[-0.017392256752872374,1.7439522922814519]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.028977156657483683,1.1701703170507525,0.71338606911949],"aabb_xy":[[-0.0009904002523419865,1.1401703167528665],[0.05894471356730935,1.200170317348638]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.582832775684169,-1.367506352516288,0.71338606911949],"aabb_xy":[[-0.6203327759763438,-1.3715478279168913],[-0.5453327753919942,-1.3634648771156843]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.19508361927431583,-1.1823407892038267,0.71338606911949],"aabb_xy":[[-0.20158525578232048,-1.1921086112301365],[-0.18858198276631125,-1.172572967177517]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.6748255303277244,0.16154825104649984,0.71338606911949],"aabb_xy":[[0.6461761979673081,0.13290269176942404],[0.7034748626881405,0.19019381032357563]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.25438607707874494,-0.8107662235811122,0.71338606911949],"aabb_xy":[[-0.2956348881086596,-0.8657662230933296],[-0.21313726604883018,-0.7557662240688947]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.5417091164596568,-0.13816920342324002,0.71338606911949],"aabb_xy":[[-0.562987124603129,-0.20316920574931308],[-0.5204311083161846,-0.07316920109716696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6808589257024315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8363.png","name":"8363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8363.png","name":"8363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2413.png","name":"2413"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8195.png","name":"8195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3954.png","name":"3954"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2892.png","name":"2892"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.7553696068723,"rotation_z_degrees":265.8249579689806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004288784672401694,-0.013882710700275358,0.004308087239257765]},{"name":"camera_2","offset_m":[-0.00033596777467442135,0.0005955072729818857,-0.0025224409592934545]},{"name":"camera_3","offset_m":[-0.01669134383421747,0.017592217654963025,8.475025831674449e-06]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00042539078289132305,0.0009892371689262354,-0.0009140115571077594],"end_effector_yaw_offset_degrees":0.019935976762890162},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002372287062944239,0.001703115224129938,0.0017133003332735239],"end_effector_yaw_offset_degrees":0.17529560984939097},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003687690715317507,-3.9577235039234444e-05,-0.0010239288166199439],"end_effector_yaw_offset_degrees":0.4609655362391165}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004260946079526567,0.0023977466801455563],"position_m":[0.20263905392047343,0.2691977466801455,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014963082675173668,-0.002945143395913119],"position_m":[0.19129630826751737,0.05465485660408688,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032434480969002486,-0.0028316344264604112],"position_m":[0.35515655190309975,0.1757683655735396,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00022126666094330217,-0.00024060773308925976],"position_m":[0.2512787333390567,-0.36564060773308926,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29f9df4a4f54008c44a012ddd46af1cbdc145e5d96aeae75257a5b307b8f4e04","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8363/tex_ceiling_textures_2892/tex_floor_textures_3954/tex_table_textures_2413/tex_wall_textures_8195","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1735324253733057940,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1735324253733057940,"visual_seed":1735324253733057940,"scene_id":"lab_003","finished_at":"2026-09-03T10:41:43"} +{"episode_id":"ep_000056","started_at":"2026-09-03T10:41:48","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.2752443884981054,1.596416292169804,0.71338606911949],"aabb_xy":[[0.21124438991153288,1.549409328770295],[0.3392443870846778,1.6434232555693125]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.6397850397610159,-0.14968240773132235,0.71338606911949],"aabb_xy":[[0.6316573515677026,-0.15859601614203],[0.6479127279543291,-0.1407687993206147]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.6039053616438982,-1.1469595419462086,0.71338606911949],"aabb_xy":[[-0.621405360921985,-1.1642976420125548],[-0.5864053623658112,-1.129621441879863]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.6058282248105092,-0.495828827610457,0.71338606911949],"aabb_xy":[[-0.6858282280745223,-0.5093888599193703],[-0.525828221546496,-0.4822687953015436]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.11417256331528436,-0.14242342137666109,0.71338606911949],"aabb_xy":[[-0.16417256467617158,-0.19240132595207668],[-0.06417256195439713,-0.09244551680124545]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.2928537854256158,-0.5833561882942351,0.71338606911949],"aabb_xy":[[0.2553537852537438,-0.6160569236771422],[0.3303537855974877,-0.5506554529113278]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.3302822226657829,-1.1886713017015904,0.71338606911949],"aabb_xy":[[0.32386840902259795,-1.1950811219492585],[0.3366960363089678,-1.1822614814539218]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.5700348173668355,-1.818812797328814,0.71338606911949],"aabb_xy":[[-0.6073660938920781,-1.8534658521236664],[-0.5327035408415929,-1.784159742533962]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.3093281662507985,0.23631922299877894,0.71338606911949],"aabb_xy":[[-0.3468281663563914,0.2294970611457978],[-0.2718281661452055,0.24314138485176004]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.2886889937157873,-0.6903862911419125,0.71338606911949],"aabb_xy":[[-0.358688990125749,-0.710824226793594],[-0.21868899730582544,-0.6699483554902306]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.4790577269438554,-1.0876092201290284,0.71338606911949],"aabb_xy":[[0.45614201405880556,-1.1105135172654519],[0.5019734398289053,-1.0647049229926049]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.40873334246655463,0.09236295262968364,0.71338606911949],"aabb_xy":[[-0.4627489387484546,0.02836294973742648],[-0.35471774618465457,0.1563629555219408]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.1933573764919675,0.8671794853136974,0.71338606911949],"aabb_xy":[[0.1583573772991492,0.8562124393160346],[0.22835737568478573,0.8781465313113599]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[-0.13770388960489166,1.38442074330634,0.71338606911949],"aabb_xy":[[-0.14860966569245437,1.3044207469075106],[-0.12679811351732895,1.464420739705169]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.3540406480344239,1.6927081750564583,0.71338606911949],"aabb_xy":[[-0.3759303956233647,1.6027081777672094],[-0.3321509004454831,1.7827081723457077]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.28754265879985486,-1.9325272618582838,0.71338606911949],"aabb_xy":[[0.2235426573918642,-1.9843162133822085],[0.3515426602078455,-1.8807383103343591]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.48044850615997625,0.4466459905497122,0.71338606911949],"aabb_xy":[[-0.5504485082914057,0.4238840249240165],[-0.41044850402854666,0.4694079561754078]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.40626685626626613,-2.457823561565387,0.71338606911949],"aabb_xy":[[-0.4150689115752388,-2.4656348877203156],[-0.39746480095729336,-2.4500122354104574]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[0.3702711964882137,-2.438405367878061,0.71338606911949],"aabb_xy":[[0.33649563729752074,-2.4524438630912258],[0.4040467556789067,-2.424366872664896]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.1844407659407733,1.158238105452651,0.71338606911949],"aabb_xy":[[0.17468477643159938,1.1484755713934163],[0.19419675544994716,1.1680006395118852]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.403829361937851,1.2605689282979058,0.71338606911949],"aabb_xy":[[-0.46882936009377,1.2342726837479934],[-0.3388293637819319,1.2868651728478178]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.5295161558819861,-2.2661571394173023,0.71338606911949],"aabb_xy":[[0.5092318531585871,-2.286439764560011],[0.5498004586053846,-2.245874514274593]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.5331611665012108,-1.9877807586340528,0.71338606911949],"aabb_xy":[[0.4431611697656006,-2.040964221951347],[0.623161163236821,-1.9345972953167578]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.23534063360772128,-2.263621259941583,0.71338606911949],"aabb_xy":[[0.19409182257780655,-2.3186212594538005],[0.276589444637636,-2.2086212604293656]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[0.5693068847259584,0.9318888088287438,0.71338606911949],"aabb_xy":[[0.5307611919007573,0.8933430377725552],[0.6078525775511594,0.9704345798849324]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[0.6827473597500755,-2.2606469152551463,0.71338606911949],"aabb_xy":[[0.6747538699547936,-2.2686450471956223],[0.6907408495453576,-2.252648783314671]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.05217302925829592,-0.5246911253684865,0.71338606911949],"aabb_xy":[[-0.09347757232203191,-0.5886911249366036],[-0.010868486194559927,-0.4606911258003694]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.049016202382911156,1.368413086269451,0.71338606911949],"aabb_xy":[[-0.06656289729903009,1.3309130847051998],[-0.031469507466792224,1.4059130878337023]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.4116495797448307,-1.6317666465925633,0.71338606911949],"aabb_xy":[[-0.4666495793665765,-1.6867503393800363],[-0.3566495801230848,-1.5767829538050908]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822349057551531,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5907.png","name":"5907"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5907.png","name":"5907"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4343.png","name":"4343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3404.png","name":"3404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7147.png","name":"7147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1403.png","name":"1403"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":754.6791505143472,"rotation_z_degrees":73.96047580540835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010569676621270886,-0.01686067581584167,0.01727803435471992]},{"name":"camera_2","offset_m":[0.019833998119575435,-0.0164926379107228,0.013975999083393049]},{"name":"camera_3","offset_m":[-0.016119631041998407,-0.00915489539430197,0.008623893409769573]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005350433613843925,0.0017576570932534663,-0.0017141916395716668],"end_effector_yaw_offset_degrees":0.7388242905263684},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009039560302469872,-0.0019199564955223606,0.001516402658099676],"end_effector_yaw_offset_degrees":0.9199956541035983},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006716652700492504,0.0012166507950727404,0.00020956777097432813],"end_effector_yaw_offset_degrees":-0.15645614211517933}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003169392526416212,0.0013698534878697688],"position_m":[0.2100693925264162,0.26816985348786976,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004173942310025737,0.003938618916387668],"position_m":[0.19397394231002574,0.06153861891638766,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026098070186190594,-0.0003097048883583479],"position_m":[0.3557901929813809,0.17829029511164166,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002807678713041181,0.001971608609203062],"position_m":[0.25430767871304116,-0.36342839139079697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37095820f79c4f8a13c246d93478fe2f0833c8e62fc7e2e5ddca3abeaa39691c","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5907/tex_ceiling_textures_1403/tex_floor_textures_7147/tex_table_textures_4343/tex_wall_textures_3404","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4272236310972972494,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4272236310972972494,"visual_seed":4272236310972972494,"scene_id":"lab_003","finished_at":"2026-09-03T10:44:28"} +{"episode_id":"ep_000057","started_at":"2026-09-03T10:44:31","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.12350697607461314,1.662032600772125,0.71338606911949],"aabb_xy":[[-0.12758513398166288,1.6579516205238618],[-0.1194288181675634,1.6661135810203884]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.5441618187365473,-1.1967642842512345,0.71338606911949],"aabb_xy":[[-0.6081618189970182,-1.2417730836041623],[-0.4801618184760766,-1.1517554848983063]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.38675953343066505,-1.3994848489008953,0.71338606911949],"aabb_xy":[[-0.40231530284093037,-1.4150352821453025],[-0.3712037640203998,-1.3839344156564881]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.6176320503220527,-2.218379272858151,0.71338606911949],"aabb_xy":[[0.5526320521661336,-2.244675517408063],[0.6826320484779718,-2.1920830283082386]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.03894538116695534,-1.5345030798931818,0.71338606911949],"aabb_xy":[[0.01644538115680704,-1.548599299532785],[0.061445381177103624,-1.5204068602535785]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[0.7137725391290419,-1.0624396480112432,0.71338606911949],"aabb_xy":[[0.7089289443678121,-1.0672913004902274],[0.718616133890272,-1.0575879955322591]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.5207607712988773,-1.102102482277151,0.71338606911949],"aabb_xy":[[-0.5490904812474176,-1.106563224470868],[-0.4924310613503371,-1.097641740083434]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.021058832797543614,1.3343696516681995,0.71338606911949],"aabb_xy":[[-0.01485467162744607,1.2984561434514448],[0.056972337222533295,1.3702831598849539]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.5939110508999729,-1.3226370721033893,0.71338606911949],"aabb_xy":[[-0.6243091619991163,-1.3530439741050588],[-0.5635129398008292,-1.2922301701017198]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[0.5511105789155675,1.5870899084291437,0.71338606911949],"aabb_xy":[[0.5402701006890526,1.5699036271384947],[0.5619510571420824,1.6042761897197921]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.08549936894285382,-1.880030462348943,0.71338606911949],"aabb_xy":[[-0.004500634734064367,-1.941462868926047],[0.17549937261977197,-1.8185980557718382]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.1911017829077335,0.9837291673799342,0.71338606911949],"aabb_xy":[[-0.25510178019338214,0.9422224484270901],[-0.12710178562208485,1.0252358863327782]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.11884409314109634,-1.1066220088486376,0.71338606911949],"aabb_xy":[[-0.1688440927174311,-1.1566025878007438],[-0.06884409356476165,-1.0566414298965319]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[-0.31278701092664773,-0.6394768871974486,0.71338606911949],"aabb_xy":[[-0.3927870078896869,-0.7165525288412219],[-0.23278701396360857,-0.562401245553675]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.26609889267565673,0.24350977003813945,0.71338606911949],"aabb_xy":[[-0.32109437049631606,0.1885097686042325],[-0.21110341485499728,0.2985097714720464]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.45406621759919086,-0.2522789712533884,0.71338606911949],"aabb_xy":[[-0.4990588043176413,-0.29727897052783714],[-0.4090736308807405,-0.20727897197893963]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.14854715642345673,1.2550287810005623,0.71338606911949],"aabb_xy":[[0.13104715714536985,1.237690680934216],[0.1660471557015436,1.272366881066908]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.11304122760120017,-0.11278687612252547,0.71338606911949],"aabb_xy":[[-0.17704122490354657,-0.15715330309038222],[-0.04904123029885375,-0.06842044915466872]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[-0.0649380207063932,-0.37588919435372903,0.71338606911949],"aabb_xy":[[-0.08243795414037657,-0.39338919427396357],[-0.04743808727240982,-0.3583891944334945]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.19708051930656656,1.0204723667373274,0.71338606911949],"aabb_xy":[[0.18445373201937018,1.0109262930357545],[0.20970730659376288,1.0300184404389003]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.04930783508639758,-2.116092937789544,0.71338606911949],"aabb_xy":[[0.04397025942039301,-2.1410929387186832],[0.054645410752402146,-2.0910929368604037]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.49247029051436414,0.46714063249709703,0.71338606911949],"aabb_xy":[[-0.5724702919444913,0.38762347748448744],[-0.4124702890842369,0.5466577875097064]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.052491499726009416,-2.3459487354254978,0.71338606911949],"aabb_xy":[[-0.055932175966066595,-2.3498101683998627],[-0.04905082348595225,-2.3420873024511337]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[0.10228113499980385,-1.2738511906090644,0.71338606911949],"aabb_xy":[[0.022281136412484425,-1.353166792547225],[0.18228113358712328,-1.1945355886709033]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[0.43537397526716903,-1.8640719420797338,0.71338606911949],"aabb_xy":[[0.3855571958023343,-1.9140719405640374],[0.4851907547320038,-1.8140719435954307]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[0.49848021414553134,-0.7464561458551828,0.71338606911949],"aabb_xy":[[0.49197857763752684,-0.7562239678814927],[0.5049818506535361,-0.7366883238288731]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[-0.12303876807895608,-0.7977397723570128,0.71338606911949],"aabb_xy":[[-0.13564146721603254,-0.8103351685818783],[-0.11043606894187964,-0.7851443761321473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6757595225129263,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8357.png","name":"8357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8357.png","name":"8357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5033.png","name":"5033"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5483.png","name":"5483"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2355.png","name":"2355"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":783.3111543839799,"rotation_z_degrees":22.444326997604108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029411118326590283,0.012456592706013795,0.016789072554330337]},{"name":"camera_2","offset_m":[-0.01725213990905578,-0.01107060102037742,0.007654299167626652]},{"name":"camera_3","offset_m":[-0.010080113887900347,-0.015352486083437852,0.0022613068713600373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014870413851770237,5.080340178154714e-05,0.00043247443091641493],"end_effector_yaw_offset_degrees":-0.05316548321242398},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006281478060050571,0.000724011685781365,0.0012635815998007787],"end_effector_yaw_offset_degrees":0.17473914967494264},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016304877364470942,-0.0013979611876305906,-0.0004448202215422219],"end_effector_yaw_offset_degrees":0.28838007425188983}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038665805951918234,-0.0019191583302822068],"position_m":[0.20303341940480818,0.26488084166971776,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014316502974569077,-0.0004559940157197011],"position_m":[0.1912316502974569,0.057144005984280294,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014080288899676798,0.004997249046247438],"position_m":[0.35699197111003234,0.18359724904624744,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004481741169919962,0.002562638567079659],"position_m":[0.24701825883008005,-0.36283736143292034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69414c631afc5034fe0eda7e4d6101fd9211b883c93eaac399ea5e7f3b5a6b07","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8357/tex_ceiling_textures_683/tex_floor_textures_2355/tex_table_textures_5033/tex_wall_textures_5483","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2231713711780238814,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2231713711780238814,"visual_seed":2231713711780238814,"scene_id":"lab_003","finished_at":"2026-09-03T10:47:10"} +{"episode_id":"ep_000058","started_at":"2026-09-03T10:47:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.5103219433535464,-1.1038293374471806,0.71338606911949],"aabb_xy":[[-0.5903219466175595,-1.117389369756094],[-0.4303219400895333,-1.0902693051382673]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.23509800520798785,1.6743827719646185,0.71338606911949],"aabb_xy":[[0.22631677806075168,1.6656030246760887],[0.24387923235522413,1.6831625192531492]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[-0.46558929148136335,1.1003742919641804,0.71338606911949],"aabb_xy":[[-0.513395459095132,1.0353742892571216],[-0.4177831238675947,1.1653742946712395]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.008646213052311835,-2.3557288597602106,0.71338606911949],"aabb_xy":[[-0.051353787455541075,-2.4125755934461313],[0.06864621356016475,-2.298882126074289]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.4518657068483529,1.7230211074248838,0.71338606911949],"aabb_xy":[[-0.5418657033492247,1.6771094650064253],[-0.36186571034748116,1.7689327498433418]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.5985862648488046,0.3750921967646268,0.71338606911949],"aabb_xy":[[-0.6485862644251394,0.32511161781252085],[-0.54858626527247,0.42507277571673274]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.004151213857603975,-1.0340284615820072,0.71338606911949],"aabb_xy":[[-0.0011813007970090097,-1.039352789827243],[0.00948372851221696,-1.028704133336772]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.5639521126297287,-1.0826745730596803,0.71338606911949],"aabb_xy":[[0.546521397550722,-1.0999466877235309],[0.5813828277087351,-1.0654024583958293]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.5059602126658476,-2.411498664078951,0.71338606911949],"aabb_xy":[[-0.5434602112414683,-2.4242349597425084],[-0.4684602140902267,-2.3987623684153925]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.4364843446078782,-1.7275401473322218,0.71338606911949],"aabb_xy":[[-0.44440762484662655,-1.750040147570225],[-0.4285610643691299,-1.7050401470942183]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.2564176663739593,1.6419439925662105,0.71338606911949],"aabb_xy":[[-0.2730948023670548,1.62524406859228],[-0.2397405303808638,1.6586439165401405]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.06689000425257674,1.4432505149757868,0.71338606911949],"aabb_xy":[[0.059628756682169326,1.4304635047122776],[0.07415125182298415,1.4560375252392965]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[0.33602260167358255,-1.1637944932061879,0.71338606911949],"aabb_xy":[[0.27839213278631164,-1.223794492132898],[0.3936530705608533,-1.1037944942794768]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.5419163915119993,-0.9512910329610043,0.71338606911949],"aabb_xy":[[0.4769163905114987,-1.002077398115679],[0.6069163925124997,-0.9005046678063292]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.6500679756834831,0.6122469202461849,0.71338606911949],"aabb_xy":[[-0.6549115704447132,0.6073952677672008],[-0.6452243809222532,0.617098572725169]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.6066143271916509,-1.919009713266365,0.71338606911949],"aabb_xy":[[0.5466143269402496,-1.9732910383028297],[0.6666143274430519,-1.8647283882299004]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.22816781648621742,-0.6978904656932896,0.71338606911949],"aabb_xy":[[-0.3181678201631356,-0.7593228722703937],[-0.13816781280929924,-0.6364580591161851]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.30767325895896125,-1.3334498925015776,0.71338606911949],"aabb_xy":[[0.27017325914192764,-1.3380881038127195],[0.34517325877599475,-1.3288116811904358]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.06390435978736397,-2.5241249562835715,0.71338606911949],"aabb_xy":[[0.008904360610774487,-2.5791146310585287],[0.11890435896395346,-2.4691352815086134]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.019861808037687667,0.3420550279190868,0.71338606911949],"aabb_xy":[[-0.03736180717205483,0.332175400881499],[-0.0023618089033204943,0.35193465495667464]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.4304476414694927,-2.257360334316462,0.71338606911949],"aabb_xy":[[-0.44129924771836826,-2.2682196250441122],[-0.41959603522061706,-2.2465010435888106]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.32433628691194905,-0.520009320491893,0.71338606911949],"aabb_xy":[[0.3091641176303157,-0.5351781774200963],[0.3395084561935824,-0.5048404635636896]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.221755060776765,0.8893897391322314,0.71338606911949],"aabb_xy":[[0.14175505751892206,0.8093932313402474],[0.30175506403460794,0.9693862469242154]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[-0.2149381755971449,0.4901158960304084,0.71338606911949],"aabb_xy":[[-0.26993042623265584,0.43511589428709563],[-0.15994592496163396,0.5451158977737212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6802192085124432,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8778.png","name":"8778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8778.png","name":"8778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3601.png","name":"3601"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2007.png","name":"2007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2128.png","name":"2128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/602.png","name":"602"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":784.6759836922924,"rotation_z_degrees":299.91658077121104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017812906192710923,-0.013388854746812392,0.01593645348008661]},{"name":"camera_2","offset_m":[0.010764004473637078,0.007960520611258074,0.013178101226667651]},{"name":"camera_3","offset_m":[0.011882161249852762,0.015315399226925427,-0.015563453560943862]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00030991692064588476,-0.0009264698638817097,0.0018060259176877385],"end_effector_yaw_offset_degrees":-0.791894232572177},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017302061185038228,-0.00016839056172254937,-0.0005225085993574967],"end_effector_yaw_offset_degrees":-0.2532892594594345},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012321876035665293,-0.0002545153461190818,0.0015983607406816545],"end_effector_yaw_offset_degrees":-0.22988284573462825}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00011918896612040687,0.004635101841676451],"position_m":[0.2067808110338796,0.2714351018416764,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003130195858588962,0.002563204037035579],"position_m":[0.18666980414141104,0.06016320403703558,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016153921420412644,0.00019509040832933582],"position_m":[0.36001539214204126,0.17879509040832933,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00033934357752437097,0.0007659586918481185],"position_m":[0.25116065642247565,-0.36463404130815186,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b7b1e973affbb18a4bf7d43d4bf99d7ded28f6ad2a643f86df60705ed9b60f67","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8778/tex_ceiling_textures_602/tex_floor_textures_2128/tex_table_textures_3601/tex_wall_textures_2007","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3258635302594497671,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3258635302594497671,"visual_seed":3258635302594497671,"scene_id":"lab_003","finished_at":"2026-09-03T10:50:00"} +{"episode_id":"ep_000059","started_at":"2026-09-03T10:50:04","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.46911944331046146,-0.6173978763422356,0.71338606911949],"aabb_xy":[[-0.4941194432429794,-0.6242805445631591],[-0.4441194433779436,-0.6105152081213124]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.42355979149015177,-1.2506739901042583,0.71338606911949],"aabb_xy":[[-0.5035597925632722,-1.2604520364416427],[-0.3435597904170315,-1.2408959437668738]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.4057925637257413,-2.001860180810279,0.71338606911949],"aabb_xy":[[-0.46079256334748714,-2.056843873597752],[-0.35079256410399545,-1.9468764880228067]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.22962981294319834,1.3018074118021796,0.71338606911949],"aabb_xy":[[-0.31962981153766834,1.2855568254887588],[-0.13962981434872843,1.3180579981156009]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.6782732033127097,-0.9434978251343487,0.71338606911949],"aabb_xy":[[0.6557767818788456,-0.9659978249410962],[0.7007696247465738,-0.9209978253276013]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.13719601046173102,-2.3187426343889967,0.71338606911949],"aabb_xy":[[-0.17821395384810193,-2.368742635019954],[-0.09617806707536017,-2.2687426337580394]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.1159444291318501,-2.0091211840305983,0.71338606911949],"aabb_xy":[[-0.17994442950938372,-2.0588664508814105],[-0.051944428754316485,-1.959375917179786]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.30122890432808824,-0.7462386289186316,0.71338606911949],"aabb_xy":[[-0.3662289069658817,-0.7977182276180785],[-0.2362289016902947,-0.6947590302191846]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.4989186605540313,-0.7686585585566765,0.71338606911949],"aabb_xy":[[-0.5144744299642965,-0.7842089918010838],[-0.48336289114376607,-0.7531081253122694]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.07720942177401857,-1.6774161948983182,0.71338606911949],"aabb_xy":[[-0.10769367190104873,-1.727416194679814],[-0.04672517164698842,-1.6274161951168222]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[-0.5725077309469125,1.546804473705944,0.71338606911949],"aabb_xy":[[-0.5795491818976601,1.5397777219681497],[-0.5654662799961649,1.5538312254437385]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.6017533721551989,-2.3183651599611705,0.71338606911949],"aabb_xy":[[0.5916716650766253,-2.3983651578532847],[0.6118350792337722,-2.2383651620690554]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.20184535099497247,1.6347543485069074,0.71338606911949],"aabb_xy":[[0.15174788701389885,1.5707543479970956],[0.2519428149760461,1.6987543490167192]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.22386344263857216,1.3418249913015274,0.71338606911949],"aabb_xy":[[0.20136344262842387,1.3277287716619244],[0.24636344264872045,1.355921210941131]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.6074877356700634,-1.6107079158974666,0.71338606911949],"aabb_xy":[[0.5914258082115458,-1.6957079177100582],[0.6235496631285811,-1.5257079140848746]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.5904562781695866,1.1650346346494098,0.71338606911949],"aabb_xy":[[0.5843616502814682,1.1564652400977413],[0.5965509060577049,1.1736040292010788]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.37904503971088116,0.49650906894261704,0.71338606911949],"aabb_xy":[[-0.41404503890369937,0.48554202294495435],[-0.34404504051806284,0.5074761149402796]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.0024220258710301312,-0.9118936432115137,0.71338606911949],"aabb_xy":[[-0.0200548614645577,-0.9295165892271365],[0.01521080972249744,-0.8942706971958906]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.6767706140675351,1.0049995723635274,0.71338606911949],"aabb_xy":[[-0.6893733132046116,0.9924041761386619],[-0.6641679149304587,1.017594968588393]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.145640678513538,-2.4916411209374134,0.71338606911949],"aabb_xy":[[0.1352291198330543,-2.4969868542733114],[0.15605223719402173,-2.4862953876015146]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.3906877561795109,-1.0494049833853691,0.71338606911949],"aabb_xy":[[-0.4456800068150219,-1.1044049851286821],[-0.33569550554399996,-0.9944049816420566]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.3116636149910086,-2.157549119281989,0.71338606911949],"aabb_xy":[[0.30403934690083034,-2.165182342818533],[0.31928788308118683,-2.1499158957454454]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.3151582654442947,0.8713896699536035,0.71338606911949],"aabb_xy":[[-0.3330273731987502,0.8575567619763925],[-0.2972891576898392,0.8852225779308144]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.36797266196550094,1.6260941423525863,0.71338606911949],"aabb_xy":[[-0.3898813441048519,1.6041934755324954],[-0.34606397982614984,1.6479948091726768]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.437917036330026,-0.2693383181667133,0.71338606911949],"aabb_xy":[[0.41291703677828745,-0.279480802031848],[0.4629170358817644,-0.25919583430157855]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.3517792579425075,0.24334073916787702,0.71338606911949],"aabb_xy":[[-0.3892792584398657,0.2393720556197586],[-0.31427925744514923,0.24730942271599543]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.07577066287148027,1.540177097770267,0.71338606911949],"aabb_xy":[[-0.09287274082984842,1.5230702922389971],[-0.05866858491311211,1.5572839033015367]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[0.6118431812679195,-2.475401901516296,0.71338606911949],"aabb_xy":[[0.5929587974994092,-2.494287826296649],[0.6307275650364296,-2.4565159767359432]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_28","position":[0.0741575317546227,1.7071158431131672,0.71338606911949],"aabb_xy":[[0.05905523029360458,1.692014321482105],[0.08925983321564077,1.722217364744229]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[0.0420002798582938,0.9081026943879498,0.71338606911949],"aabb_xy":[[0.008560104662274191,0.8746590685570195],[0.07544045505431339,0.9415463202188796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822831594429069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5933.png","name":"5933"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5933.png","name":"5933"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8875.png","name":"8875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4529.png","name":"4529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7010.png","name":"7010"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3155.png","name":"3155"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":579.6063331754258,"rotation_z_degrees":189.48928623763288,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009965162241693078,0.008782722018982763,-0.011908364175814645]},{"name":"camera_2","offset_m":[0.009922993903678078,0.013642177323390566,0.019393136773705005]},{"name":"camera_3","offset_m":[0.003906397302980133,0.008887391885199016,0.019379520128290733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00115697993871884,-0.0007311521811887171,0.0017831510795635452],"end_effector_yaw_offset_degrees":0.7523404989752969},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000861177937029777,-0.000847988021052208,0.0003276880084461149],"end_effector_yaw_offset_degrees":-0.45893700321212183},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009938950221185063,0.0012554320607629788,-0.0001349224596845118],"end_effector_yaw_offset_degrees":0.9801498591474882}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025817889387704184,-0.0013185245315858875],"position_m":[0.20431821106122958,0.2654814754684141,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004279583310038104,0.004575149395676391],"position_m":[0.1940795833100381,0.062175149395676386,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002823163054372001,-0.0003462804146445262],"position_m":[0.35557683694562797,0.1782537195853555,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004374470752720621,0.004381472263097218],"position_m":[0.25587447075272063,-0.3610185277369028,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"478bb5ca66c20b184860e59feae5c3d0505bc1a2398c134efcd85f86a9f832d5","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5933/tex_ceiling_textures_3155/tex_floor_textures_7010/tex_table_textures_8875/tex_wall_textures_4529","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4951838087100750663,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4951838087100750663,"visual_seed":4951838087100750663,"scene_id":"lab_003","finished_at":"2026-09-03T10:53:03"} +{"episode_id":"ep_000060","started_at":"2026-09-03T10:53:06","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.08243003384400249,1.2209574893504391,0.71338606911949],"aabb_xy":[[-0.08846704684466722,1.214930788281491],[-0.07639302084333777,1.2269841904193872]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.2540578491115053,1.1691368679238576,0.71338606911949],"aabb_xy":[[0.16437077280338985,1.079136867669407],[0.34374492541962076,1.2591368681783082]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.5717388735762582,0.8378329469913917,0.71338606911949],"aabb_xy":[[-0.5893717091697857,0.8202100009757686],[-0.5541060379827305,0.8554558930070145]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.5912420920101127,-1.5922901351277576,0.71338606911949],"aabb_xy":[[0.5312420903671908,-1.6442902844197016],[0.6512420936530345,-1.5402899858358132]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.5952652879277307,0.5784989117692305,0.71338606911949],"aabb_xy":[[0.5602652896576107,0.5714247840742422],[0.6302652861978505,0.5855730394642186]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.03930333099103611,-1.562922188098597,0.71338606911949],"aabb_xy":[[-0.04539795887915444,-1.5714915826502662],[-0.0332087031029178,-1.5543527935469288]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.010635994698907192,-1.0825212232568555,0.71338606911949],"aabb_xy":[[-0.011864005311241101,-1.0966174428964588],[0.03313599470905548,-1.0684250036172522]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.44373448280232436,-1.2551787461904262,0.71338606911949],"aabb_xy":[[-0.45806890792848776,-1.267238961744965],[-0.42940005767616085,-1.2431185306358874]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[0.484568487836444,-0.382121574412015,0.71338606911949],"aabb_xy":[[0.4205684905507954,-0.42362829336485897],[0.5485684851220927,-0.34061485545917103]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[0.43451870695608896,-0.8500183637193188,0.71338606911949],"aabb_xy":[[0.42488707073565934,-0.8596556764990277],[0.4441503431765186,-0.8403810509396099]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.2924916814489164,-2.496314072506048,0.71338606911949],"aabb_xy":[[-0.3056429274202058,-2.521314072262735],[-0.2793404354776271,-2.471314072749362]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[-0.6145232378492552,-1.472447964811438,0.71338606911949],"aabb_xy":[[-0.6321988684378534,-1.4901281810908407],[-0.5968476072606568,-1.4547677485320352]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.1265119888437276,-2.099476064735551,0.71338606911949],"aabb_xy":[[-0.13141128115029108,-2.1271529840381196],[-0.12161269653716408,-2.071799145432982]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.49511162280887655,-2.273225576108471,0.71338606911949],"aabb_xy":[[-0.5801116212262998,-2.358099871570756],[-0.4101116243914534,-2.1883512806461862]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[0.30225788181245417,-2.26145803098184,0.71338606911949],"aabb_xy":[[0.25225788052861414,-2.3114368853724616],[0.3522578830962941,-2.2114791765912174]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.06896240933081399,-0.622021687317384,0.71338606911949],"aabb_xy":[[-0.09024041747428624,-0.687021689643457],[-0.04768440118734174,-0.5570216849913109]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.6333292364047673,1.5025431280760366,0.71338606911949],"aabb_xy":[[0.5838488151908086,1.438543130163185],[0.6828096576187261,1.5665431259888887]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.025481579390498332,-0.9055612621984754,0.71338606911949],"aabb_xy":[[-0.024497229119817554,-0.9555612622041944],[0.07546038790081422,-0.8555612621927567]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[-0.6279239395593651,1.0809570400204023,0.71338606911949],"aabb_xy":[[-0.6622208505771056,1.0466601538104607],[-0.5936270285416244,1.1152539262303434]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.09101746829768731,-1.5483099952409718,0.71338606911949],"aabb_xy":[[0.0721330845291771,-1.5671959200213246],[0.10990185206619751,-1.529424070460619]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.15373894303042812,-2.5398100088594857,0.71338606911949],"aabb_xy":[[-0.17123894327547748,-2.557309796699052],[-0.1362389427853787,-2.5223102210199184]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[-0.4435887007441177,-1.592257862190547,0.71338606911949],"aabb_xy":[[-0.4714337375247248,-1.6230423609288585],[-0.41574366396351053,-1.561473363452235]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[0.2410910601764661,-0.8538019987282779,0.71338606911949],"aabb_xy":[[0.21609106062472763,-0.8639444825934126],[0.26609105972820457,-0.8436595148631432]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.2560958434124164,1.431631925095647,0.71338606911949],"aabb_xy":[[-0.3460958401480266,1.3784484617783526],[-0.16609584667680616,1.4848153884129416]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.0699116945172652,-0.3583131478971384,0.71338606911949],"aabb_xy":[[-0.08237905262700085,-0.370778472530462],[-0.05744433640752955,-0.34584782326381497]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[-0.5399985074104807,-1.9525085905797175,0.71338606911949],"aabb_xy":[[-0.5560604348689983,-2.0375085923923093],[-0.523936579951963,-1.8675085887671257]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[0.462120280380806,1.509923027012667,0.71338606911949],"aabb_xy":[[0.39812028395348414,1.4627534031905705],[0.5261202768081279,1.5570926508347633]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[0.06950990341028973,-1.7417219380514355,0.71338606911949],"aabb_xy":[[0.05249980612023908,-1.7578564265497096],[0.08652000070034038,-1.7255874495531618]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[-0.09931546506379552,0.42894359557355166,0.71338606911949],"aabb_xy":[[-0.17931546202683468,0.35186795392977815],[-0.019315468100756336,0.5060192372173251]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6764209231830545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2872.png","name":"2872"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2872.png","name":"2872"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3878.png","name":"3878"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/935.png","name":"935"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1881.png","name":"1881"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":655.1586212449142,"rotation_z_degrees":157.03442454675437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011704459137690769,0.01328284034621616,0.00515932517892153]},{"name":"camera_2","offset_m":[-0.003237649544121625,-0.005643221471658548,-0.010251704560879107]},{"name":"camera_3","offset_m":[0.016005542700291604,0.0026490298094800427,0.003762222371183555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011098958683037874,0.0005489451794412187,0.0017570812371792265],"end_effector_yaw_offset_degrees":0.14483137291994908},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00029439578971068425,0.0017622635093087007,0.0017227773337151176],"end_effector_yaw_offset_degrees":-0.8031555074794341},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014311267333045438,0.00013798227493213916,-0.0003965611805932716],"end_effector_yaw_offset_degrees":0.7281158171212234}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003459138284692958,0.0011729816203265705],"position_m":[0.21035913828469296,0.26797298162032657,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004412681359766324,-0.0035283513699496073],"position_m":[0.18538731864023367,0.054071648630050394,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000994361929379706,-0.0008614679035841236],"position_m":[0.3593943619293797,0.17773853209641588,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004157114420691603,0.0018411477573843163],"position_m":[0.2473428855793084,-0.3635588522426157,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4eddf4f134c6760af3ea85d0e7622a917cba87408554d7550871c789d3561f2","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2872/tex_ceiling_textures_1881/tex_floor_textures_935/tex_table_textures_3878/tex_wall_textures_5478","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6332946247211618251,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6332946247211618251,"visual_seed":6332946247211618251,"scene_id":"lab_003","finished_at":"2026-09-03T10:55:48"} +{"episode_id":"ep_000061","started_at":"2026-09-03T10:55:50","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[-0.10868639564160598,0.7100585279778726,0.71338606911949],"aabb_xy":[[-0.12055847865310709,0.6250585282842223],[-0.09681431263010487,0.795058527671523]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.2283181176916047,0.4105768112992214,0.71338606911949],"aabb_xy":[[-0.28331036832711576,0.3555768095559086],[-0.17332586705609382,0.4655768130425342]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.17078431844547237,-0.4212402745260224,0.71338606911949],"aabb_xy":[[-0.18271705280730047,-0.4336224273338818],[-0.15885158408364433,-0.40885812171816305]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.5724714907188619,-0.9774160743383871,0.71338606911949],"aabb_xy":[[0.5553694127604938,-0.9945228798696568],[0.5895735686772301,-0.9603092688071173]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[-0.48149817685437546,-2.0899968456167706,0.71338606911949],"aabb_xy":[[-0.5314912889635673,-2.1399968462909666],[-0.4315050647451836,-2.0399968449425754]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.4367246859175098,-0.4186658547580717,0.71338606911949],"aabb_xy":[[-0.44588456486138633,-0.4251970728016087],[-0.42756480697363314,-0.41213463671453465]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[0.47240467105488126,0.047224363318051576,0.71338606911949],"aabb_xy":[[0.45549393861853943,0.03375215772543704],[0.489315403491223,0.0606965689106661]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[-0.5802365334124754,-0.8209930563527323,0.71338606911949],"aabb_xy":[[-0.630209598944991,-0.8709930561652653],[-0.53026346787996,-0.7709930565401996]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.3004158646463879,1.4987067081531644,0.71338606911949],"aabb_xy":[[0.2543307733916564,1.4347067109006093],[0.34650095590111935,1.5627067054057195]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.1512887947374073,-1.2658223132839228,0.71338606911949],"aabb_xy":[[-0.19646011258557633,-1.3298223104284614],[-0.10611747688923837,-1.2018223161393846]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.5726141357468064,0.17332925516582787,0.71338606911949],"aabb_xy":[[0.5574512627698693,0.1581637978707091],[0.5877770087237435,0.18849471246094665]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.16062913362570286,0.9972229188039052,0.71338606911949],"aabb_xy":[[0.14886094683104537,0.9122229188986839],[0.1723973204203604,1.082222918709127]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.038261806222648964,1.4609063373165196,0.71338606911949],"aabb_xy":[[-0.10226180660018258,1.4111610704657072],[0.02573819415488466,1.5106516041673317]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.24782589368182623,0.5450598724384363,0.71338606911949],"aabb_xy":[[-0.31782589549057166,0.523706103674249],[-0.1778258918730808,0.5664136412026237]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.40486226351594634,-0.25245887417374835,0.71338606911949],"aabb_xy":[[-0.468862260628052,-0.30149124396815896],[-0.3408622664038406,-0.20342650437933774]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.41200386571068465,-1.3213956228454746,0.71338606911949],"aabb_xy":[[-0.46700386391242943,-1.3619175894719122],[-0.35700386750893975,-1.280873656219037]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.16734252619295564,-1.5980589248727717,0.71338606911949],"aabb_xy":[[-0.25734252292856585,-1.651242388190066],[-0.0773425294573454,-1.544875461555477]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.5769996215812152,-2.0151561711451955,0.71338606911949],"aabb_xy":[[0.5519996224155821,-2.022108416850552],[0.6019996207468483,-2.008203925439839]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.5519197832786222,1.0905419484419303,0.71338606911949],"aabb_xy":[[0.5372763777245891,1.075883228785146],[0.5665631888326551,1.1052006680987145]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.17318496941210815,-1.6265083660247437,0.71338606911949],"aabb_xy":[[0.1655607013219299,-1.6341415895612879],[0.1808092375022864,-1.6188751424882004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6822723253389174,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5462.png","name":"5462"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5462.png","name":"5462"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2663.png","name":"2663"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8467.png","name":"8467"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":732.4232878999159,"rotation_z_degrees":346.4343526624376,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002424108013144098,0.016293437708994617,-0.01605305583742495]},{"name":"camera_2","offset_m":[0.014908853068317313,-0.004177850905871701,0.006756535859615755]},{"name":"camera_3","offset_m":[-0.013830218120800795,0.019989434716568198,0.01146607997827587]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012678469779421183,-0.001651452735519043,0.0010277077092089816],"end_effector_yaw_offset_degrees":-0.36060227279125545},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00023065314372930292,0.0006294527858871348,0.000720427380648184],"end_effector_yaw_offset_degrees":0.009380929698061369},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000652498048247402,0.0011651502469081105,0.0019184475125318297],"end_effector_yaw_offset_degrees":-0.12435727933013019}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004568242505698592,-0.0007847379997317659],"position_m":[0.2114682425056986,0.2660152620002682,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024026399455238457,-0.0016757586076753149],"position_m":[0.19220263994552383,0.055924241392324686,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002595163887754691,0.001829802937030476],"position_m":[0.3609951638877547,0.18042980293703048,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004589842409230316,0.004747564967115426],"position_m":[0.25608984240923033,-0.3606524350328846,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b06bc30a702aa396700391965d929d746c9999da6711bac4562af6fbcab566a0","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5462/tex_ceiling_textures_5277/tex_floor_textures_8467/tex_table_textures_7219/tex_wall_textures_2663","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2663758151072593341,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2663758151072593341,"visual_seed":2663758151072593341,"scene_id":"lab_003","finished_at":"2026-09-03T10:58:33"} +{"episode_id":"ep_000062","started_at":"2026-09-03T10:58:36","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.04583370026101263,-2.078865994944303,0.71338606911949],"aabb_xy":[[0.004529157197276645,-2.14286599451242],[0.08713824332474862,-2.014865995376186]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.08232607889552612,1.6926023606168932,0.71338606911949],"aabb_xy":[[0.06482614546154275,1.6751023606966589],[0.0998260123295095,1.710102360537128]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.5160538762868152,0.8717662264785817,0.71338606911949],"aabb_xy":[[0.4520538742370832,0.8316717433892739],[0.5800538783365472,0.9118607095678898]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.271689573336117,-1.045743160242692,0.71338606911949],"aabb_xy":[[0.24668957406415473,-1.0620885238388544],[0.29668957260807927,-1.0293977966465298]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.2641984395191768,-0.24637546265471855,0.71338606911949],"aabb_xy":[[-0.31028353077390824,-0.31037545990727367],[-0.2181133482644453,-0.18237546540216343]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.20771403378934983,1.8209174227950444,0.71338606911949],"aabb_xy":[[-0.2114172951184887,1.8172154044863265],[-0.20401077246021096,1.824619441103762]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[-0.5739288841274857,0.9008866486793483,0.71338606911949],"aabb_xy":[[-0.5890311855885034,0.8857851270482862],[-0.5588265826664672,0.9159881703104098]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.5570317555315247,-1.5342213642694644,0.71338606911949],"aabb_xy":[[0.5418688825545876,-1.5493868215645836],[0.5721946285084618,-1.5190559069743461]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.31588579648537657,0.66712240846317,0.71338606911949],"aabb_xy":[[-0.32292724743612417,0.6600956567253754],[-0.308844345534629,0.6741491602009645]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.23841942867287957,-1.9567380587580208,0.71338606911949],"aabb_xy":[[0.1744194295031096,-2.003504745876983],[0.30241942784264947,-1.9099713716390583]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.524114059502347,-1.3378151572477244,0.71338606911949],"aabb_xy":[[0.4866140595585806,-1.346108247282561],[0.5616140594461134,-1.3295220672128878]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.6348679865275088,-1.5131737488572572,0.71338606911949],"aabb_xy":[[-0.6429043212287936,-1.5212118681616738],[-0.6268316518262239,-1.5051356295528402]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.29066116255878677,-1.9305258715128382,0.71338606911949],"aabb_xy":[[-0.37066116472154925,-2.010481055138982],[-0.21066116039602428,-1.8505706878866948]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.4184971358830589,-0.36795536783352567,0.71338606911949],"aabb_xy":[[0.3685238418797985,-0.41795536838807296],[0.4684704298863194,-0.3179553672789783]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[-0.25325791383955965,-0.6626153379651409,0.71338606911949],"aabb_xy":[[-0.25737386395163225,-0.6667308929979863],[-0.24914196372748693,-0.6584997829322952]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.5577271556884884,0.5637128811646046,0.71338606911949],"aabb_xy":[[-0.6076098525661846,0.5137128819183299],[-0.5078444588107922,0.6137128804108793]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.013263419415330824,-1.7341788051342604,0.71338606911949],"aabb_xy":[[-0.0022923499949344416,-1.7497292383786678],[0.028819188825596094,-1.7186283718898534]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.05074357014411646,0.9873158576967054,0.71338606911949],"aabb_xy":[[0.019596651300533334,0.9173158590098982],[0.08189048898769957,1.0573158563835126]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.5698839911285092,-1.0075975907885635,0.71338606911949],"aabb_xy":[[0.5199109255959937,-1.0575975906010966],[0.6198570566610246,-0.9575975909760308]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.31882804740279425,-1.3739002227859662,0.71338606911949],"aabb_xy":[[0.2548280501004479,-1.418266649753823],[0.3828280447051407,-1.3295337958181095]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.48743887442530215,-1.150467434193928,0.71338606911949],"aabb_xy":[[-0.4990078551722387,-1.17546743431086],[-0.4758698936783656,-1.1254674340769966]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.20714100657868517,-2.5370988398127117,0.71338606911949],"aabb_xy":[[0.15716358971343158,-2.5870988413019598],[0.25711842344393876,-2.4870988383234627]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[0.0027787712152120836,1.5384496277297397,0.71338606911949],"aabb_xy":[[-0.08222122747686256,1.5064637643348606],[0.08777876990728672,1.5704354911246183]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.43259990869284803,1.2901534073204615,0.71338606911949],"aabb_xy":[[0.36859990843237717,1.2451446079675335],[0.4965999089533188,1.3351622066733895]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[-0.2536870621054888,0.7904996258785912,0.71338606911949],"aabb_xy":[[-0.34368706182866293,0.7674262733434113],[-0.1636870623823146,0.813572978413771]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.37183082817939467,0.36253888125372224,0.71338606911949],"aabb_xy":[[-0.3849820741506841,0.3375388814970357],[-0.3586795822081053,0.38753888101040884]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[0.5330513273053605,-0.5585192975564239,0.71338606911949],"aabb_xy":[[0.4690513300197119,-0.600026016509268],[0.5970513245910092,-0.5170125786035801]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.29441684190297346,1.5695446933020576,0.71338606911949],"aabb_xy":[[-0.3744106654815317,1.4895446907092162],[-0.21442301832441524,1.6495446958948994]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[0.26901005838599434,0.9545426880523031,0.71338606911949],"aabb_xy":[[0.2576483237327082,0.943174221646015],[0.2803717930392805,0.9659111544585912]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_29","position":[-0.5028246806230893,-0.0692874630970639,0.71338606911949],"aabb_xy":[[-0.5668246839127974,-0.11262238210098151],[-0.4388246773333812,-0.025952544093146287]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_30","position":[-0.5971381220458345,-0.30748648863328665,0.71338606911949],"aabb_xy":[[-0.6471381230649698,-0.34395270437111464],[-0.5471381210266992,-0.27102027289545877]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_31","position":[0.6766654839188433,-0.40133637284942925,0.71338606911949],"aabb_xy":[[0.6391654837469712,-0.4340371082323364],[0.7141654840907151,-0.368635637466522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6766315851309573,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8668.png","name":"8668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8668.png","name":"8668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6456.png","name":"6456"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5120.png","name":"5120"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2412.png","name":"2412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7991.png","name":"7991"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":556.942619433247,"rotation_z_degrees":318.618869429011,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011158660527351203,-0.003031038029711216,-0.00802967837194886]},{"name":"camera_2","offset_m":[-0.01909490446338416,-0.0041832470412275745,0.0009872745618983159]},{"name":"camera_3","offset_m":[-0.003438510137821607,-0.014127227368231932,-0.018431469906283592]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001251927317632791,0.0005750910191249774,-0.000223245056037308],"end_effector_yaw_offset_degrees":0.902929985272279},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002369551773270047,-0.0006330710019722069,-0.00015148182937042734],"end_effector_yaw_offset_degrees":-0.7308389009316374},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00035691485160129583,8.335549015752114e-05,0.0011121685296899934],"end_effector_yaw_offset_degrees":-0.1676775005873179}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00019522770312374333,-0.003788481292691729],"position_m":[0.20709522770312375,0.26301151870730827,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00453694085812488,-0.0007260717256709461],"position_m":[0.18526305914187513,0.05687392827432905,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033387874960547625,0.0034117334512975264],"position_m":[0.35506121250394523,0.18201173345129754,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004341595815149299,0.0011603946097802319],"position_m":[0.2471584041848507,-0.36423960539021977,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cea8dc4959f6d117190e56f78d18a8a90d9f5e7a5b3b29b28d7ab6f7beb1d778","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8668/tex_ceiling_textures_7991/tex_floor_textures_2412/tex_table_textures_6456/tex_wall_textures_5120","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3419292365404795956,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3419292365404795956,"visual_seed":3419292365404795956,"scene_id":"lab_003","finished_at":"2026-09-03T11:01:21"} +{"episode_id":"ep_000063","started_at":"2026-09-03T11:01:24","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.6108884786560604,-0.7520711598467085,0.71338606911949],"aabb_xy":[[-0.622457459402997,-0.7770711599636402],[-0.5993194979091239,-0.7270711597297768]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.6236347308537529,0.10671754262013566,0.71338606911949],"aabb_xy":[[-0.6289672455083659,0.10139321437490008],[-0.6183022161991398,0.11204187086537128]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.43319712088641427,-2.189498131550445,0.71338606911949],"aabb_xy":[[0.3781971212646684,-2.244481824337918],[0.4881971205081601,-2.1345144387629724]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.2851354591097429,0.4669272967512921,0.71338606911949],"aabb_xy":[[0.2749824435555934,0.4308577551785516],[0.2952884746638922,0.5029968383240323]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.11253642146547116,1.3607509732149183,0.71338606911949],"aabb_xy":[[0.048536422878898686,1.3137440098154096],[0.17653642005204362,1.407757936614427]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[0.268736451325186,0.8536015233638379,0.71338606911949],"aabb_xy":[[0.19873644793362402,0.8182857496604069],[0.33873645471674796,0.8889172970672686]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.45655993333466416,1.152500023984595,0.71338606911949],"aabb_xy":[[0.4340462415112069,1.0825000233835878],[0.4790736251581213,1.2225000245856028]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.37461713017679443,-2.505980061210215,0.71338606911949],"aabb_xy":[[0.32463971331154085,-2.5559800626994633],[0.424594547042048,-2.4559800597209662]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.4480747670453893,-1.475872272861587,0.71338606911949],"aabb_xy":[[0.4255747672314869,-1.480346889232068],[0.47057476685929167,-1.4713976564911064]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.21970922027151712,0.5146989745215516,0.71338606911949],"aabb_xy":[[-0.2997092176751105,0.4347064033233687],[-0.1397092228679237,0.5946915457197343]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.40478925871370774,0.044524328061373186,0.71338606911949],"aabb_xy":[[-0.4208511861722254,-0.04047567375121863],[-0.3887273312551901,0.12952432987396498]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.5883722883561964,-1.7601534189834251,0.71338606911949],"aabb_xy":[[0.5508722882506033,-1.7669755808364058],[0.6258722884617892,-1.7533312571304436]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.31572781309924913,0.5882897837056347,0.71338606911949],"aabb_xy":[[0.24572781149696965,0.5748569905039772],[0.3857278147015286,0.6017225769072924]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.15333317652606604,-1.0755058397703636,0.71338606911949],"aabb_xy":[[-0.20333317596626163,-1.1254737642546797],[-0.10333317708587039,-1.025537915286047]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.011469632516542982,-2.3434188085957803,0.71338606911949],"aabb_xy":[[-0.05253036775743525,-2.3934849087930683],[0.07546963279052121,-2.2933527083984924]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.39176550776100766,-1.7624351015685642,0.71338606911949],"aabb_xy":[[-0.42622785515914935,-1.7969289839663865],[-0.35730316036286575,-1.727941219170741]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.5019131035128466,-0.8691057374381224,0.71338606911949],"aabb_xy":[[-0.5519081144722987,-0.9191057364737143],[-0.45191809255339466,-0.8191057384025309]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.532295206365794,0.3327033871184266,0.71338606911949],"aabb_xy":[[0.5262581933651294,0.32667668604947847],[0.5383322193664588,0.3387300881873749]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.25909828170261284,-1.41644356271769,0.71338606911949],"aabb_xy":[[0.24089245804136517,-1.4274689632996818],[0.2773041053638605,-1.4054181621356985]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[0.37048078531199424,1.5202825906064192,0.71338606911949],"aabb_xy":[[0.3529808518780108,1.5027825906861847],[0.38798071874597756,1.5377825905266538]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.2363986112852967,-2.1617699521506495,0.71338606911949],"aabb_xy":[[-0.31639861175551265,-2.170080659764998],[-0.15639861081508077,-2.1534592445363017]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[0.26777519016496165,-2.2624971463914654,0.71338606911949],"aabb_xy":[[0.25848157192781107,-2.2999971448795993],[0.27706880840211223,-2.2249971479033315]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.06295835778937087,0.47075384888821725,0.71338606911949],"aabb_xy":[[-0.08545835779951916,0.456657629248614],[-0.040458357779222576,0.4848500685278206]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.04655323091002539,1.190382753678589,0.71338606911949],"aabb_xy":[[-0.05970447688131476,1.1653827539219024],[-0.03340198493873603,1.2153827534352755]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.41431776043388635,-1.2222823309817894,0.71338606911949],"aabb_xy":[[-0.42948992971551975,-1.2374511879099928],[-0.39914559115225307,-1.207113474053586]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.4734677739505504,1.6862880839389134,0.71338606911949],"aabb_xy":[[-0.5534677772145635,1.67272805163],[-0.39346777068653727,1.6998481162478267]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[0.6601469900691688,1.5563257415838065,0.71338606911949],"aabb_xy":[[0.5961469893656995,1.5103073591108858],[0.7241469907726382,1.6023441240567278]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[0.5867716857806571,-1.4839342882915318,0.71338606911949],"aabb_xy":[[0.549271685608785,-1.516635023674439],[0.6242716859525289,-1.4512335529086247]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[0.5988048869593068,-0.647767632725966,0.71338606911949],"aabb_xy":[[0.5348048876651386,-0.7117537730948202],[0.662804886253475,-0.5837814923571119]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_29","position":[0.2993129682718544,1.2718341349268711,0.71338606911949],"aabb_xy":[[0.28151946133693795,1.2540343893310735],[0.3171064752067708,1.2896338805226688]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[-0.5348098207484074,-1.776554231869909,0.71338606911949],"aabb_xy":[[-0.5682499959444268,-1.8099978577008389],[-0.5013696455523876,-1.7431106060389787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828493105764075,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2918.png","name":"2918"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5830.png","name":"5830"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6591.png","name":"6591"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":515.3319584408562,"rotation_z_degrees":214.65831062688144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011177668169133374,0.00279678657840228,0.012979662427488058]},{"name":"camera_2","offset_m":[-0.01693489849403078,0.004075261750842239,-0.01849426723992347]},{"name":"camera_3","offset_m":[-0.01611351275685386,-0.019486482647678143,-0.016900502184769257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001657663866533347,0.0013856005938437457,0.001320713541458708],"end_effector_yaw_offset_degrees":0.6694893287380765},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017129974000589356,0.00036243211258468614,-0.0012388780111391305],"end_effector_yaw_offset_degrees":-0.46051707598269753},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008897268138988038,0.0009196324493539452,0.0015782806570066006],"end_effector_yaw_offset_degrees":0.10334219009383139}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011170940862527535,0.0031326711566822046],"position_m":[0.20578290591374726,0.2699326711566822,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019976282197923544,0.004486094104769648],"position_m":[0.18780237178020764,0.062086094104769646,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001573789302729685,0.0018715665845018912],"position_m":[0.35997378930272966,0.1804715665845019,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010532355010458303,-0.0019441220395083883],"position_m":[0.25255323550104586,-0.3673441220395084,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a35fa634cec5f682b7dfa5ad0afe30c15d01b81b61fa5f6fde831f230998c856","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7723/tex_ceiling_textures_7919/tex_floor_textures_6591/tex_table_textures_2918/tex_wall_textures_5830","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3876306844602406824,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3876306844602406824,"visual_seed":3876306844602406824,"scene_id":"lab_003","finished_at":"2026-09-03T11:04:11"} +{"episode_id":"ep_000064","started_at":"2026-09-03T11:04:14","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.3211725423658272,-1.5228302315512392,0.71338606911949],"aabb_xy":[[-0.38517254458623423,-1.5672033156765275],[-0.2571725401454202,-1.478457147425951]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.673462266588204,1.525044192329235,0.71338606911949],"aabb_xy":[[0.6498771431243091,1.4600441900838035],[0.6970473900520988,1.590044194574667]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.6214723833540152,0.5445206448178719,0.71338606911949],"aabb_xy":[[-0.6447542255521465,0.45952064352064376],[-0.5981905411558838,0.6295206461150998]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.5187772821804539,-0.42151990631394654,0.71338606911949],"aabb_xy":[[0.5072083014335174,-0.4465199064308782],[0.5303462629273905,-0.39651990619701477]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.06811000862862293,1.2350579568724558,0.71338606911949],"aabb_xy":[[-0.015612216871459528,1.1450579533377598],[0.1518322341287054,1.3250579604071517]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.3913856108126965,-1.9670275385158398,0.71338606911949],"aabb_xy":[[0.3538856107071035,-1.973849700368821],[0.4288856109182894,-1.9602053766628587]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.22755407425541435,1.5184805332902704,0.71338606911949],"aabb_xy":[[-0.292554074289717,1.4717798566099431],[-0.1625540742211116,1.5651812099705977]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.41153741541193356,-0.7058669507591313,0.71338606911949],"aabb_xy":[[-0.46135419487676826,-0.7558669492434347],[-0.36172063594709875,-0.6558669522748279]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.37525609647460495,1.1505044217525202,0.71338606911949],"aabb_xy":[[-0.42525609775844486,1.100525567361898],[-0.3252560951907649,1.2004832761431423]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.4920690116167885,-0.3224016517817252,0.71338606911949],"aabb_xy":[[-0.49910932155032556,-0.4024016511813967],[-0.4850287016832516,-0.24240165238205386]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.25900301813450777,-0.7110868657672769,0.71338606911949],"aabb_xy":[[0.20900301948858657,-0.7610064094267392],[0.30900301678042896,-0.6611673221078145]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.24801158846430843,-0.9491258384450065,0.71338606911949],"aabb_xy":[[-0.2655115877423953,-0.9664639385113525],[-0.23051158918622155,-0.9317877383786606]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[-0.314017246814406,0.6383858846873132,0.71338606911949],"aabb_xy":[[-0.33653093863786315,0.5683858840863055],[-0.29150355499094877,0.7083858852883206]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.16988299254388595,-2.3452723377286007,0.71338606911949],"aabb_xy":[[-0.18045047220198498,-2.3558173678416092],[-0.15931551288578696,-2.334727307615592]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.4996603368076498,0.8621330346896148,0.71338606911949],"aabb_xy":[[-0.5072846048978281,0.8544998111530713],[-0.49203606871747163,0.8697662582261587]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.511860022963315,1.5303496616068926,0.71338606911949],"aabb_xy":[[0.4657749317085836,1.4663496643543374],[0.5579451142180465,1.5943496588594477]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.23899366020336976,1.7519379421367725,0.71338606911949],"aabb_xy":[[0.20149365941137432,1.745570101178582],[0.2764936609953652,1.7583057830949624]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.2419555908415228,-0.271040181827805,0.71338606911949],"aabb_xy":[[-0.2664692149385286,-0.29530477512984143],[-0.2174419667445169,-0.24677558852576853]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[0.33709696436980563,-1.8576918597127619,0.71338606911949],"aabb_xy":[[0.31720592448946544,-1.870347670997459],[0.35698800425014593,-1.8450360484280652]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.11868385169560425,-1.2413560874813272,0.71338606911949],"aabb_xy":[[0.06870090150812491,-1.2913560871238872],[0.16866680188308358,-1.1913560878387663]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[-0.4291574698579957,1.336283377656276,0.71338606911949],"aabb_xy":[[-0.4372008297839508,1.2512833765609095],[-0.42111410993204046,1.4212833787516423]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.6064379751401585,-1.976140323288059,0.71338606911949],"aabb_xy":[[0.561445388421708,-2.021140322562508],[0.6514305618586088,-1.9311403240136105]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.3328975637285156,-1.1152340969206889,0.71338606911949],"aabb_xy":[[-0.38002694273035126,-1.1792340979650906],[-0.2857681847266799,-1.0512340958762867]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6772173822789632,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2649.png","name":"2649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8368.png","name":"8368"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3279.png","name":"3279"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4724.png","name":"4724"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.5495942563286,"rotation_z_degrees":22.9996848571013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013224216235366595,-0.01679111839186123,-0.017746101825282183]},{"name":"camera_2","offset_m":[0.012021997558549654,0.01490821861789186,-0.0010103278392565515]},{"name":"camera_3","offset_m":[0.0054830301252592265,-0.008705366047856043,0.004405961024135728]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005175686044355072,0.0007608817674614574,-0.00013819388952860355],"end_effector_yaw_offset_degrees":0.9559563252036765},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014471263248750162,0.000904257666600313,-0.0019394636597142379],"end_effector_yaw_offset_degrees":-0.6377927120717033},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017526066348904545,-0.0015727000579390188,-0.0009567175172455276],"end_effector_yaw_offset_degrees":0.5802928650030708}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023841910245743923,-0.003333454004427541],"position_m":[0.2045158089754256,0.26346654599557245,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019309806520256888,-0.0005617662901380585],"position_m":[0.18786901934797431,0.05703823370986194,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001819860850124967,-0.0012832391822903766],"position_m":[0.356580139149875,0.17731676081770964,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002176656920231729,0.003474697104289573],"position_m":[0.24932334307976828,-0.36192530289571045,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1bc8136147d10962ece5dd9ee03a268ed6f2ca2de41c9ead6a18eb4e0043fd3c","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3004/tex_ceiling_textures_4724/tex_floor_textures_3279/tex_table_textures_2649/tex_wall_textures_8368","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":955309449892459234,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":955309449892459234,"visual_seed":955309449892459234,"scene_id":"lab_003","finished_at":"2026-09-03T11:06:55"} +{"episode_id":"ep_000065","started_at":"2026-09-03T11:06:58","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.14959392066018073,1.153031647965609,0.71338606911949],"aabb_xy":[[-0.18709391908358108,1.1398674339977781],[-0.11209392223678039,1.1661958619334396]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.03796597185965678,0.48583329654469054,0.71338606911949],"aabb_xy":[[-0.07481651979664439,0.44833329572165687],[-0.0011154239226691676,0.5233332973677243]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.6174408372921478,0.6847894984262823,0.71338606911949],"aabb_xy":[[-0.6814408345777966,0.6432827794734384],[-0.5534408400064993,0.7262962173791263]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.3965070511163571,-1.5353552704281075,0.71338606911949],"aabb_xy":[[0.3365070506085041,-1.5922020041140286],[0.45650705162420996,-1.478508536742186]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.42336075338434215,-1.7235847371587414,0.71338606911949],"aabb_xy":[[-0.44719697102494727,-1.813584737967228],[-0.39952453574373714,-1.6335847363502551]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.5944996404064147,0.5795185811091059,0.71338606911949],"aabb_xy":[[0.5709145169425198,0.5145185788636742],[0.6180847638703095,0.6445185833545378]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.4712058926127649,0.6948077440408271,0.71338606911949],"aabb_xy":[[-0.47942043772844883,0.6861311537431857],[-0.4629913474970809,0.7034843343384684]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[-0.49287543102056314,-0.10594725865565602,0.71338606911949],"aabb_xy":[[-0.5428754320396985,-0.14241347439348395],[-0.44287543000142787,-0.06948104291782808]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.6770111363156555,-0.2445299832381682,0.71338606911949],"aabb_xy":[[0.6593783007221279,-0.26215292925379113],[0.694643971909183,-0.2269070372225452]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.5837277048725104,0.555912761083933,0.71338606911949],"aabb_xy":[[-0.6537277082640723,0.520596987380502],[-0.5137277014809484,0.5912285347873637]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.016876840265715343,-2.0064589103491413,0.71338606911949],"aabb_xy":[[-0.0052956867109354945,-2.0286345775052643],[0.039049367242366184,-1.9842832431930182]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.6181773338319754,-1.8880351694719621,0.71338606911949],"aabb_xy":[[0.5281773352375054,-1.904285755785383],[0.7081773324264453,-1.871784583158541]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.007949822432519738,-1.5982518555051632,0.71338606911949],"aabb_xy":[[-0.04896776581889062,-1.6482518561361206],[0.03306812095385114,-1.548251854874206]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.6443241344291684,-2.446722156026389,0.71338606911949],"aabb_xy":[[-0.6594264358901863,-2.4618236776574496],[-0.6292218329681502,-2.4316206343953257]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.2572163990318397,-2.212077746837006,0.71338606911949],"aabb_xy":[[-0.3072164006933344,-2.262076189092708],[-0.2072163973703449,-2.1620793045813027]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.29444959857597797,1.2686341105810395,0.71338606911949],"aabb_xy":[[0.2443521345949044,1.2046341100712277],[0.34454706255705164,1.3326341110908513]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.6196047242511915,0.7782069141777166,0.71338606911949],"aabb_xy":[[0.5696047256052702,0.7282873705182542],[0.6696047228971126,0.828126457837179]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.25364431942534926,-1.1672009333356146,0.71338606911949],"aabb_xy":[[-0.2615675996640976,-1.189700933573618],[-0.24572103918660093,-1.1447009330976112]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.5968548863187182,-1.780122829401605,0.71338606911949],"aabb_xy":[[-0.6818548847361414,-1.8649971248638901],[-0.511854887901295,-1.6952485339393202]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.6426122788407642,1.7353233178061038,0.71338606911949],"aabb_xy":[[0.5786122795465959,1.6713371774372496],[0.7066122781349323,1.799309458174958]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.4387794554421752,-1.2045532087756028,0.71338606911949],"aabb_xy":[[-0.4460617718188388,-1.2945532123851116],[-0.4314971390655115,-1.1145532051660936]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.5713143044050324,-1.7723739654223594,0.71338606911949],"aabb_xy":[[0.5626163421143171,-1.784498939729834],[0.5800122666957477,-1.7602489911148846]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.2892914455960871,-2.3981582524971463,0.71338606911949],"aabb_xy":[[-0.3067913790300705,-2.415658252417381],[-0.27179151216210373,-2.3806582525769118]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[-0.5071099328147212,0.2768720914125491,0.71338606911949],"aabb_xy":[[-0.5222821020963545,0.26170323448434574],[-0.4919377635330878,0.29204094834075245]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[0.3805623091832644,-2.032394687138328,0.71338606911949],"aabb_xy":[[0.34306230839126894,-2.0387625280965183],[0.41806230997525984,-2.026026846180138]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.11058504876173636,-0.6397062985781812,0.71338606911949],"aabb_xy":[[0.0755850504510409,-0.6474213135017267],[0.1455850470724318,-0.6319912836546354]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.398838833805772,1.5845791019259896,0.71338606911949],"aabb_xy":[[-0.40587914373930917,1.5045791025263184],[-0.3917985238722352,1.6645791013256612]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[0.06670969989810727,1.662434638327173,0.71338606911949],"aabb_xy":[[0.030213879270828525,1.625950695900415],[0.10320552052538601,1.6989185807539302]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_28","position":[0.012170159914078438,-1.3218205899784519,0.71338606911949],"aabb_xy":[[-0.07782984376283973,-1.383252996555556],[0.1021701635909966,-1.2603881834013473]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[0.29720572772426734,0.7904075717865711,0.71338606911949],"aabb_xy":[[0.25970572755239535,0.7577068364036639],[0.3347057278961392,0.8231083071694782]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_30","position":[-0.16233475996888325,-0.6946399029958954,0.71338606911949],"aabb_xy":[[-0.2263347591386532,-0.741406590114858],[-0.09833476079911331,-0.647873215876933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812332960820572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2629.png","name":"2629"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2629.png","name":"2629"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8030.png","name":"8030"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2795.png","name":"2795"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/238.png","name":"238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3887.png","name":"3887"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":537.9822864019815,"rotation_z_degrees":158.08192614284783,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001693555359653428,-0.0029570917263587668,-0.0030555946146219697]},{"name":"camera_2","offset_m":[0.009513024950980043,0.01961386347734013,0.005388338010485869]},{"name":"camera_3","offset_m":[-0.0026153316751883135,-0.005015603390025731,-0.007581691796808317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003944803533054023,-0.0006970500742668668,0.0005778107894600345],"end_effector_yaw_offset_degrees":0.6813815321514178},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001475213284415613,-0.0013694705884869035,0.0015091723834431054],"end_effector_yaw_offset_degrees":0.3375734925282001},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00015661862023443355,0.001118408221924916,-0.000932476239782309],"end_effector_yaw_offset_degrees":-0.08521773765670848}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004554494524689776,-0.00039429747974235266],"position_m":[0.21145449452468978,0.26640570252025764,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002262241649639959,-0.0020142922559305177],"position_m":[0.18753775835036005,0.05558570774406948,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002280124095514362,0.0019182814386878404],"position_m":[0.3561198759044856,0.18051828143868784,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002271497991570921,0.003000478831761472],"position_m":[0.25377149799157095,-0.36239952116823854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c7946bfbf3c46546a9da6a0212b29122d4600ea12585875898e833bb1d18bbc3","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2629/tex_ceiling_textures_3887/tex_floor_textures_238/tex_table_textures_8030/tex_wall_textures_2795","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2113029726080242091,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2113029726080242091,"visual_seed":2113029726080242091,"scene_id":"lab_003","finished_at":"2026-09-03T11:09:41"} +{"episode_id":"ep_000066","started_at":"2026-09-03T11:09:44","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.15101852219427114,-1.3540568507287007,0.71338606911949],"aabb_xy":[[0.11452270156699237,-1.390540793155458],[0.18751434282154986,-1.317572908301943]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.005579763133356286,-1.7133511001310562,0.71338606911949],"aabb_xy":[[-0.005326012954206427,-1.7933510965298851],[0.016485539220919,-1.6333511037322268]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.5359957659202268,1.489247027133676,0.71338606911949],"aabb_xy":[[0.46599576411148136,1.4678932583694888],[0.6059957677289722,1.5106007958978636]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.5668513606168539,-0.3202911186721509,0.71338606911949],"aabb_xy":[[0.5469603207365138,-0.3329469299568477],[0.5867424004971943,-0.30763530738745404]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.0959249061580707,1.3265303924204845,0.71338606911949],"aabb_xy":[[-0.11293500344812134,1.3103959039222106],[-0.07891480886802003,1.3426648809187585]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.14457507540932224,-2.0410691353490975,0.71338606911949],"aabb_xy":[[0.09475829594448748,-2.091069133833401],[0.194391854874157,-1.9910691368647941]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.08687727410682644,0.39111736702634525,0.71338606911949],"aabb_xy":[[-0.16687727151041984,0.31112479582816244],[-0.006877276703233014,0.47110993822452807]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.0493402872340708,1.1864840948606536,0.71338606911949],"aabb_xy":[[-0.13934028373494253,1.1405724524421952],[0.040659709266800945,1.2323957372791117]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.10625467427444879,0.7077008376777316,0.71338606911949],"aabb_xy":[[-0.11505672958342149,0.6998895115228024],[-0.09745261896547606,0.7155121638326606]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.5922961566660725,1.6159604980199265,0.71338606911949],"aabb_xy":[[0.5547961561687142,1.611991814471808],[0.6297961571634307,1.619929181568045]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.024844775122474738,0.8771145757202223,0.71338606911949],"aabb_xy":[[-0.1048447720855139,0.8000389340764488],[0.05515522184056443,0.9541902173639957]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.07664635069152448,-1.4958994115601782,0.71338606911949],"aabb_xy":[[-0.08368780164227207,-1.5029261632979731],[-0.06960489974077688,-1.4888726598223838]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.4887193734128072,-1.5332796897470617,0.71338606911949],"aabb_xy":[[-0.5237193716829271,-1.5403538174420497],[-0.4537193751426873,-1.5262055620520734]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.2672525123669733,-0.394484441941779,0.71338606911949],"aabb_xy":[[-0.28468322744597974,-0.41175655660562976],[-0.24982179728796675,-0.37721232727792814]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.4394369547783042,-0.4574765978317257,0.71338606911949],"aabb_xy":[[-0.5044369548126069,-0.504177274512053],[-0.37443695474400146,-0.4107759211513983]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.63197609207637,-1.2801402893241263,0.71338606911949],"aabb_xy":[[-0.6400897467497471,-1.2882461057781553],[-0.6238624374029929,-1.2720344728700972]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.4787287556797615,-0.0391603467438113,0.71338606911949],"aabb_xy":[[0.4337361689613111,-0.08416034601826006],[0.5237213423982119,0.005839652530637451]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.5937421793356015,0.9365571311582128,0.71338606911949],"aabb_xy":[[0.5594259021609835,0.8865571311850352],[0.6280584565102194,0.9865571311313907]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[-0.2462123717393665,0.7818981325754781,0.71338606911949],"aabb_xy":[[-0.26371230517334987,0.7643981326552436],[-0.2287124383053831,0.7993981324957127]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[-0.5563619667017818,0.9250420004845399,0.71338606911949],"aabb_xy":[[-0.5741554736366983,0.9072422548887421],[-0.5385684597668654,0.9428417460803374]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.5690157103392504,1.202671151793497,0.71338606911949],"aabb_xy":[[0.5040157124576027,1.151547488086956],[0.6340157082208983,1.2537948155000378]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.4125256598751932,1.594763465474784,0.71338606911949],"aabb_xy":[[-0.434415407464134,1.5047634681855349],[-0.3906359122862524,1.684763462764033]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.5687209608224503,-0.6942936030897766,0.71338606911949],"aabb_xy":[[-0.6327209627347926,-0.7502047523477872],[-0.5047209589101079,-0.6383824538317663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6805252900737935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7971.png","name":"7971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7971.png","name":"7971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5055.png","name":"5055"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3912.png","name":"3912"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3133.png","name":"3133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2998.png","name":"2998"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":641.1196344589457,"rotation_z_degrees":211.06656508718248,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004818205971576877,-0.015313072843373994,0.015995137809620707]},{"name":"camera_2","offset_m":[-0.012533328487568714,-0.009023821704849189,-0.009821224940054045]},{"name":"camera_3","offset_m":[-0.0014062397233235019,-0.012828810528656504,-0.018843237902507505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008665108212589259,-0.001390470898454863,0.00011437621962230148],"end_effector_yaw_offset_degrees":-0.6804296934263592},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011064211741955983,7.325404173491807e-05,-0.001469373308280676],"end_effector_yaw_offset_degrees":-0.021901732833339516},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0003291514432326337,-0.00010010914988631378,0.0019661199224241107],"end_effector_yaw_offset_degrees":0.6743243796026337}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00298834293373743,0.004981053311435015],"position_m":[0.20391165706626257,0.271781053311435,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031484182312921235,0.004560845160593049],"position_m":[0.1929484182312921,0.062160845160593045,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034418830561327154,0.0019246236412256259],"position_m":[0.3618418830561327,0.18052462364122562,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034995663027886027,-0.004726692606958982],"position_m":[0.2480004336972114,-0.37012669260695896,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1570573955470ef70fd4b25084fa842238cd9bfe3c5aecab20487d91d9295377","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7971/tex_ceiling_textures_2998/tex_floor_textures_3133/tex_table_textures_5055/tex_wall_textures_3912","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1097179382777209949,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1097179382777209949,"visual_seed":1097179382777209949,"scene_id":"lab_003","finished_at":"2026-09-03T11:12:30"} +{"episode_id":"ep_000067","started_at":"2026-09-03T11:12:33","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.14553605814173554,-0.7864741772227206,0.71338606911949],"aabb_xy":[[0.12733023448048789,-0.7974995778047123],[0.16374188180298324,-0.775448776640729]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[0.25385018965788575,0.5412960783735299,0.71338606911949],"aabb_xy":[[0.23135018984398337,0.536821462003049],[0.27635018947178813,0.5457706947440105]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.21914744729732172,-0.9761956039126614,0.71338606911949],"aabb_xy":[[-0.28414744825444893,-1.028143815846367],[-0.1541474463401945,-0.9242473919789558]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.13424744826619528,0.7585527626090944,0.71338606911949],"aabb_xy":[[-0.1982474474359652,0.711786075490132],[-0.07024744909642532,0.8053194497280569]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.2913379681981183,-0.6150589858757762,0.71338606911949],"aabb_xy":[[0.2538379666824866,-0.6262857588919212],[0.32883796971375,-0.6038322128596311]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.5175822812048521,-0.13441173230468806,0.71338606911949],"aabb_xy":[[-0.5518791922225925,-0.16870861851462943],[-0.4832853701871113,-0.10011484609474669]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.525103704315224,-1.1233620743465569,0.71338606911949],"aabb_xy":[[-0.5306853759493527,-1.1358620741643322],[-0.5195220326810951,-1.1108620745287812]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.2810093208797765,1.479382474345909,0.71338606911949],"aabb_xy":[[0.23999137749340554,1.4293824737149516],[0.3220272642661473,1.5293824749768663]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.044180175464044624,-2.3324747212300787,0.71338606911949],"aabb_xy":[[-0.10918017402111746,-2.362227254643961],[0.02081982309302821,-2.3027221878161956]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.013373351311241066,1.2364187979825032,0.71338606911949],"aabb_xy":[[-0.03087328474522444,1.2189187980622684],[0.004126582122742306,1.2539187979027375]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.5496773508186472,-1.7579660015488026,0.71338606911949],"aabb_xy":[[0.47967734818206076,-1.7780708665446678],[0.6196773534552334,-1.7378611365529368]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.6505466146031071,-0.41911247477348246,0.71338606911949],"aabb_xy":[[0.5805466124716776,-0.44187444039917806],[0.7205466167345367,-0.39635050914778674]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.5524662571566015,0.25932909815984573,0.71338606911949],"aabb_xy":[[0.4624662548225824,0.18184674357473313],[0.6424662594906205,0.33681145274495844]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.6291610071498595,-1.7233404224414102,0.71338606911949],"aabb_xy":[[-0.6941610082558027,-1.7483057955095387],[-0.5641610060439162,-1.698375049373282]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.5595926914274623,1.600423865595007,0.71338606911949],"aabb_xy":[[0.5296010286935919,1.5704238662582062],[0.5895843541613326,1.6304238649318072]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.358890531105023,1.1993374695794419,0.71338606911949],"aabb_xy":[[0.2988905305971701,1.1424907358935203],[0.4188905316128759,1.256184203265363]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[-0.43976564694902087,-0.9982723488409879,0.71338606911949],"aabb_xy":[[-0.5037656442346695,-1.0397790677938317],[-0.3757656496633722,-0.9567656298881438]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.6298318283355195,-1.4437590273232044,0.71338606911949],"aabb_xy":[[0.6261285670063806,-1.4474610456319221],[0.6335350896646584,-1.4400570090144862]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.1939719425531683,-1.9578811299509158,0.71338606911949],"aabb_xy":[[-0.2589719451909618,-2.0093607286503627],[-0.1289719399153748,-1.9064015312514688]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.5936467646522716,1.5594336614762923,0.71338606911949],"aabb_xy":[[-0.638639351370722,1.5144336622018435],[-0.5486541779338212,1.604433660750741]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.16313313305062083,0.3222433845812027,0.71338606911949],"aabb_xy":[[-0.18767934867337155,0.2919944880321656],[-0.1385869174278701,0.3524922811302397]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.41051505956821377,0.5610713068269564,0.71338606911949],"aabb_xy":[[-0.49051506282605667,0.4810747990349724],[-0.33051505631037076,0.6410678146189404]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.6085498706473234,1.0284900510191703,0.71338606911949],"aabb_xy":[[0.6012675542706595,0.938490047409661],[0.6158321870239868,1.118490054628679]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6792729629870933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8620.png","name":"8620"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9054.png","name":"9054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6695.png","name":"6695"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":571.4689238288764,"rotation_z_degrees":61.85238931264193,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010519978141373185,-0.01688058919857631,-0.006967485430102612]},{"name":"camera_2","offset_m":[0.00028039671671000604,0.017466537929064944,-0.0028990350711362058]},{"name":"camera_3","offset_m":[0.011371541122868551,0.004406674604854475,0.016580985518556145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006965883402044936,0.000553463031580772,-0.001458129046812528],"end_effector_yaw_offset_degrees":0.6253035345277946},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007429170937417711,0.001813139340467848,0.0004393738595397812],"end_effector_yaw_offset_degrees":0.3976140150256977},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015863350236329308,0.0004588502051819398,0.0006897995664579002],"end_effector_yaw_offset_degrees":0.09585134399329642}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031100205317657207,-0.00012080029387559737],"position_m":[0.21001002053176573,0.26667919970612436,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029634194864493414,0.001634069991776778],"position_m":[0.18683658051355065,0.05923406999177678,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002737210728690481,-0.0011878735002980047],"position_m":[0.3556627892713095,0.177412126499702,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004569331222041014,-0.00407467108946094],"position_m":[0.246930668777959,-0.3694746710894609,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a47c8b5bf14dddf557fe3bf73a0ce18b05f86f22f0f2dc013f103b3b71932fa0","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2856/tex_ceiling_textures_6695/tex_floor_textures_9054/tex_table_textures_8620/tex_wall_textures_7788","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":7316495846830102723,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":7316495846830102723,"visual_seed":7316495846830102723,"scene_id":"lab_003","finished_at":"2026-09-03T11:15:14"} +{"episode_id":"ep_000068","started_at":"2026-09-03T11:15:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.06571178235830788,1.2563272487821537,0.71338606911949],"aabb_xy":[[-0.09436111471872409,1.2276816895050777],[-0.03706244999789164,1.2849728080592293]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.3884183202062661,-2.3862396965231123,0.71338606911949],"aabb_xy":[[-0.4306027343670969,-2.4502396968003235],[-0.3462339060454354,-2.322239696245901]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.6818905461918936,0.301309097231623,0.71338606911949],"aabb_xy":[[0.6593941247580295,0.2788090974248756],[0.7043869676257577,0.32380909703837046]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.6206405351121984,-0.30134236282263593,0.71338606911949],"aabb_xy":[[-0.6846405367901957,-0.3498597543019501],[-0.556640533434201,-0.25282497134332166]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.5003327622375697,-1.7202057785313056,0.71338606911949],"aabb_xy":[[0.49590213288272955,-1.7256541502659883],[0.5047633915924099,-1.7147574067966234]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.33657672544245654,-1.0672102891541018,0.71338606911949],"aabb_xy":[[0.2865767258661218,-1.117190868106208],[0.38657672501879126,-1.017229710201996]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.5766853663196392,-1.021862394215677,0.71338606911949],"aabb_xy":[[0.561129596909374,-1.0374128274600842],[0.5922411357299046,-1.0063119609712698]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.06325826632831144,-1.7025947299792659,0.71338606911949],"aabb_xy":[[-0.10842958417648042,-1.7665947271238047],[-0.018086948480142463,-1.638594732834728]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.11068746190406598,0.238000413489174,0.71338606911949],"aabb_xy":[[-0.14108557300320956,0.2075935114875045],[-0.08028935080492239,0.2684073154908435]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.10450527087943151,-1.9059273556269551,0.71338606911949],"aabb_xy":[[-0.14135581881641912,-1.9434273564499889],[-0.0676547229424439,-1.8684273548039214]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.4893654127397594,1.5293973334180602,0.71338606911949],"aabb_xy":[[-0.5044677142007773,1.5142958117869978],[-0.47426311127874116,1.5444988550491217]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.6443300256417057,1.0898381974614746,0.71338606911949],"aabb_xy":[[0.6363360370640023,1.081838117366384],[0.6523240142194091,1.0978382775565647]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.4872462787170162,-0.6918126010734094,0.71338606911949],"aabb_xy":[[0.48313032860494354,-0.6959281561062548],[0.49136222882908887,-0.6876970460405637]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[-0.10112456749659271,0.8572454879465123,0.71338606911949],"aabb_xy":[[-0.11803529993293448,0.8437732823538976],[-0.08421383506025092,0.8707176935391266]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.5410261063370816,-2.117442774746994,0.71338606911949],"aabb_xy":[[0.4997772953071668,-2.172442774259211],[0.5822749173669962,-2.0624427752347763]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[-0.5440711968635231,1.31251335939415,0.71338606911949],"aabb_xy":[[-0.5990634474990342,1.257513357650837],[-0.4890789462280123,1.3675133611374626]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.4338522187536604,0.7029476012800511,0.71338606911949],"aabb_xy":[[0.4251382497037258,0.6804476006208627],[0.4425661878035948,0.7254476019392392]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.12265560204582548,-2.359881378749602,0.71338606911949],"aabb_xy":[[0.06502513315855464,-2.419881377676312],[0.18028607093309634,-2.299881379822891]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.3440457026594578,1.7856852063938793,0.71338606911949],"aabb_xy":[[-0.3665457026696061,1.771588986754276],[-0.32154570264930954,1.7997814260334826]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.12803924009235013,-0.3032419774262376,0.71338606911949],"aabb_xy":[[-0.16235551726696806,-0.3532419773994153],[-0.09372296291773219,-0.2532419774530599]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.5890334421354368,-1.0817419186557466,0.71338606911949],"aabb_xy":[[-0.631800149014857,-1.1457419220775489],[-0.5462667352560167,-1.017741915233944]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.05507125280764247,-1.9288970869807858,0.71338606911949],"aabb_xy":[[0.017571252515467643,-1.9329385623813893],[0.09257125309981729,-1.9248556115801823]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[-0.616141051736831,-0.8746845825816356,0.71338606911949],"aabb_xy":[[-0.638049733876182,-0.8965852494017263],[-0.5942323695974799,-0.8527839157615449]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6849452269983137,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5938.png","name":"5938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3811.png","name":"3811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2864.png","name":"2864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6579.png","name":"6579"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":629.6204514658423,"rotation_z_degrees":222.19074962883727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013415624693866025,0.0018816686539755018,0.019223244529465573]},{"name":"camera_2","offset_m":[0.009492174764877924,0.019001383059233008,0.01681334306778094]},{"name":"camera_3","offset_m":[-0.006362396809576079,-0.01505717420678811,0.0014957903863692494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016814883814531005,0.0018103013998313384,-0.0002335883964488508],"end_effector_yaw_offset_degrees":0.3391511719722142},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014474137671822815,-0.001962512838136193,-0.0005108017600341302],"end_effector_yaw_offset_degrees":0.9939483606397368},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016805567250012304,-0.00013472472873845708,-0.0010631143747180678],"end_effector_yaw_offset_degrees":0.9781217991096947}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004712855612662611,-0.0008795925198470276],"position_m":[0.2116128556126626,0.26592040748015294,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002109875314580019,-0.004313728917064783],"position_m":[0.190010987531458,0.05328627108293522,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004424584017352156,-0.002023212443577925],"position_m":[0.3628245840173521,0.1765767875564221,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003507016406670228,-0.0019929582706582484],"position_m":[0.25500701640667023,-0.36739295827065827,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cc2d8333a84172366bee5b1d4c3dbd4a3aa0c39f4743d8b2f4acaf27b0c5f500","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2312/tex_ceiling_textures_6579/tex_floor_textures_2864/tex_table_textures_5938/tex_wall_textures_3811","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2823457426733787511,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2823457426733787511,"visual_seed":2823457426733787511,"scene_id":"lab_003","finished_at":"2026-09-03T11:18:03"} +{"episode_id":"ep_000069","started_at":"2026-09-03T11:18:05","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.14328639121810383,-2.1445902716038354,0.71338606911949],"aabb_xy":[[-0.1557537493278395,-2.157055596237159],[-0.1308190331083682,-2.132124946970512]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.09951540323126418,-2.2371975552972945,0.71338606911949],"aabb_xy":[[0.095379546898564,-2.2746975547416515],[0.10365125956396438,-2.1996975558529375]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.29007880771631955,-0.9053761044313509,0.71338606911949],"aabb_xy":[[0.22607880566658756,-0.9454705875206588],[0.35407880976605155,-0.8652816213420429]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.6876466722980937,-2.505689798207406,0.71338606911949],"aabb_xy":[[-0.6946869822316308,-2.585689797607077],[-0.6806063623645568,-2.4256897988077344]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.5428510084301348,1.6155585262284773,0.71338606911949],"aabb_xy":[[0.4928517332616986,1.5655585249525303],[0.592850283598571,1.6655585275044247]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.5319121231445343,0.7332189014545252,0.71338606911949],"aabb_xy":[[-0.5729300665309051,0.6832189008235678],[-0.4908941797581633,0.7832189020854825]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.6605161539423334,0.21633043681995767,0.71338606911949],"aabb_xy":[[0.6230161527575404,0.2119122141238971],[0.698016155127126,0.2207486595160182]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.64688079014919,1.2488653304915385,0.71338606911949],"aabb_xy":[[0.6424501607943499,1.243416958756856],[0.6513114195040303,1.254313702226221]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.567048845590949,-1.7324645205583478,0.71338606911949],"aabb_xy":[[0.5120751235546162,-1.7874645201225812],[0.6220225676272819,-1.6774645209941148]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.5603874725216713,-2.4812352675752254,0.71338606911949],"aabb_xy":[[-0.5903791352555415,-2.511235266912026],[-0.5303958097878009,-2.451235268238425]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.25655422428453556,0.8289263904421365,0.71338606911949],"aabb_xy":[[-0.2615102444694168,0.8064263902400152],[-0.25159820409965444,0.8514263906442584]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.48072226889675884,1.1076731859967195,0.71338606911949],"aabb_xy":[[-0.5447222691572295,1.0626643866437915],[-0.41672226863628803,1.1526819853496475]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[0.023541929549889318,1.25266917216545,0.71338606911949],"aabb_xy":[[-0.03408853933738154,1.1926691732387393],[0.08117239843716016,1.3126691710921605]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.5331532873921354,-2.407560258433544,0.71338606911949],"aabb_xy":[[0.49752413149217567,-2.4431929251903965],[0.5687824432920952,-2.3719275916766906]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.12747685505124717,1.0331628564808746,0.71338606911949],"aabb_xy":[[-0.1487548631947194,0.9681628541548013],[-0.1061988469077749,1.0981628588069474]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.03332675734110713,0.8987151411294385,0.71338606911949],"aabb_xy":[[-0.004173242602659277,0.8904220510946019],[0.07082675728487353,0.9070082311642751]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.41929806054175645,0.38127450683069153,0.71338606911949],"aabb_xy":[[0.33929806026814946,0.30832495900497475],[0.49929806081536343,0.4542240546564082]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.2177091624250359,1.1626279413278828,0.71338606911949],"aabb_xy":[[0.15270916454338815,1.1115042776213422],[0.28270916030668375,1.213751605034424]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.5615628422776997,-1.1985884739818542,0.71338606911949],"aabb_xy":[[0.5065628440759549,-1.2391104406082918],[0.6165628404794445,-1.1580665073554166]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.09442761967405788,-1.429653768076248,0.71338606911949],"aabb_xy":[[0.044427619313491824,-1.479633755285851],[0.14442762003462395,-1.379673780866645]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.37341031687703463,-1.904160065511482,0.71338606911949],"aabb_xy":[[0.31341031601622177,-1.9555864955179685],[0.4334103177378474,-1.8527336355049957]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.3604129326932819,1.726300042720498,0.71338606911949],"aabb_xy":[[0.34957245446676694,1.709113761429849],[0.37125341091979674,1.7434863240111464]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.29754600318064184,1.1373759825903202,0.71338606911949],"aabb_xy":[[-0.3047897692268871,1.057375984386718],[-0.29030223713439646,1.2173759807939228]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.16485724272043167,-2.3228007902175083,0.71338606911949],"aabb_xy":[[-0.17095187060855002,-2.331370184769177],[-0.15876261483231338,-2.3142313956658396]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.5816115621944359,0.507501986619125,0.71338606911949],"aabb_xy":[[-0.5994050691293523,0.48970224102332727],[-0.5638180552595194,0.5253017322149226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815449149692973,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1653.png","name":"1653"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1653.png","name":"1653"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2597.png","name":"2597"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6306.png","name":"6306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3139.png","name":"3139"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":703.0755617705404,"rotation_z_degrees":18.80891087627576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019167191500848734,0.012909677910322787,-0.0015998685103473555]},{"name":"camera_2","offset_m":[-0.009603460613848239,-0.005252614402483546,0.017339559689484075]},{"name":"camera_3","offset_m":[0.009603113957446698,-0.018057714242160836,0.015793289015927258]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023009937670981188,-0.000870075344026775,-0.0006729222852761279],"end_effector_yaw_offset_degrees":-0.8828436827949095},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009052459961062355,-0.0005472622338172481,0.0002555108249358844],"end_effector_yaw_offset_degrees":0.8780947640999419},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016048502832696713,-0.0009951263398486562,0.0017530495191970578],"end_effector_yaw_offset_degrees":0.995684929950925}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037285054393206753,0.0041738791405479285],"position_m":[0.20317149456067932,0.27097387914054794,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004317878982341821,0.0019216717943425577],"position_m":[0.18548212101765818,0.059521671794342555,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016901951548454219,0.0008027775889467795],"position_m":[0.3567098048451546,0.1794027775889468,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010153809428061142,-0.002756443336063603],"position_m":[0.2504846190571939,-0.3681564433360636,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b501af68f777f945961b0e8a41f12017dcede65211007d21b03b3d3c797872c4","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1653/tex_ceiling_textures_3139/tex_floor_textures_6306/tex_table_textures_44/tex_wall_textures_2597","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8908977447055550469,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8908977447055550469,"visual_seed":8908977447055550469,"scene_id":"lab_003","finished_at":"2026-09-03T11:20:45"} +{"episode_id":"ep_000070","started_at":"2026-09-03T11:20:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.6613539635537291,-2.2524426039545014,0.71338606911949],"aabb_xy":[[0.6549401499105441,-2.258852424202169],[0.6677677771969139,-2.246032783706833]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.0839834500698291,-0.5504176847165936,0.71338606911949],"aabb_xy":[[-0.09475642399119687,-0.5854176829356326],[-0.07321047614846131,-0.5154176864975546]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.6012879686943357,1.4912053836722996,0.71338606911949],"aabb_xy":[[-0.6512879682706704,1.4412248047201939],[-0.5512879691180009,1.5411859626244058]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.31879308142142126,0.9484383010129123,0.71338606911949],"aabb_xy":[[0.30944607383912603,0.9341346787952683],[0.3281400890037165,0.9627419232305564]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[0.2476263596346463,-1.0960212606423219,0.71338606911949],"aabb_xy":[[0.2131638816215585,-1.1026849378252443],[0.28208883764773407,-1.089357583459399]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.2346335060637254,-1.9905689182937385,0.71338606911949],"aabb_xy":[[-0.24599524071701157,-2.0019373847000264],[-0.22327177141043925,-1.9792004518874502]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.5552305622116505,-1.7520664265055907,0.71338606911949],"aabb_xy":[[-0.5633442168850276,-1.7601722429596198],[-0.5471169075382734,-1.7439606100515617]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.26798022403507493,-0.9400242457594787,0.71338606911949],"aabb_xy":[[0.2329802240585791,-0.9494888618070955],[0.30298022401157076,-0.9305596297118622]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.2880061299680512,-1.0624670304058694,0.71338606911949],"aabb_xy":[[-0.32144630516407074,-1.0959106562367993],[-0.25456595477203153,-1.0290234045749391]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.3397951164414801,-0.4939135712210594,0.71338606911949],"aabb_xy":[[0.27479511548435287,-0.545861783154765],[0.4047951173986073,-0.4419653592873538]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.22074271484399643,-1.5314528905656914,0.71338606911949],"aabb_xy":[[-0.28474271127131834,-1.578622514387788],[-0.15674271841667456,-1.484283266743595]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.1454798793959703,0.7119599484558594,0.71338606911949],"aabb_xy":[[0.13823611334972497,0.6319599502522569],[0.15272364544221562,0.7919599466594617]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.576698794539253,-2.360986101082705,0.71338606911949],"aabb_xy":[[0.512698795369483,-2.4077527882016674],[0.6406987937090229,-2.3142194139637424]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.44558763070077545,-1.8755125029865796,0.71338606911949],"aabb_xy":[[-0.4680876309442909,-1.8877171376463515],[-0.4230876304572601,-1.8633078683268076]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.15398209201044788,-1.8513934482273413,0.71338606911949],"aabb_xy":[[0.1459558213798219,-1.8601449432046941],[0.1620083626410739,-1.842641953249989]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.5449610495458259,0.5940594509264039,0.71338606911949],"aabb_xy":[[0.5199610499940874,0.5839169670612692],[0.5699610490975644,0.6042019347915386]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.2658225480926034,-1.5845936849447215,0.71338606911949],"aabb_xy":[[0.20082254953553058,-1.6143462183586041],[0.33082254664967625,-1.554841151530839]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.5829956687206752,-0.13788853106096877,0.71338606911949],"aabb_xy":[[0.5764940322126706,-0.14765635308727854],[0.5894973052286798,-0.128120709034659]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.5682380275567558,-0.20566018116982798,0.71338606911949],"aabb_xy":[[-0.6582380312336739,-0.26709258774693223],[-0.4782380238798375,-0.14422777459272357]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.5121899941905514,-0.3811420462001802,0.71338606911949],"aabb_xy":[[0.48718999502491833,-0.38809429190553685],[0.5371899933561846,-0.3741898004948237]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.6749103128320729,0.812748054653373,0.71338606911949],"aabb_xy":[[-0.6789884707391228,0.8086670744051098],[-0.6708321549250232,0.8168290349016364]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.1977851051795576,-0.6441768188053745,0.71338606911949],"aabb_xy":[[0.18261293589792427,-0.6593456757335778],[0.21295727446119095,-0.6290079618771711]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.6828279104516874,0.11516502747940693,0.71338606911949],"aabb_xy":[[0.6415790994217727,0.060165027967189456],[0.7240767214816022,0.17016502699162434]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.5904020389345308,1.6740002125157125,0.71338606911949],"aabb_xy":[[-0.6704020363381242,1.5940076413175297],[-0.5104020415309374,1.7539927837138953]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.28128438371872216,1.7138557942628467,0.71338606911949],"aabb_xy":[[-0.31807901684362844,1.6769499191662647],[-0.2444897505938159,1.7507616693594292]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[0.2371152222404994,1.0164785710091855,0.71338606911949],"aabb_xy":[[0.22907888753921454,1.0084404517047685],[0.24515155694178423,1.024516690313602]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.659225892239601,-0.36516834885433713,0.71338606911949],"aabb_xy":[[0.63731721010025,-0.38706901567442786],[0.6811345743789521,-0.3432676820342464]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_27","position":[0.6234693290955757,-0.7052764187849467,0.71338606911949],"aabb_xy":[[0.5534693274932962,-0.7187092119866043],[0.6934693306978552,-0.6918436255832892]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[0.5045252057019349,1.727227595126005,0.71338606911949],"aabb_xy":[[0.42452520868768695,1.7070930434525937],[0.5845252027161829,1.7473621467994163]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[0.6715264219056098,-2.0425641618061716,0.71338606911949],"aabb_xy":[[0.6215434717181304,-2.092564161448731],[0.7215093720930891,-1.9925641621636105]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_30","position":[-0.22547996999516873,-0.3510615691710468,0.71338606911949],"aabb_xy":[[-0.30547997106828906,-0.36083961550843124],[-0.1454799689220484,-0.34128352283366237]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[0.1504785392020006,-1.7166458919743235,0.71338606911949],"aabb_xy":[[0.10946059581562972,-1.7666458926052808],[0.19149648258837149,-1.6666458913433662]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_32","position":[0.6935506413070214,1.342206541235801,0.71338606911949],"aabb_xy":[[0.6768735053139259,1.3255066172618706],[0.7102277773001169,1.3589064652097311]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_33","position":[0.5404735631412578,1.0123029524378335,0.71338606911949],"aabb_xy":[[0.5228952609523111,0.9947284628637286],[0.5580518653302048,1.0298774420119385]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_34","position":[-0.04362525835900166,-1.5644740415290845,0.71338606911949],"aabb_xy":[[-0.07808760575714345,-1.5989679239269068],[-0.009162910960859858,-1.5299801591312614]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810691575585718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/199.png","name":"199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3100.png","name":"3100"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8452.png","name":"8452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8308.png","name":"8308"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":636.979517138669,"rotation_z_degrees":274.32616784607785,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001996754395951164,-0.0038975442780647407,0.015727553649890712]},{"name":"camera_2","offset_m":[-0.018212319517399267,-0.009237385361406952,-0.007752949951920605]},{"name":"camera_3","offset_m":[-0.006490722143399972,0.002386867158260579,0.018176734410184196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006943611845902768,0.00040825312286066123,0.000981332559055255],"end_effector_yaw_offset_degrees":0.06735597716764019},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019789117941365047,0.0006567196806736221,-0.0015379084963774293],"end_effector_yaw_offset_degrees":0.17798533832088181},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010164309460231925,0.0011236148025145663,-0.0003640461745001021],"end_effector_yaw_offset_degrees":-0.6167800703091904}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004972818923701646,0.0003501105492173702],"position_m":[0.21187281892370163,0.26715011054921733,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009328327423306715,0.004535391033905124],"position_m":[0.19073283274233066,0.06213539103390512,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009409571153535358,0.0037434810510431358],"position_m":[0.35745904288464647,0.18234348105104314,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016859455131626433,-0.002920029596741649],"position_m":[0.24981405448683736,-0.36832002959674165,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"08102575144335712b348ce2dbe4ed7a5f132e9da6b488b3105c2afebaabdf81","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2130/tex_ceiling_textures_8308/tex_floor_textures_8452/tex_table_textures_199/tex_wall_textures_3100","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4648642567580097985,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4648642567580097985,"visual_seed":4648642567580097985,"scene_id":"lab_003","finished_at":"2026-09-03T11:23:31"} +{"episode_id":"ep_000071","started_at":"2026-09-03T11:23:35","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.4503901733633737,1.1424872182627994,0.71338606911949],"aabb_xy":[[0.39539469554271434,1.0874872168288925],[0.5053856511840331,1.1974872196967064]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.5330700151584238,-1.6318204076100613,0.71338606911949],"aabb_xy":[[-0.5384025298130368,-1.6371447358552969],[-0.5277375005038107,-1.6264960793648258]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.6285673286581357,0.031225582012169628,0.71338606911949],"aabb_xy":[[0.6035673291063972,0.02108309814703491],[0.6535673282098742,0.04136806587730435]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.009134184162411185,1.5979641156863251,0.71338606911949],"aabb_xy":[[-0.08086581817160787,1.5204817611012125],[0.09913418649643024,1.6754464702714378]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.21757325082020118,1.5581127578185465,0.71338606911949],"aabb_xy":[[0.21053179986945358,1.551086006080752],[0.22461470177094878,1.565139509556341]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.3134029006907335,1.6526308167018597,0.71338606911949],"aabb_xy":[[0.3029913420102498,1.6472850833659611],[0.3238144593712172,1.657976550037758]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.6261525600948866,-0.6190386596188353,0.71338606911949],"aabb_xy":[[-0.6901525603553573,-0.6640474589717633],[-0.5621525598344157,-0.5740298602659073]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.6346388542516599,-2.0713397500843422,0.71338606911949],"aabb_xy":[[0.6133608461081876,-2.1363397524104153],[0.6559168623951321,-2.006339747758269]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.41736836227727064,-0.6997318971362088,0.71338606911949],"aabb_xy":[[-0.4340454982703661,-0.716431821110139],[-0.4006912262841751,-0.6830319731622785]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.48338678014885117,0.03051102069270062,0.71338606911949],"aabb_xy":[[0.41939108275375453,-0.033488977608008064],[0.5473824775439478,0.0945110189934093]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.5541297274180148,0.10311566027164965,0.71338606911949],"aabb_xy":[[-0.576643419241472,0.03311565967064212],[-0.5316160355945576,0.17311566087265717]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.137054954568403,-1.2116487537813707,0.71338606911949],"aabb_xy":[[0.11254133047139714,-1.235913347083407],[0.16156857866540886,-1.187384160479334]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.3047222290683448,0.6260680171318569,0.71338606911949],"aabb_xy":[[0.24972223086659998,0.5855460505054192],[0.3597222272700896,0.6665899837582944]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.6579779312230831,-0.9245634113676342,0.71338606911949],"aabb_xy":[[0.6507166836526757,-0.9373504216311437],[0.6652391787934906,-0.9117764011041247]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[-0.341753273128667,1.5842752048447406,0.71338606911949],"aabb_xy":[[-0.34665256543523043,1.5565982855421716],[-0.33685398082210344,1.6119521241473092]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[-0.28559296298612,0.6953216349605063,0.71338606911949],"aabb_xy":[[-0.3266109063724909,0.6453216343295489],[-0.24457501959974914,0.7453216355914636]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.12124675587481781,-0.9252417894065634,0.71338606911949],"aabb_xy":[[0.041246757894032766,-0.9328433303684154],[0.20124675385560287,-0.9176402484447115]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.10164039222634524,0.8329348106784611,0.71338606911949],"aabb_xy":[[-0.11719616163661052,0.817384377434054],[-0.08608462281607998,0.8484852439228684]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.5356924777747346,0.8728838226604458,0.71338606911949],"aabb_xy":[[-0.5398084278868072,0.8687682676276001],[-0.5315765276626618,0.8769993776932912]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.6277582590771329,-1.353160295080922,0.71338606911949],"aabb_xy":[[0.6032120434543822,-1.3834091916299591],[0.6523044746998836,-1.322911398531885]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[0.1757528493533228,0.9517851890209532,0.71338606911949],"aabb_xy":[[0.16633537478346005,0.9423690118832342],[0.18517032392318555,0.9612013661586722]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.259070276827406,1.3643737223131516,0.71338606911949],"aabb_xy":[[0.22660857594547848,1.3342408901982488],[0.29153197770933337,1.394506554428054]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.48486858880961126,-0.9210254703188576,0.71338606911949],"aabb_xy":[[-0.5198685887861072,-0.9304900863664743],[-0.4498685888331155,-0.9115608542712411]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.331993230542255,0.25855653360529685,0.71338606911949],"aabb_xy":[[-0.36878786366716126,0.22165065850871457],[-0.2951985974173487,0.2954624087018791]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.6711527689687514,1.656296815570173,0.71338606911949],"aabb_xy":[[-0.6870372622340766,1.6419438752713489],[-0.6552682757034263,1.670649755868997]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[0.46938364661022924,-2.362450791683843,0.71338606911949],"aabb_xy":[[0.441053936661689,-2.36691153387756],[0.49771335655876947,-2.357990049490126]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.5503812941766006,1.1183722413387747,0.71338606911949],"aabb_xy":[[-0.6143812962263328,1.0782777582494667],[-0.48638129212686876,1.1584667244280826]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[-0.26046936896663886,-1.7838268860595339,0.71338606911949],"aabb_xy":[[-0.2960985248665986,-1.8194595528163866],[-0.22484021306667912,-1.7481942193026807]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[0.6793018459119564,0.26007286369315263,0.71338606911949],"aabb_xy":[[0.6443018467820008,0.25432764261748847],[0.7143018450419121,0.2658180847688167]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_29","position":[-0.009258385332345354,1.7638266749133353,0.71338606911949],"aabb_xy":[[-0.016961576006422396,1.756117304214597],[-0.0015551946582683107,1.7715360456120732]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6811975080961414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5113.png","name":"5113"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1402.png","name":"1402"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6654.png","name":"6654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":776.9246715970835,"rotation_z_degrees":358.00660823437795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0002381201682741113,-0.001870009537221766,0.017678289252750754]},{"name":"camera_2","offset_m":[-0.006668386938913487,-0.015287875634271315,-0.007638502893143597]},{"name":"camera_3","offset_m":[0.013092517631364074,-0.005902433546229506,-0.018457475705550425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010734477042470577,0.0004105867006657738,0.0014920441363574254],"end_effector_yaw_offset_degrees":0.8099263882883303},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006995419947794248,-0.0006831002139704588,-0.00020910505562047894],"end_effector_yaw_offset_degrees":0.9271119858974848},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015360330887004311,-0.0018009133348301707,0.00012272502775615996],"end_effector_yaw_offset_degrees":-0.3518109113819792}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001289731068388692,-0.0022835069812185316],"position_m":[0.2081897310683887,0.26451649301878144,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014108098331690622,-0.0022063793362681362],"position_m":[0.18838919016683092,0.055393620663731866,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010114632701874824,-0.0024338714958438592],"position_m":[0.3573885367298125,0.17616612850415614,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020730607009475602,0.0027520404590250895],"position_m":[0.25357306070094754,-0.3626479595409749,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6525387f9416c0da8b1fc0b79b90e4d8c8f30369545f78ca5c488e91434ab42d","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9660/tex_ceiling_textures_8006/tex_floor_textures_6654/tex_table_textures_5113/tex_wall_textures_1402","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1392147521352061196,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1392147521352061196,"visual_seed":1392147521352061196,"scene_id":"lab_003","finished_at":"2026-09-03T11:26:20"} +{"episode_id":"ep_000072","started_at":"2026-09-03T11:26:24","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.615286790294953,-2.2021657939908748,0.71338606911949],"aabb_xy":[[0.6080255427245456,-2.2149528042543842],[0.6225480378653605,-2.1893787837273653]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.4669101239190845,1.5744412478875431,0.71338606911949],"aabb_xy":[[0.44662582119568567,1.554158622744834],[0.4871944266424832,1.5947238730302518]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.37496365898376993,1.252829807842768,0.71338606911949],"aabb_xy":[[0.30996365634597645,1.201350209143321],[0.4399636616215634,1.304309406542215]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.2346383811241955,0.9951387194792316,0.71338606911949],"aabb_xy":[[-0.3046383837607818,0.9750338544833661],[-0.16463837848760912,1.015243584475097]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.3298118037980203,-2.2897806027876704,0.71338606911949],"aabb_xy":[[-0.3938118041755539,-2.339525869638482],[-0.26581180342048666,-2.2400353359368577]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.35019485592127647,-0.3184544027323484,0.71338606911949],"aabb_xy":[[-0.37519485547301495,-0.3285968865974831],[-0.325194856369538,-0.30831191886721365]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.4957695306180998,0.8696794288238703,0.71338606911949],"aabb_xy":[[0.4849290523915849,0.8524931475332214],[0.5066100088446147,0.886865710114519]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.35735226325577313,-0.5762844121778032,0.71338606911949],"aabb_xy":[[-0.42135226351624394,-0.6212932115307311],[-0.2933522629953023,-0.5312756128248751]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.49258151762254054,-0.4956460914762104,0.71338606911949],"aabb_xy":[[0.48167574153497783,-0.5756460878750396],[0.5034872937101033,-0.41564609507738126]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.2393053890313781,-0.7889386646478165,0.71338606911949],"aabb_xy":[[0.20251075590647177,-0.8258445397443986],[0.2761000221562843,-0.7520327895512341]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.3550233898280321,-0.8138219472292101,0.71338606911949],"aabb_xy":[[-0.4450233863289038,-0.8597335896476682],[-0.2650233933271603,-0.7679103048107517]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.1209842396380828,-2.274677207565409,0.71338606911949],"aabb_xy":[[0.10348430620409944,-2.292177207485643],[0.13848417307206617,-2.257177207645174]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.14535977754070906,0.7337765401657768,0.71338606911949],"aabb_xy":[[0.08535977694469288,0.6789640676205533],[0.20535977813672524,0.7885890127110002]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.5131851147395305,-0.9974232120420479,0.71338606911949],"aabb_xy":[[0.47568511463393753,-1.0042453738950288],[0.5506851148451234,-0.9906010501890665]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.6206940348923795,1.5080091539406548,0.71338606911949],"aabb_xy":[[0.5706940353160449,1.458028574988549],[0.6706940344687143,1.557989732892761]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.29236349411141516,1.6456103724432478,0.71338606911949],"aabb_xy":[[-0.33949287311325077,1.5816103713988456],[-0.24523411510957943,1.7096103734876495]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.30966175307521593,-1.2568132161300973,0.71338606911949],"aabb_xy":[[-0.3247640545362339,-1.2719147377611586],[-0.2945594516141977,-1.2417116944990352]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.17011736615142503,-1.7501256825290363,0.71338606911949],"aabb_xy":[[0.10611736972410313,-1.7972953063511328],[0.23411736257874693,-1.70295605870694]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.20802523243968102,-1.894065875422822,0.71338606911949],"aabb_xy":[[-0.288025230420466,-1.9016674163846738],[-0.12802523445889594,-1.88646433446097]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.5759820892478884,-0.2818801589075295,0.71338606911949],"aabb_xy":[[0.5662260997387143,-0.2916426929667639],[0.5857380787570621,-0.272117624848295]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.10362649975798988,0.8778396315294965,0.71338606911949],"aabb_xy":[[-0.17362650156673531,0.8564858627653092],[-0.03362649794924444,0.899193400293684]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.05735798069683784,1.6151788410786536,0.71338606911949],"aabb_xy":[[-0.1410802061969203,1.5251788375439574],[0.02636424480324462,1.7051788446133493]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.516845060430441,-0.6674575768362456,0.71338606911949],"aabb_xy":[[-0.5344233626193877,-0.6850320664103505],[-0.499266758241494,-0.6498830872621407]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.4560379363131037,-1.3751157733482842,0.71338606911949],"aabb_xy":[[-0.49353793625687004,-1.3834088633831205],[-0.4185379363693372,-1.3668226833134474]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[-0.27701153968526926,0.4570693241979442,0.71338606911949],"aabb_xy":[[-0.34101154038873865,0.4110509417250233],[-0.21301153898179997,0.5030877066708653]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.4084013567797088,1.4299944940966989,0.71338606911949],"aabb_xy":[[-0.45058577094053953,1.3659944938194877],[-0.36621694261887805,1.49399449437391]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_26","position":[0.6365945153660648,-0.49653384058357775,0.71338606911949],"aabb_xy":[[0.600098694738786,-0.5330177830103352],[0.6730903359933434,-0.46004989815682007]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.1639130940404877,-2.2404090265670202,0.71338606911949],"aabb_xy":[[-0.17307297298436428,-2.2469402446105566],[-0.15475321509661108,-2.233877808523483]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_28","position":[0.49279459587170793,0.7094399901958468,0.71338606911949],"aabb_xy":[[0.4855122794950442,0.6194399865863376],[0.5000769122483715,0.7994399938053556]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[-0.6034567455296367,-1.180344751345642,0.71338606911949],"aabb_xy":[[-0.6584304675659696,-1.2353447509098752],[-0.5484830234933038,-1.1253447517814088]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812358265286151,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4987.png","name":"4987"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4987.png","name":"4987"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5986.png","name":"5986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2096.png","name":"2096"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2827.png","name":"2827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2821.png","name":"2821"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":713.8135501966244,"rotation_z_degrees":277.6038429184441,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003916621498837043,-0.018951345471333144,-0.011330969293108005]},{"name":"camera_2","offset_m":[0.013687245755994181,0.018881614292187317,-0.007346414649934348]},{"name":"camera_3","offset_m":[-0.0029120905662399672,0.011093229245286947,-0.0009583566648790724]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017522356012347302,-0.0011170579533511696,0.0008604364200982479],"end_effector_yaw_offset_degrees":-0.24642139083282655},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018028118491188322,-0.0017550897235868704,-0.0011188033458322463],"end_effector_yaw_offset_degrees":0.7842839697702833},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011074561329287493,7.189043464775292e-05,-0.0016475352080065702],"end_effector_yaw_offset_degrees":-0.9208358747251029}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004827733876450506,0.00493994550377833],"position_m":[0.2117277338764505,0.27173994550377834,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018724852699321063,-0.0025273001146671335],"position_m":[0.1916724852699321,0.055072699885332865,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021414128967381764,0.0015174267156675093],"position_m":[0.3605414128967382,0.18011742671566752,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000915536895299893,0.0008464064791649725],"position_m":[0.2524155368952999,-0.36455359352083505,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"14e9304bed8c8e7b6c471a235a2bcf31ea18df732bc9f1a9cd91c87c23ace720","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4987/tex_ceiling_textures_2821/tex_floor_textures_2827/tex_table_textures_5986/tex_wall_textures_2096","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4422128454806181689,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4422128454806181689,"visual_seed":4422128454806181689,"scene_id":"lab_003","finished_at":"2026-09-03T11:29:18"} +{"episode_id":"ep_000073","started_at":"2026-09-03T11:29:21","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.10122587229727309,1.7106652475740005,0.71338606911949],"aabb_xy":[[-0.12372500802350006,1.6881652467957373],[-0.07872673657104612,1.7331652483522633]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.14722998334788662,-1.7251887628297546,0.71338606911949],"aabb_xy":[[0.06722998008387349,-1.738748795138668],[0.22722998661189975,-1.7116287305208413]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.4248441220574515,-0.7448916105074055,0.71338606911949],"aabb_xy":[[0.38734412211368513,-0.7531847005422421],[0.46234412200121794,-0.7365985204725689]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.05348048760669455,-2.069689578337252,0.71338606911949],"aabb_xy":[[0.01493479478149351,-2.1082353493934405],[0.09202618043189559,-2.031143807281063]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.2179421615801213,-1.4960138241881442,0.71338606911949],"aabb_xy":[[-0.2679421611564561,-1.5459944031402504],[-0.16794216200378664,-1.4460332452360385]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.4130980731446267,-1.0900951419370715,0.71338606911949],"aabb_xy":[[-0.44424499198820977,-1.1600951406238784],[-0.38195115430104354,-1.020095143250264]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.283796246224316,1.4426119815879583,0.71338606911949],"aabb_xy":[[-0.3212962465725437,1.4308205860068746],[-0.24629624587608817,1.4544033771690417]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.05123770636241798,-1.1828489003816038,0.71338606911949],"aabb_xy":[[0.04353451568834093,-1.1905582710803417],[0.058940897036495014,-1.1751395296828655]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[-0.536324904089599,-2.3404904294500337,0.71338606911949],"aabb_xy":[[-0.5738249025129992,-2.353654643417864],[-0.4988249056661985,-2.3273262154822025]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[0.02657233615602128,1.3435014220191648,0.71338606911949],"aabb_xy":[[0.017874373865305996,1.3313764477116898],[0.03527029844673658,1.3556263963266393]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.4887253707242949,1.1316343613900295,0.71338606911949],"aabb_xy":[[-0.5300299137880308,1.0676343618219122],[-0.4474208276605588,1.1956343609581463]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.44335381634027193,1.3540485541402236,0.71338606911949],"aabb_xy":[[0.4396505550111329,1.3503465358315057],[0.4470570776694107,1.3577505724489412]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.3441059808192027,-0.20087165210222535,0.71338606911949],"aabb_xy":[[-0.35926885379613976,-0.21603710939734416],[-0.3289431078422656,-0.18570619480710662]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[0.20420650347404923,-1.3327355453690581,0.71338606911949],"aabb_xy":[[0.15903518562588026,-1.3967355425135966],[0.24937782132221822,-1.2687355482245197]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.33695270513649844,-1.5617934936107216,0.71338606911949],"aabb_xy":[[0.3329922213667641,-1.5694613581962422],[0.3409131889062328,-1.554125629025201]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.41137892871626014,-1.9401482131997365,0.71338606911949],"aabb_xy":[[0.34737893228893824,-1.9873178370218332],[0.47537892514358204,-1.8929785893776403]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.40672863480497856,1.7386177267971692,0.71338606911949],"aabb_xy":[[0.38172863553301634,1.722272363201007],[0.4317286340769409,1.7549630903933318]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.663699943909819,-2.361109044509201,0.71338606911949],"aabb_xy":[[0.6209332370303988,-2.4251090479310036],[0.7064666507892392,-2.2971090410873987]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.3733480195897084,-2.328013799594917,0.71338606911949],"aabb_xy":[[-0.3934064312029487,-2.348078886504074],[-0.35328960797646813,-2.307948712685759]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.2351417939627254,1.623228030562958,0.71338606911949],"aabb_xy":[[-0.28502449084042164,1.5732280313166833],[-0.18525909708502922,1.6732280298092328]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.3949414700998651,0.5337368161814982,0.71338606911949],"aabb_xy":[[-0.4525719389871358,0.47373681725478733],[-0.33731100121259416,0.5937368151082085]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.29540862071995433,0.06761102596956459,0.71338606911949],"aabb_xy":[[-0.3129086199980412,0.050272925903218635],[-0.27790862144186745,0.08494912603591054]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.16228070881386336,1.404835504584002,0.71338606911949],"aabb_xy":[[-0.1972807101653451,1.3844757686271811],[-0.12728070746238163,1.4251952405408228]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[0.17217433696767814,-2.2616177211767243,0.71338606911949],"aabb_xy":[[0.1667163913306581,-2.341617724484383],[0.17763228260469824,-2.1816177178690648]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.3918093922950855,0.7502476510812364,0.71338606911949],"aabb_xy":[[-0.471809394457848,0.6702924674550926],[-0.311809390132323,0.8302028347073799]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6805509499961229,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3732.png","name":"3732"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3732.png","name":"3732"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9036.png","name":"9036"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3665.png","name":"3665"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2582.png","name":"2582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7800.png","name":"7800"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":822.7967797332884,"rotation_z_degrees":303.56838703783586,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006090047545406346,-0.010112577593722328,0.00778050013022941]},{"name":"camera_2","offset_m":[0.005031231395684257,-0.011769642043908029,-0.016883964122320974]},{"name":"camera_3","offset_m":[0.015455411462312049,0.011912961105626427,-0.015578367038994245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010161222303438713,-0.0014144712826844508,-0.0009525048472499909],"end_effector_yaw_offset_degrees":0.500719148837947},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001136370934420661,-0.0008972785646491151,0.00035799926822917836],"end_effector_yaw_offset_degrees":0.7425914730741472},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012793783738849719,0.0012305414030709966,-0.001441086208996642],"end_effector_yaw_offset_degrees":0.3893905736946788}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004567364176944707,0.0018050684852456622],"position_m":[0.2023326358230553,0.2686050684852456,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010523143136639077,0.004507308573646298],"position_m":[0.1908523143136639,0.0621073085736463,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031738969632800554,-0.0007181759086122693],"position_m":[0.3552261030367199,0.17788182409138775,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012074273360151867,-0.001213658345109241],"position_m":[0.2502925726639848,-0.36661365834510923,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d44849a37e89d77213b2e13d2595b363a4fe365679b02cb8fbc438ae2fad6741","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3732/tex_ceiling_textures_7800/tex_floor_textures_2582/tex_table_textures_9036/tex_wall_textures_3665","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":7714660639110778598,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":7714660639110778598,"visual_seed":7714660639110778598,"scene_id":"lab_003","finished_at":"2026-09-03T11:32:00"} +{"episode_id":"ep_000074","started_at":"2026-09-03T11:32:03","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.37360698382571234,-0.35318862455809663,0.71338606911949],"aabb_xy":[[0.3675699708250476,-0.35921532562704483],[0.3796439968263771,-0.3471619234891484]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.650984343124995,-0.35711643021677064,0.71338606911949],"aabb_xy":[[-0.6854468211380826,-0.3637801073996934],[-0.6165218651119071,-0.35045275303384776]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[-0.26116310800807097,0.25513612695267174,0.71338606911949],"aabb_xy":[[-0.32516310968606826,0.20661873547335752],[-0.19716310633007356,0.30365351843198596]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.19240064314822247,1.4541876402582052,0.71338606911949],"aabb_xy":[[-0.23094633597342348,1.4156418692020163],[-0.1538549503230214,1.4927334113143937]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.2428413794135269,-1.867890350390946,0.71338606911949],"aabb_xy":[[0.20534137789789517,-1.8791171234070911],[0.2803413809291586,-1.856663577374801]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.3857107646354603,0.8458406105119138,0.71338606911949],"aabb_xy":[[-0.46571076179503557,0.8342930095540967],[-0.305710767475885,0.8573882114697308]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.5782566174239386,-1.698774149321212,0.71338606911949],"aabb_xy":[[-0.6015384596220699,-1.7837741506184401],[-0.5549747752258072,-1.613774148023984]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.5115520316133844,-1.1770046027173062,0.71338606911949],"aabb_xy":[[0.4896622840244436,-1.2670046000065553],[0.5334417792023252,-1.087004605428057]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.5231554551461202,0.28226729590649935,0.71338606911949],"aabb_xy":[[0.47317121943794294,0.2322672970930037],[0.5731396908542974,0.3322672947199949]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.059894481060896454,1.1866498132757237,0.71338606911949],"aabb_xy":[[-0.0834796045247913,1.1216498110302922],[-0.0363093575970016,1.2516498155211557]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.45789923550660117,-0.9611857974395166,0.71338606911949],"aabb_xy":[[0.37789923691928173,-1.0405013993776773],[0.5378992340939206,-0.8818701955013556]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.5914666211732552,0.24901179084104186,0.71338606911949],"aabb_xy":[[-0.6554666244629632,0.20567687183712421],[-0.527466617883547,0.2923467098449594]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.14368473800553372,0.43241916471301245,0.71338606911949],"aabb_xy":[[-0.1786847379015526,0.4240449292010725],[-0.10868473810951486,0.4407934002249524]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.5737559097060395,0.9614966052013179,0.71338606911949],"aabb_xy":[[-0.607196084902059,0.9280529793703874],[-0.5403157345100198,0.9949402310322476]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.012628428792796909,-1.2324628097096393,0.71338606911949],"aabb_xy":[[-0.024405680635262807,-1.2668400170433485],[0.049662538220856624,-1.1980856023759296]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[0.3522970474454752,-2.1315431251249137,0.71338606911949],"aabb_xy":[[0.3147970462606822,-2.1359613478209734],[0.3897970486302678,-2.1271249024288523]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[0.1521266710964505,0.9149088641712497,0.71338606911949],"aabb_xy":[[0.14283305285929992,0.8774088656831157],[0.16142028933360109,0.9524088626593835]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.7183779399935806,-1.3089150839951609,0.71338606911949],"aabb_xy":[[0.7139473106387404,-1.3143634557298431],[0.7228085693484207,-1.3034667122604782]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.2775119951692919,-2.56620891417717,0.71338606911949],"aabb_xy":[[-0.35751199843330506,-2.5797689464860833],[-0.1975119919052788,-2.5526488818682567]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.13805693980518685,-2.412333544150404,0.71338606911949],"aabb_xy":[[0.07405694121861436,-2.459340507549913],[0.20205693839175928,-2.3653265807508954]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.18053354816267453,-0.1417011748232997,0.71338606911949],"aabb_xy":[[-0.23050684216593495,-0.191701175377847],[-0.13056025415941405,-0.09170117426875232]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.48757279574539125,0.693765308573119,0.71338606911949],"aabb_xy":[[0.42357279931806935,0.6465956847510226],[0.5515727921727132,0.7409349323952155]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.682734430398878,-1.398616715430558,0.71338606911949],"aabb_xy":[[0.6477344312060597,-1.40958376142822],[0.7177344295916962,-1.387649669432895]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.44077125624084934,0.2702210442561528,0.71338606911949],"aabb_xy":[[-0.4632360262122544,0.24772104337729228],[-0.41830648626944417,0.2927210451350133]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.4894395547999942,0.6436183113362763,0.71338606911949],"aabb_xy":[[-0.553439558018632,0.596895199437268],[-0.4254395515813564,0.6903414232352847]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[0.3693715839479823,1.6097081069902983,0.71338606911949],"aabb_xy":[[0.3628699474399777,1.5999402849639888],[0.375873220455987,1.6194759290166083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6786015979225662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1134.png","name":"1134"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1134.png","name":"1134"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9815.png","name":"9815"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6200.png","name":"6200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3852.png","name":"3852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4932.png","name":"4932"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":600.9472769706487,"rotation_z_degrees":257.6868286137756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01770524746382454,-0.010862559947077513,-0.0008820103290324219]},{"name":"camera_2","offset_m":[0.004711150409718635,-0.011588599780871305,-0.011281617187293707]},{"name":"camera_3","offset_m":[-0.009597457325969248,-0.012381013847380346,0.005219692482141745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001758719561784154,-0.0012032531816185553,0.0017769140165867343],"end_effector_yaw_offset_degrees":0.5766923883079986},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018593822479436922,-0.0009579300041299694,0.0001754691889720569],"end_effector_yaw_offset_degrees":0.08652204796801488},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012734126911017204,-0.0009397533240796073,0.0006702102482791239],"end_effector_yaw_offset_degrees":-0.6792756289252209}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003194607572989148,-0.0040462930913084975],"position_m":[0.20370539242701086,0.2627537069086915,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00043328693170928585,-0.00015198272217976753],"position_m":[0.1902332869317093,0.05744801727782023,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016312865039997803,0.004224171785921822],"position_m":[0.3567687134960002,0.18282417178592184,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037804331918642057,-0.0016149629668338406],"position_m":[0.24771956680813578,-0.36701496296683384,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1d1d68ec916d4341efe4ea8fdb43e0ea1f913506ea224c9be87f06b61475b5cf","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1134/tex_ceiling_textures_4932/tex_floor_textures_3852/tex_table_textures_9815/tex_wall_textures_6200","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6146037955836668264,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6146037955836668264,"visual_seed":6146037955836668264,"scene_id":"lab_003","finished_at":"2026-09-03T11:34:45"} +{"episode_id":"ep_000075","started_at":"2026-09-03T11:34:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.09536085193896338,0.4858786570141782,0.71338606911949],"aabb_xy":[[-0.1199070675617141,0.45562976046514114],[-0.07081463631621265,0.5161275535632153]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.02054059952135323,-0.6938995932243635,0.71338606911949],"aabb_xy":[[-0.05804059962694618,-0.7007217550773445],[0.016959400584239722,-0.6870774313713822]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.04615004725893246,0.6267185932001844,0.71338606911949],"aabb_xy":[[0.02851721166540488,0.6090956471845614],[0.06378288285246002,0.6443415392158074]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.23935112523284152,1.7110514791810956,0.71338606911949],"aabb_xy":[[-0.30335112550681975,1.6609853789838076],[-0.17535112495886326,1.7611175793783835]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.6078430897677672,-2.4288120064442134,0.71338606911949],"aabb_xy":[[-0.616057634883451,-2.4374885967418543],[-0.599628544652083,-2.4201354161465716]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.2554127392337271,-0.7507483214794572,0.71338606911949],"aabb_xy":[[0.1754127378035999,-0.8302654764920666],[0.3354127406638543,-0.6712311664668477]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.5159721650145916,-1.852099560337201,0.71338606911949],"aabb_xy":[[0.4659721646540255,-1.902079547546804],[0.5659721653751576,-1.802119573127598]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.21511487514260974,1.500276272342226,0.71338606911949],"aabb_xy":[[0.16511487348111492,1.4502778300865233],[0.2651148768041044,1.5502747145979288]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.1038372648341106,1.2485055432094527,0.71338606911949],"aabb_xy":[[-0.12272164860262079,1.2296196184291],[-0.08495288106560038,1.2673914679898055]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.5877481631230637,-0.8145236019788107,0.71338606911949],"aabb_xy":[[0.4977481645285937,-0.8307741882922317],[0.6777481617175336,-0.7982730156653897]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.2517504933465513,-2.2984797579440643,0.71338606911949],"aabb_xy":[[0.20176625763837408,-2.3484797567575604],[0.30173472905472853,-2.248479759130569]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.7047218349777609,-1.5522209824811242,0.71338606911949],"aabb_xy":[[0.7006436770707111,-1.5563019627293873],[0.7087999928848104,-1.5481400022328606]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.2508405848702395,-2.177667820428458,0.71338606911949],"aabb_xy":[[-0.29208939590015426,-2.2326678199406755],[-0.20959177384032482,-2.1226678209162406]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.3709081523342721,-2.3231227341299725,0.71338606911949],"aabb_xy":[[0.35828136504707575,-2.3326688078315456],[0.38353493962146845,-2.3135766604283994]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.46677728992332423,1.4653912562636786,0.71338606911949],"aabb_xy":[[0.4587833013456208,1.457391176168588],[0.47477127850102757,1.4733913363587687]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.5513434121364771,1.452366441548301,0.71338606911949],"aabb_xy":[[0.52349837535587,1.4215819428099898],[0.5791884489170842,1.4831509402866132]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.03840585979576627,1.7353158654201208,0.71338606911949],"aabb_xy":[[-0.06291948389277213,1.7110512721180842],[-0.013892235698760413,1.759580458722157]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.6609098596362352,-0.2194027662454805,0.71338606911949],"aabb_xy":[[-0.6679501695697723,-0.29940276564515195],[-0.6538695497026983,-0.13940276684580913]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.6013792584337225,1.1889169002904332,0.71338606911949],"aabb_xy":[[-0.6232879405730736,1.1670162334703422],[-0.5794705762943715,1.2108175671105237]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.6965344577341761,1.5539693007676827,0.71338606911949],"aabb_xy":[[0.6786653499797207,1.5401363927904717],[0.7144035654886317,1.5678022087448937]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.5454264802043153,-1.891136460612422,0.71338606911949],"aabb_xy":[[-0.5953995457368308,-1.9411364604249548],[-0.49545341467179993,-1.841136460799889]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.3447816004785391,-2.5306565065005433,0.71338606911949],"aabb_xy":[[0.2807816013087691,-2.577423193619506],[0.408781599648309,-2.483889819381581]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.5535301077325736,-1.0402438594846877,0.71338606911949],"aabb_xy":[[0.473530105569811,-1.1201990431108313],[0.633530109895336,-0.960288675858544]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.2289847193497883,-2.0193464728617707,0.71338606911949],"aabb_xy":[[-0.2639847185426065,-2.030313518859433],[-0.19398472015697,-2.0083794268641078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6781437196941646,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5914.png","name":"5914"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8578.png","name":"8578"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1019.png","name":"1019"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.7196618341414,"rotation_z_degrees":311.62052244461165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001974495912580823,0.015266030946439944,0.015705839232979243]},{"name":"camera_2","offset_m":[-0.007278649673103583,0.011748500897725837,0.012640052066716295]},{"name":"camera_3","offset_m":[-0.0013090622801772388,0.0064599019234130375,0.007039777326931777]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.457039111618969e-06,0.0004155369210943837,0.0009782309215855957],"end_effector_yaw_offset_degrees":-0.16182816283327672},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00018090334541507182,0.0016401597594830133,-0.0009701755941140715],"end_effector_yaw_offset_degrees":0.47982720358460385},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009923194040206745,0.0009897324247149907,-0.0009136193076220566],"end_effector_yaw_offset_degrees":0.1255778802451497}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007648679227410891,-0.0006738447840297888],"position_m":[0.20613513207725892,0.2661261552159702,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037516270981217516,-0.0043163149420770855],"position_m":[0.19355162709812174,0.053283685057922914,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013503698131697617,-0.003270818604761352],"position_m":[0.3570496301868302,0.17532918139523865,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00033465685585571097,0.00465993377367874],"position_m":[0.2511653431441443,-0.36074006622632127,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dd5175b9ffdc5219438a12f1d0d941c783397acc4f5a3a30e3c7019847a703e1","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8817/tex_ceiling_textures_1019/tex_floor_textures_8578/tex_table_textures_3469/tex_wall_textures_5914","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8356788475766695698,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8356788475766695698,"visual_seed":8356788475766695698,"scene_id":"lab_003","finished_at":"2026-09-03T11:37:42"} +{"episode_id":"ep_000076","started_at":"2026-09-03T11:37:45","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.34116847503108205,-0.6414063065429523,0.71338606911949],"aabb_xy":[[-0.34919474566170805,-0.6501578015203049],[-0.33314220440045605,-0.6326548115655997]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[-0.6107559981931105,-1.3518611271650374,0.71338606911949],"aabb_xy":[[-0.648255998985106,-1.3582289681232274],[-0.5732559974011151,-1.3454932862068474]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.647617439024359,-1.9959252073612699,0.71338606911949],"aabb_xy":[[-0.6627197404853769,-2.0110267289923307],[-0.6325151375633407,-1.9808236857302075]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.428509533542678,-0.03490585718240169,0.71338606911949],"aabb_xy":[[-0.4484005734230183,-0.047561668467098535],[-0.4086184936623378,-0.022250045897704848]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[-0.13238635341442695,-2.3274288628556814,0.71338606911949],"aabb_xy":[[-0.1360896147435658,-2.3311308811643987],[-0.12868309208528805,-2.323726844546963]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.20124519642336663,0.5763540799374947,0.71338606911949],"aabb_xy":[[-0.21834727438173476,0.5592472744062248],[-0.18414311846499845,0.5934608854687643]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.024652883289256078,-2.113546310076749,0.71338606911949],"aabb_xy":[[0.016539228615878972,-2.121652126530778],[0.03276653796263318,-2.1054404936227202]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.6686245738933554,-0.3192501143366373,0.71338606911949],"aabb_xy":[[0.6311245753177346,-0.33198641000019524],[0.7061245724689762,-0.30651381867307936]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.30045352985028595,1.6091308244731208,0.71338606911949],"aabb_xy":[[-0.3504377655584632,1.5591308256596252],[-0.2504692941421087,1.6591308232866164]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.571678452282554,1.002155564890213,0.71338606911949],"aabb_xy":[[0.5076784503702118,0.9462444156322025],[0.6356784541948964,1.0580667141482234]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.008402378679565059,1.5633698692698927,0.71338606911949],"aabb_xy":[[-0.02184890531360839,1.5499000176168014],[0.005044147954478275,1.576839720922984]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.5942796256343092,0.0677168743141694,0.71338606911949],"aabb_xy":[[-0.6117796247686763,0.057837247276581565],[-0.576779626499942,0.0775965013517572]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.06474278424886293,-1.601903802864593,0.71338606911949],"aabb_xy":[[0.0007427819060613765,-1.6468446541087256],[0.1287427865916645,-1.5569629516204606]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.6499457768199545,0.6730595302523463,0.71338606911949],"aabb_xy":[[-0.6572070243903619,0.6602725199888368],[-0.6426845292495472,0.6858465405158558]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.2856623582227697,-0.829555438655261,0.71338606911949],"aabb_xy":[[-0.3356623576629653,-0.8795233631395772],[-0.23566235878257408,-0.7795875141709446]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.18997300081624913,-2.2354099058803056,0.71338606911949],"aabb_xy":[[0.17737030167917264,-2.2480053021051716],[0.20257569995332556,-2.2228145096554406]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[-0.2658114015152505,-1.8614005445944515,0.71338606911949],"aabb_xy":[[-0.2738053900929539,-1.8694006246895414],[-0.2578174129375471,-1.8534004644993607]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.5794038678442325,0.8547752872834979,0.71338606911949],"aabb_xy":[[-0.5838344971990728,0.8493269155488155],[-0.5749732384893924,0.8602236590181807]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.14488422674070423,-0.8043777115552946,0.71338606911949],"aabb_xy":[[0.10633853391550319,-0.8429234826114832],[0.18342991956590526,-0.765831940499106]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.4619752632569615,0.45600057136497707,0.71338606911949],"aabb_xy":[[-0.5169752614587062,0.41547860473853937],[-0.40697526505521664,0.49652253799141455]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[0.5532888111846714,-1.0670751439684336,0.71338606911949],"aabb_xy":[[0.5471941832965531,-1.0756445385201023],[0.5593834390727898,-1.058505749416765]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.5571812285208018,-0.22138858584463783,0.71338606911949],"aabb_xy":[[-0.6471812250216734,-0.267300228263096],[-0.46718123201992995,-0.17547694342617956]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.6171740369903171,0.3479046384348168,0.71338606911949],"aabb_xy":[[0.5521740359898166,0.2971182732801418],[0.6821740379908177,0.39869100358949167]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.23647978455091234,1.0185815184776126,0.71338606911949],"aabb_xy":[[0.23114726989629933,1.013257190232377],[0.2418122992055253,1.0239058467228481]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.6026610789820014,-0.8677618948301575,0.71338606911949],"aabb_xy":[[-0.614429265776659,-0.9527618947353791],[-0.590892892187344,-0.782761894924936]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[0.24321079157299008,-0.7506048986258278,0.71338606911949],"aabb_xy":[[0.23499624645730605,-0.759281488923469],[0.25142533668867395,-0.7419283083281863]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[0.3328343109234435,1.3887258614086955,0.71338606911949],"aabb_xy":[[0.2833538897094848,1.3247258634958436],[0.38231473213740236,1.4527258593215473]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[0.28469351881603266,-1.2119321266499645,0.71338606911949],"aabb_xy":[[0.2496935188395369,-1.221396742697581],[0.31969351879252855,-1.2024675106023477]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.35793477088855413,-1.5865728054546893,0.71338606911949],"aabb_xy":[[-0.3653472264299426,-1.5924240158763172],[-0.35052231534716566,-1.5807215950330613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6801438173480542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7930.png","name":"7930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6502.png","name":"6502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3375.png","name":"3375"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/0.png","name":"0"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":570.4886158970984,"rotation_z_degrees":281.7467904251052,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019778514136193803,0.00032834252987672813,0.013294698256287336]},{"name":"camera_2","offset_m":[0.00046746528420376493,-0.005262945722287138,-0.016457573742644515]},{"name":"camera_3","offset_m":[0.017714257700617585,-3.7707583406342005e-05,0.015743672171497292]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009503741848966817,-0.0015718778738695583,-0.000739734216602714],"end_effector_yaw_offset_degrees":-0.8284777834311918},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017829036419810683,0.0016451832181147998,0.0008674787789959312],"end_effector_yaw_offset_degrees":-0.8803458137326234},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00016158861765815666,9.27994996078106e-05,0.0007676826192051737],"end_effector_yaw_offset_degrees":0.12113068249287307}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004627107095481353,-0.004686302021674185],"position_m":[0.21152710709548136,0.2621136979783258,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000915907736938816,-0.0023518121811634284],"position_m":[0.1907159077369388,0.05524818781883657,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003874240620475597,0.0021360586763048816],"position_m":[0.35878742406204756,0.18073605867630488,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019919837978927624,0.004605548596837944],"position_m":[0.2534919837978928,-0.3607944514031621,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"17fe24ed25458b393d1f5d20dbb94876e585aafc5b9c17991b9d8529c7c5ba65","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2934/tex_ceiling_textures_0/tex_floor_textures_3375/tex_table_textures_7930/tex_wall_textures_6502","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1070656779795502620,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1070656779795502620,"visual_seed":1070656779795502620,"scene_id":"lab_003","finished_at":"2026-09-03T11:40:28"} +{"episode_id":"ep_000077","started_at":"2026-09-03T11:40:33","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.5433417815399408,-1.6559414492989606,0.71338606911949],"aabb_xy":[[0.5383857613550598,-1.6784414495010826],[0.5482978017248221,-1.6334414490968394]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[-0.18122061595789174,0.2961294360756872,0.71338606911949],"aabb_xy":[[-0.18826206690863936,0.28910268433789266],[-0.17417916500714417,0.30315618781348175]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.66618341390476,-0.5396304866688353,0.71338606911949],"aabb_xy":[[-0.6781161482665881,-0.5520126394766948],[-0.6542506795429319,-0.527248333860976]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.596908567841417,-2.3698449694095802,0.71338606911949],"aabb_xy":[[0.5706197435209762,-2.396116403064231],[0.6231973921618575,-2.3435735357549285]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.1895803121474232,1.56025697698129,0.71338606911949],"aabb_xy":[[-0.24958031239882436,1.505975651944825],[-0.129580311896022,1.6145383020177544]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[-0.6370566431762646,0.051845413595347,0.71338606911949],"aabb_xy":[[-0.6589653253156156,0.029944746775256263],[-0.6151479610369135,0.07374608041543773]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.13943133486829817,1.7240102333789502,0.71338606911949],"aabb_xy":[[0.05443133617622353,1.6920243699840711],[0.22443133356037281,1.7559960967738288]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.24755191421999823,-0.9686833075037915,0.71338606911949],"aabb_xy":[[0.1975731057096823,-1.0186833075095105],[0.2975307227303141,-0.9186833074980728]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.11755410875534122,-2.0783214676227706,0.71338606911949],"aabb_xy":[[-0.1487010275989243,-2.1483214663095778],[-0.08640718991175808,-2.0083214689359634]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.023593658772981363,-1.394304924184016,0.71338606911949],"aabb_xy":[[0.01479160346400865,-1.4021162503389448],[0.03239571408195407,-1.3864935980290867]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.37390609955616916,0.6567086798384714,0.71338606911949],"aabb_xy":[[0.3239060985370339,0.6202424641006434],[0.4239061005753045,0.6931748955762993]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.3095257227051995,-0.7722785082397023,0.71338606911949],"aabb_xy":[[0.25952572175466665,-0.8038276552432236],[0.35952572365573227,-0.7407293612361808]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.22819496463718125,0.48390814251426706,0.71338606911949],"aabb_xy":[[-0.27818979756512285,0.4339081436190235],[-0.17820013170923962,0.5339081414095106]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[0.5603389669732017,-0.30255720203343284,0.71338606911949],"aabb_xy":[[0.5063233706913017,-0.36655720492569],[0.6143545632551017,-0.23855719914117568]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.5720442293583028,-0.5219663823380971,0.71338606911949],"aabb_xy":[[0.5611926231094272,-0.5328256730657481],[0.5828958356071784,-0.5111070916104461]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.3383511011825581,-1.4058584906881133,0.71338606911949],"aabb_xy":[[-0.35585103461654144,-1.4233584906083478],[-0.3208511677485747,-1.3883584907678788]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.1175312797547412,1.0979434318845271,0.71338606911949],"aabb_xy":[[0.1110296432467366,1.0881756098582174],[0.12403291626274583,1.107711253910837]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.23543738783305912,-0.6822780534449651,0.71338606911949],"aabb_xy":[[-0.29943738924104973,-0.7340670049688897],[-0.17143738642506842,-0.6304891019210402]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.6872074116718372,-2.1206702851721575,0.71338606911949],"aabb_xy":[[0.6622074121200986,-2.1308127690372918],[0.7122074112235756,-2.1105278013070223]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.17459080529425586,-1.154636841120156,0.71338606911949],"aabb_xy":[[-0.2120908051112894,-1.1592750524312976],[-0.13709080547722227,-1.149998629809014]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.47018513099232656,0.2717960927357934,0.71338606911949],"aabb_xy":[[-0.5341808283874232,0.20779609443508468],[-0.4061894335972299,0.33579609103650204]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.28215067360350543,0.7641663188936185,0.71338606911949],"aabb_xy":[[-0.33215067317984015,0.7141857399415126],[-0.2321506740271707,0.8141468978457245]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.294392200290968,-1.9767125744448504,0.71338606911949],"aabb_xy":[[0.21439219812820554,-2.0566677580709936],[0.3743922024537305,-1.8967573908187065]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.4380828054593126,-0.9396580125521146,0.71338606911949],"aabb_xy":[[-0.49808280530587934,-0.9964766347451532],[-0.37808280561274576,-0.8828393903590759]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.5381911748062829,-1.1817966609120052,0.71338606911949],"aabb_xy":[[0.4805607059190118,-1.2417966598387156],[0.5958216436935535,-1.1217966619852944]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.5718665104747913,1.7347066110779168,0.71338606911949],"aabb_xy":[[0.5496939834981405,1.7125309439217933],[0.5940390374514422,1.7568822782340394]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_26","position":[-0.49833595778994355,-0.34159153427869926,0.71338606911949],"aabb_xy":[[-0.5533282084254545,-0.396591536022012],[-0.44334370715443266,-0.28659153253538644]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[0.3127808391138953,-1.6530074514513162,0.71338606911949],"aabb_xy":[[0.2961037031207998,-1.6697073754252465],[0.3294579751069908,-1.636307527477386]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[-0.2302253763739327,-0.5352992991892798,0.71338606911949],"aabb_xy":[[-0.29022537801685455,-0.587299448481224],[-0.17022537473101085,-0.4832991498973356]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[0.06481925768004837,-2.041558175648497,0.71338606911949],"aabb_xy":[[0.04964708839841503,-2.0567270325766995],[0.07999142696168171,-2.0263893187202933]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[0.627295359835556,-0.06987374393266066,0.71338606911949],"aabb_xy":[[0.5473015362569978,-0.14987374652550223],[0.7072891834141143,0.010126258660180895]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_31","position":[-0.3470464935330392,-1.5618820237026434,0.71338606911949],"aabb_xy":[[-0.4110464968227473,-1.6052169427065608],[-0.28304649024333106,-1.5185471046987256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812584519872179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8090.png","name":"8090"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6823.png","name":"6823"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3457.png","name":"3457"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":725.3986866567573,"rotation_z_degrees":189.36760194437497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007372509402174154,0.013152327650636949,-0.0027936552760331294]},{"name":"camera_2","offset_m":[-0.00914584397569031,-0.0032942143911729276,0.015093801887847164]},{"name":"camera_3","offset_m":[0.005306117709534996,-0.007606963230375286,-0.013407101180559992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001178093153128344,0.00015689589481199077,-0.0014742020596652363],"end_effector_yaw_offset_degrees":-0.14470715702996872},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011488954307790613,0.0013861704578139794,-0.0009567434179248032],"end_effector_yaw_offset_degrees":-0.18187484066621895},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011672281388961357,-0.0014258834408625476,-0.0013377182304936236],"end_effector_yaw_offset_degrees":0.01815175645708056}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00376194513325914,0.004819010201966981],"position_m":[0.21066194513325914,0.27161901020196694,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006664247002040706,-0.004434760476111915],"position_m":[0.18913357529979594,0.05316523952388808,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015015002702354029,0.0009634945821533035],"position_m":[0.3599015002702354,0.17956349458215332,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00178892091562711,0.002186319537840842],"position_m":[0.2532889209156271,-0.3632136804621592,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"180727ac774531eddd92a028137287cec1f2c0ff58fb4628a9e3ec1b365785ee","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4040/tex_ceiling_textures_3457/tex_floor_textures_6823/tex_table_textures_8090/tex_wall_textures_5210","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8254250140351329074,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8254250140351329074,"visual_seed":8254250140351329074,"scene_id":"lab_003","finished_at":"2026-09-03T11:43:47"} +{"episode_id":"ep_000078","started_at":"2026-09-03T11:43:50","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.2132311994230961,-1.2579448734214795,0.71338606911949],"aabb_xy":[[0.15560073053582518,-1.3179448723481897],[0.27086166831036684,-1.1979448744947685]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.34324387418417585,-2.3310414788820455,0.71338606911949],"aabb_xy":[[-0.3657438737078832,-2.353537426332666],[-0.3207438746604684,-2.3085455314314243]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.47932711072982626,-2.0532730895122597,0.71338606911949],"aabb_xy":[[0.44486476333168445,-2.0877669719100815],[0.5137894581279681,-2.018779207114436]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.4142966211264897,-1.0363606422077507,0.71338606911949],"aabb_xy":[[-0.4196291357811027,-1.0416849704529862],[-0.40896410647187675,-1.0310363139625152]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.29149084044925905,-1.170754651569188,0.71338606911949],"aabb_xy":[[-0.3113818803295993,-1.1834104628538848],[-0.2715998005689188,-1.1580988402844912]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.1696190994220086,-2.5403530248017887,0.71338606911949],"aabb_xy":[[0.1525170214636404,-2.5574598303330585],[0.18672117738037672,-2.523246219270519]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[-0.6400986459763518,-1.4203862560266194,0.71338606911949],"aabb_xy":[[-0.6489007012853244,-1.4281975821815482],[-0.631296590667379,-1.41257492987169]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.6881291789313922,1.3665710643787645,0.71338606911949],"aabb_xy":[[-0.6922073368384419,1.3624900841305012],[-0.6840510210243423,1.3706520446270278]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.3026363466256048,1.434584707289265,0.71338606911949],"aabb_xy":[[-0.3826363468992118,1.361635159463548],[-0.22263634635199783,1.5075342551149815]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[-0.3969097715135436,-0.1398422269098849,0.71338606911949],"aabb_xy":[[-0.4078155476011064,-0.21984222330871406],[-0.38600399542598096,-0.05984223051105575]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.37356561166044644,0.9636908163716966,0.71338606911949],"aabb_xy":[[0.2935656146461984,0.9435562646982854],[0.45356560867469436,0.9838253680451079]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.13362839364227663,-1.1145772627556625,0.71338606911949],"aabb_xy":[[-0.14240962078951286,-1.1233570100441925],[-0.12484716649504041,-1.1057975154671325]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.22350070559709817,1.6165969451288116,0.71338606911949],"aabb_xy":[[-0.2784939169342349,1.5615969447900182],[-0.1685074942599614,1.6715969454676054]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.633618875754036,0.7319661545592124,0.71338606911949],"aabb_xy":[[-0.6418334208697198,0.723289564261571],[-0.6254043306383519,0.7406427448568537]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.5876393575921479,1.6263831203227261,0.71338606911949],"aabb_xy":[[-0.5924829523533779,1.621531467843742],[-0.5827957628309179,1.6312347728017103]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.30395427205522807,1.2416565418153884,0.71338606911949],"aabb_xy":[[-0.37395427544679005,1.2063407681119576],[-0.23395426866366612,1.2769723155188193]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.5710704199669097,-0.299602837020295,0.71338606911949],"aabb_xy":[[-0.6055328979799974,-0.3062665142032178],[-0.5366079419538219,-0.2929391598373722]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.5231522346489994,1.4402258135894352,0.71338606911949],"aabb_xy":[[-0.5453247616256501,1.4180501464333122],[-0.5009797076723485,1.4624014807455583]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.46211647356481056,-0.5515270647402346,0.71338606911949],"aabb_xy":[[-0.5421102971433689,-0.6315270673330762],[-0.3821226499862524,-0.47152706214739304]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.025114921961364334,-2.308451723530981,0.71338606911949],"aabb_xy":[[-0.004852634948461328,-2.338451723828867],[0.05508247887119,-2.278451723233095]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.3121769934948748,-0.628235892781591,0.71338606911949],"aabb_xy":[[0.3041835036995928,-0.6362340247220667],[0.32017048329015685,-0.6202377608411155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6786512502626839,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3209.png","name":"3209"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/500.png","name":"500"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2272.png","name":"2272"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":560.5377480895205,"rotation_z_degrees":325.2861575454446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037151571539367177,-0.012743447341686545,0.000893548953473159]},{"name":"camera_2","offset_m":[0.0023551428019567104,0.002909778704804234,-0.0038098840316692917]},{"name":"camera_3","offset_m":[0.015966895402862103,-0.015451888751296763,-0.010152275609718266]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012954078826045955,-0.0018031133006610536,0.0006776221657057921],"end_effector_yaw_offset_degrees":-0.4662833299149918},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002383081990438823,-0.0016235143251653456,2.5499459408999565e-05],"end_effector_yaw_offset_degrees":-0.9191232415042156},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001276430039556416,0.0017134004633825918,-0.0007156483182242429],"end_effector_yaw_offset_degrees":-0.40164720212958716}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002555842792585134,-0.00323671746509681],"position_m":[0.20945584279258514,0.2635632825349032,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024185736771208254,0.0008759440814665505],"position_m":[0.18738142632287916,0.05847594408146655,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002421607773869673,0.001592868896896256],"position_m":[0.3559783922261303,0.18019286889689626,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031504385826844174,-0.0007254007937410531],"position_m":[0.2483495614173156,-0.36612540079374106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"65017c929af9966e71ea1e9c34d464d5c58bfd891af85f13ed6d88c84d40d7b3","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8089/tex_ceiling_textures_2272/tex_floor_textures_500/tex_table_textures_3209/tex_wall_textures_5214","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1254410074356630762,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1254410074356630762,"visual_seed":1254410074356630762,"scene_id":"lab_003","finished_at":"2026-09-03T11:46:33"} +{"episode_id":"ep_000079","started_at":"2026-09-03T11:46:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.2835996145368755,-1.7325949219910977,0.71338606911949],"aabb_xy":[[-0.3475996152403449,-1.7786133044640189],[-0.2195996138334062,-1.6865765395181769]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.4244280855960558,1.2333767333740258,0.71338606911949],"aabb_xy":[[0.40622226193480815,1.2223513327920341],[0.4426339092573035,1.2444021339560174]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.3674856739306077,-0.19135347975434946,0.71338606911949],"aabb_xy":[[-0.39132189157121294,-0.28135348056283593],[-0.34364945629000276,-0.101353478945863]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.11189057266939761,-2.3428818944150143,0.71338606911949],"aabb_xy":[[-0.1368905726019155,-2.3497645626359374],[-0.08689057273687972,-2.335999226194091]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.23653233996183592,1.5484147044280987,0.71338606911949],"aabb_xy":[[-0.24452582975711804,1.5404165724876235],[-0.22853885016655398,1.5564128363685747]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.25920768473098965,0.7861396439230912,0.71338606911949],"aabb_xy":[[0.2093909052661549,0.7361396454387878],[0.3090244641958244,0.8361396424073946]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.530124796264257,0.6597562585845509,0.71338606911949],"aabb_xy":[[0.5254896811120235,0.6558889235074021],[0.5347599114164903,0.6636235936616994]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.4867498256580629,1.7213761815467552,0.71338606911949],"aabb_xy":[[0.40674982707074353,1.642060579608594],[0.5667498242453823,1.8006917834849159]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.35015177120015684,1.7240507204896285,0.71338606911949],"aabb_xy":[[-0.3677300733891037,1.7064762309155237],[-0.33257346901121,1.7416252100637337]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.5172142335894283,-1.6021410709624395,0.71338606911949],"aabb_xy":[[0.45321423332895744,-1.6471498703153677],[0.581214233849899,-1.5571322716095117]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.49291313576391205,-2.4916624506293843,0.71338606911949],"aabb_xy":[[0.48283142868533857,-2.5716624485214985],[0.5029948428424855,-2.411662452737269]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.35103230591006773,-0.48697710519091864,0.71338606911949],"aabb_xy":[[-0.41503230618404596,-0.5370432053882066],[-0.2870323056360895,-0.4369110049936306]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.2751405919057207,1.4773252404930628,0.71338606911949],"aabb_xy":[[0.23764059140836247,1.473356556944944],[0.31264059240307895,1.481293924041181]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.42228738590468856,-2.401279376709732,0.71338606911949],"aabb_xy":[[-0.46353619693460324,-2.456279376221949],[-0.38103857487477377,-2.346279377197514]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.031766952948788285,1.6329539063796674,0.71338606911949],"aabb_xy":[[-0.04048092199872276,1.6104539057204788],[-0.023052983898853786,1.6554539070388552]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.6029303874992563,-2.434427698222291,0.71338606911949],"aabb_xy":[[-0.6629303873458231,-2.4912463204153297],[-0.5429303876526895,-2.3776090760292523]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.4176897787723557,0.7081108708605979,0.71338606911949],"aabb_xy":[[0.3626897795957661,0.6531211960856401],[0.47268977794894507,0.7631005456355554]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.2880647766303772,-1.0728838896742627,0.71338606911949],"aabb_xy":[[0.2594154442699609,-1.1015294489513383],[0.31671410899079333,-1.0442383303971867]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.34303182487072664,-1.2074398344385189,0.71338606911949],"aabb_xy":[[-0.4080318227523745,-1.2585634981450597],[-0.27803182698907886,-1.156316170731978]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.6040591301220812,-2.4123637966396188,0.71338606911949],"aabb_xy":[[0.5873819941289857,-2.4290637206135486],[0.6207362661151767,-2.395663872665688]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.16056933121020156,-1.3644694085748326,0.71338606911949],"aabb_xy":[[0.15649117330315185,-1.3685503888230959],[0.16464748911725133,-1.3603884283265693]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.6410176569354191,-1.31905978861455,0.71338606911949],"aabb_xy":[[0.5610176599211711,-1.3391943402879614],[0.7210176539496671,-1.2989252369411388]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.04949276085354781,-1.95354402357724,0.71338606911949],"aabb_xy":[[-0.11349275724912089,-2.0175073119959737],[0.014507235542025265,-1.8895807351585066]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[0.4976597248240857,-2.140383533212628,0.71338606911949],"aabb_xy":[[0.45157463356935423,-2.2043835304651833],[0.5437448160788172,-2.076383535960073]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[-0.422535172951857,0.48481872462788944,0.71338606911949],"aabb_xy":[[-0.46781378783300626,0.4208187252797057],[-0.37725655807070774,0.5488187239760731]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.04675162815604772,-0.7809153875704982,0.71338606911949],"aabb_xy":[[-0.023248368253914072,-0.8013533232221797],[0.1167516245660095,-0.7604774519188162]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.2281322585212836,-2.406552052647095,0.71338606911949],"aabb_xy":[[-0.2506322585314319,-2.4206482722866984],[-0.20563225851113529,-2.392455833007492]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[0.20871005007539023,0.909034559674617,0.71338606911949],"aabb_xy":[[0.17371005088257194,0.8980675136769543],[0.24371004926820847,0.9200016056722795]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.0965576166406713,-1.1055671632149884,0.71338606911949],"aabb_xy":[[0.012835391140588834,-1.195567166749684],[0.18027984214075377,-1.0155671596802922]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[0.1517574172359092,-1.7676370449756775,0.71338606911949],"aabb_xy":[[0.06175742073503742,-1.8135486873941358],[0.24175741373678092,-1.7217254025572193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845395939459125,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8008.png","name":"8008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7173.png","name":"7173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3753.png","name":"3753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7603.png","name":"7603"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":695.1284606155668,"rotation_z_degrees":23.06244851471533,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015350993662366894,-0.005279242536338904,0.0037950094391213836]},{"name":"camera_2","offset_m":[0.0168730116774328,0.009750542498939103,0.004272264506718186]},{"name":"camera_3","offset_m":[0.010363239193860268,0.006869052727284483,0.002554278514901545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003684572256688341,-0.001921725590968404,-0.001957135552410553],"end_effector_yaw_offset_degrees":0.03013866828287104},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008087369756213047,0.0008897619179820816,6.855495644609048e-05],"end_effector_yaw_offset_degrees":-0.15014483137594592},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001544944373979065,-0.00127792210859534,0.0006143015998313983],"end_effector_yaw_offset_degrees":-0.8669211254591807}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003047826404696867,-0.0043211490339793435],"position_m":[0.20385217359530314,0.26247885096602064,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002741760231600344,-0.0033196036596368017],"position_m":[0.19254176023160033,0.0542803963403632,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004922932290296418,0.0015039942709573432],"position_m":[0.36332293229029644,0.18010399427095736,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025514355341154406,-0.0027384804546310483],"position_m":[0.25405143553411547,-0.36813848045463105,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1f7c71b4f722907898768eb02ae110b9a1c603a02df2baac7c1f53edf93f869c","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7287/tex_ceiling_textures_7603/tex_floor_textures_3753/tex_table_textures_8008/tex_wall_textures_7173","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1536926298164605130,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1536926298164605130,"visual_seed":1536926298164605130,"scene_id":"lab_003","finished_at":"2026-09-03T11:49:24"} +{"episode_id":"ep_000080","started_at":"2026-09-03T11:49:27","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.5003004042168379,-2.2725315134937896,0.71338606911949],"aabb_xy":[[-0.5075441702630832,-2.3525315116973915],[-0.49305663817059253,-2.1925315152901867]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.2917058292706485,-1.3500070602125347,0.71338606911949],"aabb_xy":[[-0.35570582954462665,-1.4000731604098229],[-0.2277058289966702,-1.299940960015247]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.6071581612235359,0.8057171260598883,0.71338606911949],"aabb_xy":[[-0.612490675878149,0.8003927978146529],[-0.6018256465689229,0.811041454305124]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.016700385866116108,-1.2607083718501975,0.71338606911949],"aabb_xy":[[0.01258443575404344,-1.2648239268830426],[0.020816335978188768,-1.2565928168173515]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.14221070328078034,-1.924076833995699,0.71338606911949],"aabb_xy":[[0.13624416434004455,-1.9300379786550632],[0.14817724222151613,-1.918115689336335]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.09869893767433258,1.2139539885431456,0.71338606911949],"aabb_xy":[[-0.16269893684410253,1.1671873014241831],[-0.03469893850456263,1.260720675662108]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.3196100104453443,0.20282756216270448,0.71338606911949],"aabb_xy":[[-0.38361000755745006,0.15379519236829386],[-0.2556100133332387,0.2518599319571151]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.5843321130293604,1.0628033682091398,0.71338606911949],"aabb_xy":[[0.5742504059507868,0.9828033703170251],[0.5944138201079338,1.1428033661012544]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.4999627062080785,-0.15866437176459858,0.71338606911949],"aabb_xy":[[-0.5639627085508799,-0.20360522300873107],[-0.43596270386527686,-0.1137235205204661]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.6041847793369954,-2.1711575686119904,0.71338606911949],"aabb_xy":[[-0.6541797902964476,-2.221157567647582],[-0.5541897683775435,-2.1211575695763987]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.04370333363884338,-1.3860433008542743,0.71338606911949],"aabb_xy":[[0.02120333312680278,-1.4085351592196724],[0.06620333415088397,-1.3635514424888757]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.5078214184321821,-0.3598744381959649,0.71338606911949],"aabb_xy":[[-0.526933725790161,-0.37900921707320684],[-0.48870911107420323,-0.3407396593187228]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.2524913249964892,-0.8139620248277328,0.71338606911949],"aabb_xy":[[-0.26436340800799024,-0.8989620245213831],[-0.24061924198498802,-0.7289620251340824]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[-0.29409586176061353,-1.555018529498654,0.71338606911949],"aabb_xy":[[-0.35909586271774074,-1.6069667414323596],[-0.22909586080348635,-1.5030703175649485]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[-0.09592983755517948,0.4372843510223041,0.71338606911949],"aabb_xy":[[-0.10534731212504223,0.4278681738845851],[-0.08651236298531673,0.44670052816002315]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.13362483108077583,-1.8329644752461376,0.71338606911949],"aabb_xy":[[-0.19862483111507856,-1.8796651519264649],[-0.0686248310464731,-1.7862637985658103]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.1617659041316576,-1.7755695650337318,0.71338606911949],"aabb_xy":[[0.14659373485002425,-1.7907384219619351],[0.17693807341329093,-1.7604007081055284]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.5080141479341802,-1.7632714744750664,0.71338606911949],"aabb_xy":[[0.4585337267202214,-1.8272714723879184],[0.557494569148139,-1.6992714765622148]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.4479071761521377,0.33321093251119915,0.71338606911949],"aabb_xy":[[-0.4655400117456653,0.3155879864955762],[-0.43027434055861014,0.35083387852682213]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.5401880892492339,-2.2361474013121745,0.71338606911949],"aabb_xy":[[0.53290577287257,-2.326147404921683],[0.5474704056258973,-2.146147397702665]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.02258441844190817,1.4715505825210529,0.71338606911949],"aabb_xy":[[-0.003704405878532487,1.4452791488664014],[0.048873242762348834,1.4978220161757039]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.37333650934462076,1.6959894549240047,0.71338606911949],"aabb_xy":[[-0.3908365096039575,1.6818979127352325],[-0.3558365090852842,1.7100809971127777]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[0.5386288210262788,-1.5716209184239127,0.71338606911949],"aabb_xy":[[0.5336728008413978,-1.5941209186260346],[0.5435848412111601,-1.5491209182217913]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.3553341411472424,-1.105649739499694,0.71338606911949],"aabb_xy":[[0.3194206367222526,-1.1415632477164486],[0.391247645572232,-1.0697362312829395]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[-0.35380181901129093,-0.011011203504328826,0.71338606911949],"aabb_xy":[[-0.3770836612094223,-0.09601120480155688],[-0.33051997681315964,0.07398879779289923]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.42134748647819675,-1.0408736159498508,0.71338606911949],"aabb_xy":[[-0.45838159590625643,-1.0752508232835603],[-0.38431337705013696,-1.0064964086161414]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.13172666972872127,1.6524270605037557,0.71338606911949],"aabb_xy":[[0.051726669258505345,1.6441163528894078],[0.21172667019893726,1.6607377681181044]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[-0.20455931806631067,-2.33622939545812,0.71338606911949],"aabb_xy":[[-0.25455859323474683,-2.386229396734067],[-0.1545600428978745,-2.2862293941821727]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[0.3267874794910237,-1.6649242929462118,0.71338606911949],"aabb_xy":[[0.3195262319206163,-1.6777113032097213],[0.3340487270614311,-1.6521372826827023]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_29","position":[0.40951582992285585,-2.0573907506021047,0.71338606911949],"aabb_xy":[[0.38451583075722284,-2.0643429963074613],[0.43451582908848907,-2.050438504896748]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[0.6909490476505076,0.3611717893634623,0.71338606911949],"aabb_xy":[[0.6734490483724206,0.3438336892971163],[0.7084490469285943,0.3785098894298082]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_31","position":[0.3372623778190387,-1.936563781512124,0.71338606911949],"aabb_xy":[[0.2944956709396184,-2.0005637849339264],[0.3800290846984588,-1.8725637780903217]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_32","position":[0.39742641283562374,-0.4398953552196425,0.71338606911949],"aabb_xy":[[0.3894324242579203,-0.44789543531473275],[0.4054204014133271,-0.43189527512455206]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_33","position":[-0.364390769730161,-0.7392249311218568,0.71338606911949],"aabb_xy":[[-0.3761589565248186,-0.8242249310270785],[-0.3526225829355035,-0.6542249312166353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6807742554826262,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1544.png","name":"1544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1544.png","name":"1544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8561.png","name":"8561"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3083.png","name":"3083"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7254.png","name":"7254"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":740.270541344755,"rotation_z_degrees":270.14714003035374,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0022023143944414347,0.01102413654474194,0.010895269271769255]},{"name":"camera_2","offset_m":[-0.01528143492757676,-0.011462110428912249,0.003569043616075622]},{"name":"camera_3","offset_m":[-0.006503815378042814,-0.006666268945124964,-0.005442489261491042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001372533746079208,0.0015455038114453997,-0.0011683329894248361],"end_effector_yaw_offset_degrees":-0.3732594664613704},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012138297318168663,0.0016684237534353211,-0.0014532494578207058],"end_effector_yaw_offset_degrees":-0.08633722347954054},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005637531368939222,-0.0005471662909420827,0.0001918083785280313],"end_effector_yaw_offset_degrees":0.3549696295575424}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002887800520663222,-0.0038493624470646807],"position_m":[0.20401219947933677,0.2629506375529353,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026988036350951705,-0.0012503954500454719],"position_m":[0.19249880363509517,0.056349604549954524,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002739911405228601,-0.0009115729667621454],"position_m":[0.3611399114052286,0.17768842703323787,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022171506455035926,-0.003200568647814337],"position_m":[0.2492828493544964,-0.3686005686478143,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2072e14e51e8d5677a208f0fa7ef949c1876189e649f78c25dbf5aeeb7235da4","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1544/tex_ceiling_textures_7254/tex_floor_textures_3083/tex_table_textures_8561/tex_wall_textures_5282","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1129988264381188788,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1129988264381188788,"visual_seed":1129988264381188788,"scene_id":"lab_003","finished_at":"2026-09-03T11:52:13"} +{"episode_id":"ep_000081","started_at":"2026-09-03T11:52:17","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.21936855902958946,-0.7992546151901618,0.71338606911949],"aabb_xy":[[-0.23723766678404493,-0.8130875231673726],[-0.20149945127513394,-0.7854217072129508]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.10869605428544615,-2.1278039433268234,0.71338606911949],"aabb_xy":[[-0.11239931561458502,-2.1315059616355407],[-0.10499279295630728,-2.1241019250181052]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.38732276643661745,-0.6482188684130348,0.71338606911949],"aabb_xy":[[0.3233227671424493,-0.712205008781889],[0.4513227657307857,-0.5842327280441806]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.2639071193840768,0.08596243095153655,0.71338606911949],"aabb_xy":[[-0.28682283226912675,0.06305813381511306],[-0.24099140649902695,0.10886672808796008]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.13042647047156697,-2.151973807387692,0.71338606911949],"aabb_xy":[[0.06042646866282153,-2.1733275761518795],[0.2004264722803124,-2.130620038623505]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.09248083280601538,-0.1810336935898853,0.71338606911949],"aabb_xy":[[-0.12998083399080815,-0.18545191628594582],[-0.054980831621222574,-0.17661547089382473]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.0667092957490647,0.6957012787659602,0.71338606911949],"aabb_xy":[[0.058494750633380714,0.6870246884683187],[0.07492384086474867,0.7043778690636013]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[0.10207524694047532,-1.4559610708753414,0.71338606911949],"aabb_xy":[[0.03707524598334811,-1.507909282809047],[0.16707524789760253,-1.4040128589416359]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.5406914589336439,-0.34556260839944564,0.71338606911949],"aabb_xy":[[-0.6306914575281138,-0.3618131947128667],[-0.45069146033917395,-0.32931202208602467]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.004484133714886651,1.3827951742488307,0.71338606911949],"aabb_xy":[[-0.0684841360576882,1.3378543230046982],[0.05951586862791491,1.4277360254929632]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.5237286109108442,1.5058577238345534,0.71338606911949],"aabb_xy":[[-0.5324425799607786,1.483357723175365],[-0.5150146418609096,1.5283577244937414]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[0.5219369145695416,-2.36431732376602,0.71338606911949],"aabb_xy":[[0.5016526118461427,-2.384599948908728],[0.5422212172929403,-2.34403469862331]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.1752073960906705,-0.8964373064658913,0.71338606911949],"aabb_xy":[[0.09520739868707707,-0.9764298776640739],[0.2552073934942639,-0.8164447352677082]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.38759721836084354,1.4171288570839482,0.71338606911949],"aabb_xy":[[-0.43036392524026373,1.3531288536621457],[-0.34483051148142335,1.4811288605057507]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.6638870810894015,0.4567314267013356,0.71338606911949],"aabb_xy":[[0.6419973335004607,0.3667314294120864],[0.6857768286783423,0.5467314239905846]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.5894847613035648,-1.646965321078157,0.71338606911949],"aabb_xy":[[0.5813570731102514,-1.6558789294888645],[0.5976124494968779,-1.6380517126674494]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.2741879346522049,1.023673691033062,0.71338606911949],"aabb_xy":[[-0.3154924777159409,0.9596736914649449],[-0.23288339158846894,1.087673690601179]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[0.3446110393246151,-2.4672045661109085,0.71338606911949],"aabb_xy":[[0.3365747046233303,-2.475242685415325],[0.35264737402589996,-2.459166446806492]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.2519117283103143,-1.9594687595435794,0.71338606911949],"aabb_xy":[[0.19789613202841427,-2.023468762435836],[0.3059273245922143,-1.8954687566513218]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.5246248989341311,0.671109453449839,0.71338606911949],"aabb_xy":[[0.4746249002882099,0.6211899097903765],[0.5746248975800523,0.7210289971093012]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.009961139111925421,0.8963910284450574,0.71338606911949],"aabb_xy":[[-0.05996113947249148,0.8464110412354544],[0.04003886124864064,0.9463710156546603]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.21924134833159026,-1.6780289589259727,0.71338606911949],"aabb_xy":[[0.18239080039460268,-1.7155289597490069],[0.25609189626857787,-1.6405289581029394]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[-0.23277253564493744,-0.3954986273112562,0.71338606911949],"aabb_xy":[[-0.27027253593711226,-0.3995401027118598],[-0.19527253535276262,-0.39145715191065256]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[0.06092618745849776,-1.9843827577899011,0.71338606911949],"aabb_xy":[[0.010941951750320533,-2.0343827566033967],[0.11091042316667499,-1.9343827589764055]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.3693303186502175,0.45399462946059366,0.71338606911949],"aabb_xy":[[-0.40433031692033733,0.4469205017656055],[-0.3343303203800975,0.4610687571555818]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[0.2933495198656174,-1.3156337783002259,0.71338606911949],"aabb_xy":[[0.2481782020174485,-1.3796337754447645],[0.33852083771378644,-1.2516337811556877]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_26","position":[0.23921480422366437,0.6877388963686055,0.71338606911949],"aabb_xy":[[0.20881669312452075,0.6573319943669359],[0.2696129153228079,0.7181457983702749]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[0.24143747090620737,1.2410683418026434,0.71338606911949],"aabb_xy":[[0.23128445535205794,1.2049988002299028],[0.2515904864603567,1.2771378833753835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.684183669775299,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9916.png","name":"9916"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6356.png","name":"6356"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":666.8068316318412,"rotation_z_degrees":288.75704426824245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014353369406701271,-0.003451771888483623,0.011326175703056104]},{"name":"camera_2","offset_m":[-0.013691986575486231,0.001203608139251612,0.011795723813799838]},{"name":"camera_3","offset_m":[0.004490960721511117,-0.0020731738228969426,0.016971686242938527]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-7.277915546596522e-05,0.0007737471721015379,0.0005382103969072353],"end_effector_yaw_offset_degrees":-0.7110615578707695},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005250615645159174,-0.0005705161473579601,0.0004975531023202369],"end_effector_yaw_offset_degrees":-0.5243609877364936},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004019933696792037,-0.0013823325356129175,-0.0006506020986555309],"end_effector_yaw_offset_degrees":-0.3470922192079928}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012472648722583746,-0.004292493396379754],"position_m":[0.20565273512774163,0.2625075066036202,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018514497386809526,0.0033620421695714315],"position_m":[0.18794855026131904,0.06096204216957143,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015100721999096378,-0.0012708670608615868],"position_m":[0.3599100721999096,0.17732913293913843,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010150993192401371,-0.004477925399331606],"position_m":[0.25251509931924015,-0.3698779253993316,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c882e546972fd363fc075fb043b5e2a8cc1531ae97083c6911021fbc303a0b7c","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7931/tex_ceiling_textures_6356/tex_floor_textures_1375/tex_table_textures_9978/tex_wall_textures_9916","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2274159635502327206,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2274159635502327206,"visual_seed":2274159635502327206,"scene_id":"lab_003","finished_at":"2026-09-03T11:55:02"} +{"episode_id":"ep_000082","started_at":"2026-09-03T11:55:06","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[0.3176908804087615,-1.9449561580592816,0.71338606911949],"aabb_xy":[[0.26770664470058425,-1.9949561568727772],[0.3676751161169387,-1.894956159245786]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.6871408182748321,-0.3147948044929305,0.71338606911949],"aabb_xy":[[-0.6943845843210774,-0.3947948026965329],[-0.6798970522285868,-0.23479480628932814]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.5600031941256869,-0.9353214795703042,0.71338606911949],"aabb_xy":[[0.5519598341997318,-1.0203214806656704],[0.5680465540516422,-0.8503214784749377]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.17051013659316538,-0.4778931846168213,0.71338606911949],"aabb_xy":[[-0.21327684347258558,-0.5418931880386237],[-0.1277434297137452,-0.41389318119501883]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.23940759220353813,-1.2540605254632513,0.71338606911949],"aabb_xy":[[0.2238518227932729,-1.2696109587076585],[0.2549633616138034,-1.2385100922188441]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.3527079637728544,0.20607925255124204,0.71338606911949],"aabb_xy":[[-0.44270796027372605,0.1601676101327838],[-0.26270796727198253,0.2519908949697003]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.29939632823384404,0.39773983157444937,0.71338606911949],"aabb_xy":[[-0.3192873681141843,0.3850840202897526],[-0.2795052883535038,0.41039564285914626]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.32188870624777954,-2.096389253326446,0.71338606911949],"aabb_xy":[[0.25788870433543726,-2.1523004025844568],[0.38588870816012194,-2.040478104068436]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.3300045797961515,1.3631070387320041,0.71338606911949],"aabb_xy":[[0.31483241051451816,1.3479381818038008],[0.34517674907778484,1.3782758956602075]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.12782272533510608,-0.21517003085900566,0.71338606911949],"aabb_xy":[[-0.19182272738483808,-0.2552645139483136],[-0.06382272328537408,-0.1750755477696977]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.6582451368016308,0.4920742949512422,0.71338606911949],"aabb_xy":[[-0.67574513704668,0.4745745071116753],[-0.6407451365565813,0.509574082790809]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.4523121400282343,-1.2731222647298495,0.71338606911949],"aabb_xy":[[-0.5173121379098821,-1.3242459284363906],[-0.3873121421465865,-1.2219986010233088]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.4453631083981793,-2.494783724466663,0.71338606911949],"aabb_xy":[[0.36536311099458585,-2.574776295664845],[0.5253631058017727,-2.4147911532684794]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[0.6198597090900781,1.3318239274378731,0.71338606911949],"aabb_xy":[[0.5746883912419092,1.2678239302933347],[0.6650310269382471,1.3958239245824116]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.10200422614747617,-1.870645332101644,0.71338606911949],"aabb_xy":[[-0.1660042264214544,-1.920711432298932],[-0.03800422587349796,-1.820579231904356]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.09193232643551108,0.8143571490085795,0.71338606911949],"aabb_xy":[[0.05443232801211072,0.8011929350407488],[0.12943232485891143,0.8275213629764101]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[-0.0005439007928214057,-1.6581240078188322,0.71338606911949],"aabb_xy":[[-0.00795635633420988,-1.6639752182404601],[0.006868554748567068,-1.6522727973972042]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.4557262116511807,1.8103235339644397,0.71338606911949],"aabb_xy":[[-0.46385389984449393,1.8014099255537321],[-0.4475985234578675,1.8192371423751477]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.13721244314727166,1.79957053571813,0.71338606911949],"aabb_xy":[[-0.14112631634269415,1.790821520311573],[-0.1332985699518491,1.8083195511246866]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.38705147956415864,0.9764764898030882,0.71338606911949],"aabb_xy":[[0.32305148227851,0.9349697708502442],[0.4510514768498073,1.0179832087559322]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.4597033398586955,1.4801199415826711,0.71338606911949],"aabb_xy":[[-0.49470333816939094,1.4724049266591253],[-0.42470334154800005,1.4878349565062166]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.2308004445006996,-1.0802967040503628,0.71338606911949],"aabb_xy":[[-0.2948004448782332,-1.1300419709011749],[-0.16680044412316597,-1.0305514371995503]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.6593572690295157,-1.8220694981857979,0.71338606911949],"aabb_xy":[[0.61222789002768,-1.8860694992301994],[0.7064866480313513,-1.7580694971413955]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[-0.6260129251774158,-2.276301592873342,0.71338606911949],"aabb_xy":[[-0.6435129254367525,-2.290393135062115],[-0.6085129249180793,-2.26221005068457]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.34289180501314165,1.7358894853841158,0.71338606911949],"aabb_xy":[[-0.3650643319897925,1.7137138182279925],[-0.3207192780364908,1.7580651525402387]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.3883703439479376,-2.1962433020044196,0.71338606911949],"aabb_xy":[[-0.4009730430850141,-2.2088386982292847],[-0.37576764481086117,-2.1836479057795537]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.5714800237740854,0.08145532383799026,0.71338606911949],"aabb_xy":[[-0.6127845668378213,0.017455324269873174],[-0.5301754807103494,0.14545532340610734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745291995153654,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/69.png","name":"69"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/69.png","name":"69"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4150.png","name":"4150"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5987.png","name":"5987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.0796552079289,"rotation_z_degrees":212.10516938225015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009114561880651269,-0.0009343518311549018,-0.009181039765604084]},{"name":"camera_2","offset_m":[-0.007884447761282703,0.008886135253504013,-0.01373301791779323]},{"name":"camera_3","offset_m":[-0.013473700100226336,-0.014059225299278735,-0.008028849374872773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003423145900697086,0.0018563874872483655,-0.0017292017417385637],"end_effector_yaw_offset_degrees":0.5803568275955273},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006935991978664151,-0.0013474431716637243,-0.0004703604321783499],"end_effector_yaw_offset_degrees":0.05873537187048061},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006881202418783827,0.0018103443125828934,-0.001979070179493035],"end_effector_yaw_offset_degrees":-0.7396728398322756}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004524682220817693,0.0007946381150073208],"position_m":[0.2023753177791823,0.2675946381150073,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0040413947201062535,0.0026728052486019536],"position_m":[0.19384139472010625,0.06027280524860195,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024541716264125245,-0.0013504177648980208],"position_m":[0.35594582837358746,0.17724958223510198,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004591025757359805,0.00468642478746551],"position_m":[0.2469089742426402,-0.3607135752125345,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e64f9b7a4068b7951c6d888e9e921293a538828ba8cd7c20538c30b9bd56efa1","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_69/tex_ceiling_textures_5086/tex_floor_textures_5987/tex_table_textures_5571/tex_wall_textures_4150","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6716184709725238865,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6716184709725238865,"visual_seed":6716184709725238865,"scene_id":"lab_003","finished_at":"2026-09-03T11:57:48"} +{"episode_id":"ep_000083","started_at":"2026-09-03T11:57:51","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.16076353145006417,-0.188113135366764,0.71338606911949],"aabb_xy":[[-0.18326266717629114,-0.210613136145027],[-0.1382643957238372,-0.16561313458850105]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.4418153714639981,-0.3892510272204941,0.71338606911949],"aabb_xy":[[0.43024639071706156,-0.41425102733742586],[0.4533843522109347,-0.36425102710356244]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5703798082638675,1.6006638401848732,0.71338606911949],"aabb_xy":[[-0.5879581104528143,1.5830893506107682],[-0.5528015060749206,1.6182383297589782]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.5553002046435676,1.3221473502431165,0.71338606911949],"aabb_xy":[[0.49130020259383567,1.2820528671538085],[0.6193002066932997,1.3622418333324244]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.5120348999814618,0.1216326478900589,0.71338606911949],"aabb_xy":[[-0.515475576221519,0.11777121491569442],[-0.5085942237414046,0.12549408086442337]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.5579158325280404,1.4623115284739296,0.71338606911949],"aabb_xy":[[-0.6229158336339838,1.4373461554058014],[-0.4929158314220973,1.487276901542058]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.519310443080776,-1.7867426394824317,0.71338606911949],"aabb_xy":[[-0.5645890579619252,-1.8507426388306154],[-0.47403182819962664,-1.722742640134248]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.4923194514815492,0.6195906324674634,0.71338606911949],"aabb_xy":[[0.4513015080951783,0.569590631836506],[0.5333373948679201,0.6695906330984207]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.3561756911687852,-2.1498060666914043,0.71338606911949],"aabb_xy":[[-0.44117568958620845,-2.2346803621536893],[-0.271175692751362,-2.0649317712291193]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[0.49278631781428506,-0.5888884159702221,0.71338606911949],"aabb_xy":[[0.4819458395877701,-0.6060746972608709],[0.5036267960407999,-0.5717021346795733]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.2664346222568955,1.1863127028214762,0.71338606911949],"aabb_xy":[[0.23184353940285027,1.121312702536445],[0.3010257051109407,1.2513127031065072]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.03729187738925943,1.3451410278704077,0.71338606911949],"aabb_xy":[[-0.08509804500302807,1.2801410251633485],[0.010514290224509225,1.4101410305774664]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.5405971835323995,0.26312786242270114,0.71338606911949],"aabb_xy":[[0.4765971832719286,0.21811906306977316],[0.6045971837928702,0.30813666177562915]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.16483213205014913,-0.7646404940226859,0.71338606911949],"aabb_xy":[[-0.188417255514044,-0.8296404962681178],[-0.1412470085862543,-0.6996404917772542]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.5082654611288822,-0.7603312389674364,0.71338606911949],"aabb_xy":[[0.45827062820094056,-0.8103312378626799],[0.5582602940568238,-0.7103312400721928]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.5450722321697176,-0.7448996563952839,0.71338606911949],"aabb_xy":[[-0.567572232413233,-0.7571042910550558],[-0.5225722319262022,-0.7326950217355119]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.12968986851784636,-2.2148467381231653,0.71338606911949],"aabb_xy":[[0.09218986802048812,-2.218815421671284],[0.1671898690152046,-2.210878054575047]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.3314871442650982,-2.4104528382304364,0.71338606911949],"aabb_xy":[[-0.35603335988784884,-2.440701734779473],[-0.3069409286423474,-2.380203941681399]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.5448362452970881,-1.0010599235006425,0.71338606911949],"aabb_xy":[[0.4798362426592946,-1.0525395222000895],[0.6098362479348816,-0.9495803248011956]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.14341401917068675,0.5670285605948044,0.71338606911949],"aabb_xy":[[-0.1666958613688181,0.4820285592975763],[-0.12013217697255542,0.6520285618920324]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.11712321457976016,1.1620360294652263,0.71338606911949],"aabb_xy":[[-0.1421232138517224,1.1456906658690638],[-0.09212321530779786,1.1783813930613884]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.24080292989041197,-0.9103261105883222,0.71338606911949],"aabb_xy":[[0.18080292963901073,-0.9646074356247869],[0.3008029301418131,-0.8560447855518576]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.420595392455084,-1.7035355549618143,0.71338606911949],"aabb_xy":[[-0.43374663842637345,-1.728535554718501],[-0.40744414648379473,-1.678535555205128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850391644205851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5459.png","name":"5459"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1409.png","name":"1409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7604.png","name":"7604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8890.png","name":"8890"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":815.0997116225237,"rotation_z_degrees":140.73631390235812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007125573183642028,-0.014893772768181268,-0.013000796041259099]},{"name":"camera_2","offset_m":[0.00040956495082781,0.0034665115308325292,-0.007710673000011851]},{"name":"camera_3","offset_m":[0.017525140841119672,-0.010434187120828145,-0.010306340260521622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000374713059095348,0.0006831328491862282,-0.0017389247124291241],"end_effector_yaw_offset_degrees":0.27336163886425946},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001955909467394853,0.00141929170496448,-0.0001909000107819395],"end_effector_yaw_offset_degrees":0.8831365202126142},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015851380650796956,-0.00011617172168052392,-0.0010954535796353225],"end_effector_yaw_offset_degrees":-0.4777925676228534}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043257483871537725,-0.001751728206027826],"position_m":[0.20257425161284623,0.26504827179397217,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004444746592590434,0.001613298190088693],"position_m":[0.19424474659259042,0.05921329819008869,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043846528581580205,-0.001509504532991437],"position_m":[0.35401534714184196,0.17709049546700859,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024972796939901447,-0.003751231250635908],"position_m":[0.25399727969399016,-0.3691512312506359,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"42201eaee2f164481d11ca27506585f38a7ab0148a6940c47ff32249129bd7bf","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1297/tex_ceiling_textures_8890/tex_floor_textures_7604/tex_table_textures_5459/tex_wall_textures_1409","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2471735931172563169,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2471735931172563169,"visual_seed":2471735931172563169,"scene_id":"lab_003","finished_at":"2026-09-03T12:00:44"} +{"episode_id":"ep_000084","started_at":"2026-09-03T12:00:47","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[-0.5527789011288389,-2.408133226238319,0.71338606911949],"aabb_xy":[[-0.5625348906380127,-2.4178957602975535],[-0.5430229116196649,-2.3983706921790846]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.5043933657808917,-0.5118813665044581,0.71338606911949],"aabb_xy":[[-0.5542101452457264,-0.5618813649887615],[-0.4545765863160569,-0.4618813680201548]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.0037025479376038284,-1.1650673298548269,0.71338606911949],"aabb_xy":[[-0.00592908828282579,-1.1747046426345356],[0.013334184158033446,-1.1554300170751177]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.187832997780904,1.4116907282571458,0.71338606911949],"aabb_xy":[[-0.19791470485947746,1.331690730365031],[-0.1777512907023305,1.4916907261492602]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.3368755960831697,-1.3663946070502127,0.71338606911949],"aabb_xy":[[-0.3918755957049156,-1.4213782998376854],[-0.2818755964614239,-1.31141091426274]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.4906563791334595,1.0558122226818818,0.71338606911949],"aabb_xy":[[-0.5244319383241525,1.0417737274687167],[-0.4568808199427665,1.0698507178950465]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.6547539823190924,-2.1279337454587925,0.71338606911949],"aabb_xy":[[0.6048712854413963,-2.1779337447050673],[0.7046366791967887,-2.077933746212518]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.5363091145100829,0.06660283171477799,0.71338606911949],"aabb_xy":[[0.502829947249042,0.033123718343671],[0.5697882817711238,0.10008194508588501]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.4055430130961748,1.447025332332125,0.71338606911949],"aabb_xy":[[-0.45053559981462526,1.4020253330576762],[-0.36055042637772444,1.4920253316065737]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.0844994124529731,-0.2103745818541265,0.71338606911949],"aabb_xy":[[-0.14849941479577464,-0.255315433098259],[-0.02049941011017153,-0.165433730609994]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.6312013520139459,-1.246271741587258,0.71338606911949],"aabb_xy":[[0.612089044655967,-1.2654065204644998],[0.6503136593719248,-1.2271369627100157]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.20117969031198574,1.687922206814021,0.71338606911949],"aabb_xy":[[-0.22146399303538447,1.6676395816713119],[-0.18089538758858695,1.7082048319567296]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.022809385631997636,1.3597670037790919,0.71338606911949],"aabb_xy":[[0.018895512436575113,1.3510179883725348],[0.02672325882742016,1.3685160191856485]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.3484360525811174,0.3274658398880246,0.71338606911949],"aabb_xy":[[-0.37958297142470043,0.2574658412012174],[-0.3172891337375342,0.39746583857483175]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.2582751692692866,-2.233629710064571,0.71338606911949],"aabb_xy":[[0.2523086303285508,-2.239590854723935],[0.26424170821002235,-2.2276685654052066]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.16447166367524102,-1.657018949027774,0.71338606911949],"aabb_xy":[[-0.20577620673897698,-1.721018948595891],[-0.123167120611505,-1.593018949459657]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.42178897855399455,-1.6107293095357558,0.71338606911949],"aabb_xy":[[0.40855803301931326,-1.623956728557755],[0.43501992408867585,-1.5975018905137561]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.6172750022914106,-0.10230996863384423,0.71338606911949],"aabb_xy":[[0.5632594060095105,-0.16630997152610136],[0.6712905985733105,-0.03830996574158704]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.24961466490690926,-0.7813987413561392,0.71338606911949],"aabb_xy":[[-0.25764093553753525,-0.7901502363334918],[-0.24158839427628326,-0.7726472463787866]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.20430101086529873,-0.6555686803788876,0.71338606911949],"aabb_xy":[[0.16153430398587854,-0.7195686838006901],[0.24706771774471892,-0.5915686769570851]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.5938023374633832,-0.8486007890081011,0.71338606911949],"aabb_xy":[[0.5824406028100969,-0.8599692554143892],[0.6051640721166692,-0.837232322601813]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.4153141160326947,0.7735777369234542,0.71338606911949],"aabb_xy":[[-0.43722279817204573,0.7516770701033635],[-0.39340543389334365,0.795478403743545]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.48057823337304734,-0.3824115751301207,0.71338606911949],"aabb_xy":[[-0.5180782335449192,-0.4151123105130279],[-0.44307823320117534,-0.3497108397472135]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[-0.2887533350544796,1.8090134081776426,0.71338606911949],"aabb_xy":[[-0.296165790595868,1.8031621977560146],[-0.28134087951309106,1.8148646185992705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856981966519337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3010.png","name":"3010"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3922.png","name":"3922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8204.png","name":"8204"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1811.png","name":"1811"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":841.0540066318341,"rotation_z_degrees":318.7107154052525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031099704412585437,0.0114877079537162,-0.0130391880458053]},{"name":"camera_2","offset_m":[0.015894174644465752,-0.005565789643278536,0.007663187338635802]},{"name":"camera_3","offset_m":[-0.0016069874733926556,-0.016324624091178252,-0.000598209781696505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013584020485503268,0.0017507790783897036,-0.0013719214893465695],"end_effector_yaw_offset_degrees":0.6638589003125619},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007573345068391502,0.0013423532772794868,0.0005135459898264081],"end_effector_yaw_offset_degrees":-0.8638147620836836},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00042509741764439144,-0.0014103910463385775,-0.0010897058850024067],"end_effector_yaw_offset_degrees":-0.5244101708215205}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003292446692652713,0.0008840458545475828],"position_m":[0.20360755330734728,0.2676840458545476,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00034434101691202534,0.00018173017440263443],"position_m":[0.18945565898308797,0.057781730174402635,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031976103437880666,-0.0031431033280164998],"position_m":[0.3552023896562119,0.1754568966719835,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00356039320847847,-0.0033111390054509737],"position_m":[0.25506039320847845,-0.368711139005451,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"491e0973824900a9a311126c83b109ecf8b04d69e982b39935bdeaa971adedf5","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4608/tex_ceiling_textures_1811/tex_floor_textures_8204/tex_table_textures_3010/tex_wall_textures_3922","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3649913023903874848,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3649913023903874848,"visual_seed":3649913023903874848,"scene_id":"lab_003","finished_at":"2026-09-03T12:03:31"} +{"episode_id":"ep_000085","started_at":"2026-09-03T12:03:33","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.6154504835541781,0.6895478613500767,0.71338606911949],"aabb_xy":[[0.5304504851367549,0.6046735658877919],[0.7004504819716013,0.7744221568123618]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.39779986032000364,-2.2618591418403127,0.71338606911949],"aabb_xy":[[-0.4617998606975372,-2.3116044086911245],[-0.33379985994246997,-2.2121138749895]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.288284519016448,-0.9669035075239205,0.71338606911949],"aabb_xy":[[0.2507845205930476,-0.980067721491751],[0.3257845174398483,-0.9537392935560898]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.13700158532510798,-0.7819374956962435,0.71338606911949],"aabb_xy":[[0.06700158372282852,-0.7953702888979012],[0.2070015869273875,-0.768504702494586]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.5787879262310437,0.054094013124095675,0.71338606911949],"aabb_xy":[[-0.6587879294950568,0.040533980815182336],[-0.49878792296703056,0.06765404543300901]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.09502445906257195,-0.07437344048857497,0.71338606911949],"aabb_xy":[[-0.15902445933655018,-0.12443954068586294],[-0.031024458788593723,-0.024307340291287005]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.5451955220687146,1.7442506807244178,0.71338606911949],"aabb_xy":[[0.48119552001898247,1.7041561976351096],[0.6091955241184465,1.7843451638137255]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.5820276152492643,-1.5632399351229764,0.71338606911949],"aabb_xy":[[-0.5907415842991985,-1.5857399357821642],[-0.5733136461993296,-1.5407399344637878]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.5886036900615336,-0.6855127808093691,0.71338606911949],"aabb_xy":[[-0.6686036874651269,-0.7655053520075519],[-0.50860369265794,-0.6055202096111862]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.21757752644166917,0.8157839107927285,0.71338606911949],"aabb_xy":[[0.16257752823992433,0.7752619441662909],[0.272577524643414,0.8563058774191661]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.4672379242887268,0.53724494575214,0.71338606911949],"aabb_xy":[[0.42973792310393394,0.5328267230560794],[0.5047379254735195,0.5416631684482004]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.3113357860199359,0.15408250256496547,0.71338606911949],"aabb_xy":[[-0.3185970335903433,0.141295492301456],[-0.3040745384495285,0.16686951282847495]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.6549003675015965,1.3620469070209382,0.71338606911949],"aabb_xy":[[0.6296795306417566,1.3368231561680513],[0.680121204361436,1.3872706578738248]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.12300895132835821,-1.886408119047225,0.71338606911949],"aabb_xy":[[0.03300894899433915,-1.9638904736323377],[0.21300895366237727,-1.8089257644621124]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.5345250473960172,-0.7757782212855229,0.71338606911949],"aabb_xy":[[0.48452504603512997,-0.8257561258609385],[0.5845250487569044,-0.7258003167101073]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.3876593639338546,1.2086459258443885,0.71338606911949],"aabb_xy":[[0.3772478052533708,1.2033001925084899],[0.39807092261433824,1.2139916591802866]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.36062157456893984,-1.5001226005434112,0.71338606911949],"aabb_xy":[[0.29662157265659755,-1.5560337498014216],[0.42462157648128224,-1.4442114512854007]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.11539828521563722,1.0037836177974842,0.71338606911949],"aabb_xy":[[-0.170391496552774,0.9487836174586906],[-0.060405073878500484,1.0587836181362777]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.16956662434926495,-1.9902158122347502,0.71338606911949],"aabb_xy":[[-0.21953968988178044,-2.0402158120472835],[-0.11959355881674949,-1.940215812422218]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.4966202878246835,1.3499350464155757,0.71338606911949],"aabb_xy":[[0.44663605211650614,1.2999350476020803],[0.5466045235328606,1.3999350452290715]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.22953790610134028,1.3832920528304986,0.71338606911949],"aabb_xy":[[0.15953790270977825,1.3479762791270677],[0.29953790949290215,1.4186078265339295]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.6230402539509161,-2.022662642745556,0.71338606911949],"aabb_xy":[[-0.6291348818390345,-2.0312320372972246],[-0.6169456260627979,-2.014093248193887]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.48024935823180304,-1.8771466515946174,0.71338606911949],"aabb_xy":[[0.441703665406602,-1.9156924226508063],[0.5187950510570041,-1.8386008805384289]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.45710285118954497,-1.4677521094848152,0.71338606911949],"aabb_xy":[[-0.4938974843144512,-1.5046579845813977],[-0.42030821806463864,-1.430846234388233]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.4738492063053166,0.4650086748256226,0.71338606911949],"aabb_xy":[[0.40384920449657113,0.44365490606143526],[0.543849208114062,0.48636244358981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677223334646064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5461.png","name":"5461"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5461.png","name":"5461"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1986.png","name":"1986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3498.png","name":"3498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5443.png","name":"5443"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":801.9494656416587,"rotation_z_degrees":80.93624235222379,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015239034717246473,0.008803901026366946,0.00036355097501326525]},{"name":"camera_2","offset_m":[0.005128667220697009,0.005108837524779843,0.004118827616966629]},{"name":"camera_3","offset_m":[0.00650596922879354,-0.015947994400071285,0.00997617678483333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017083237130199028,0.0013983384820116544,-0.0017967223118803477],"end_effector_yaw_offset_degrees":0.7568384475909524},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005354309177960843,-0.0017523883261362418,0.00041492750174763546],"end_effector_yaw_offset_degrees":0.14923804630604431},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001557747149128316,0.001965837037008614,-0.0003264514945795888],"end_effector_yaw_offset_degrees":0.34628342979370785}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004647862518539997,-0.0038174957639735578],"position_m":[0.21154786251854,0.2629825042360264,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004196285630901963,0.0010255677553951091],"position_m":[0.19399628563090196,0.05862556775539511,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001055641451989768,-0.0016819514053303232],"position_m":[0.35850556414519896,0.1769180485946697,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017604314334797688,0.004122628580146541],"position_m":[0.24973956856652024,-0.36127737141985344,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9a879173a802fcbbc5008beb3e24602a2d5a4b00dc33cb8591d8cf0efed16073","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5461/tex_ceiling_textures_5443/tex_floor_textures_3498/tex_table_textures_8233/tex_wall_textures_1986","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":326998197456926883,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":326998197456926883,"visual_seed":326998197456926883,"scene_id":"lab_003","finished_at":"2026-09-03T12:06:17"} +{"episode_id":"ep_000086","started_at":"2026-09-03T12:06:20","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.06078790788079291,1.167811632202329,0.71338606911949],"aabb_xy":[[-0.14078790646811234,1.088496030264168],[0.0192120907065265,1.2471272341404898]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.48381005065413185,0.08119023180459273,0.71338606911949],"aabb_xy":[[0.4767697407205949,0.0011902324049213183],[0.4908503605876689,0.16119023120426412]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.3257967459186969,-0.35940417097726973,0.71338606911949],"aabb_xy":[[-0.36259137904360317,-0.39631004607385195],[-0.2890021127937906,-0.3224982958806874]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.4591617177440639,-0.6708389911602624,0.71338606911949],"aabb_xy":[[0.45358004610993513,-0.6833389909780379],[0.46474338937819265,-0.6583389913424869]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.6151263924715198,-0.031175669106853654,0.71338606911949],"aabb_xy":[[0.5780922830434599,-0.0655528764405631],[0.6521605018995794,0.0032015382268557983]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.17401971458915444,0.3998011042191596,0.71338606911949],"aabb_xy":[[-0.21526852561906915,0.34480110470694214],[-0.13277090355923968,0.45480110373137705]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.5044033336392586,0.7488935429377097,0.71338606911949],"aabb_xy":[[-0.5220789642278568,0.7312133266583069],[-0.4867277030506602,0.7665737592171123]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.14762143421332485,-0.6126979292440464,0.71338606911949],"aabb_xy":[[0.13499464692612848,-0.6222440029456192],[0.16024822150052118,-0.6031518555424734]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.24185546440375993,-1.8282950881206834,0.71338606911949],"aabb_xy":[[-0.2526284383251277,-1.8632950863397226],[-0.23108249048239216,-1.7932950899016447]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.6144939170776376,1.4445239349465493,0.71338606911949],"aabb_xy":[[-0.6217551646480451,1.4317369246830398],[-0.6072326695072302,1.4573109452100588]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.019017049226410787,-0.8352595073508344,0.71338606911949],"aabb_xy":[[-0.025518685734415406,-0.8450273293771444],[-0.012515412718406171,-0.8254916853245249]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.6033959940122431,0.6669742728100672,0.71338606911949],"aabb_xy":[[0.5979380483752229,0.586974269502408],[0.608853939649263,0.7469742761177263]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.6295883621115816,0.11103966427339573,0.71338606911949],"aabb_xy":[[0.5655883600618496,0.07094518118408777],[0.6935883641613136,0.1511341473627037]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.6170526538745416,-1.9376976005861546,0.71338606911949],"aabb_xy":[[0.5941369409894918,-1.9606018977225783],[0.6399683667595916,-1.9147933034497313]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.5628850584731082,-1.483377870633402,0.71338606911949],"aabb_xy":[[-0.627885057030181,-1.5131304040472846],[-0.4978850599160354,-1.4536253372195194]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.275852649198975,-0.5140701084121075,0.71338606911949],"aabb_xy":[[0.24588509228914934,-0.5440701087099933],[0.3058202061088007,-0.4840701081142218]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.4734254430856295,-0.45025268370312554,0.71338606911949],"aabb_xy":[[-0.5084254422155852,-0.4559979047787897],[-0.4384254439556738,-0.4445074626274615]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.02623921113946248,-2.2297274622300653,0.71338606911949],"aabb_xy":[[-0.07623232324865438,-2.2797274629042614],[0.02375390096972941,-2.17972746155587]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.2951894685421171,-1.5587602747629574,0.71338606911949],"aabb_xy":[[-0.37518946881572407,-1.631709822588674],[-0.21518946826851013,-1.4858107269372405]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.6964424448285431,0.26309030394692856,0.71338606911949],"aabb_xy":[[0.68831475663523,0.2541766955362209],[0.7045701330218564,0.2720039123576362]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.09510075481695712,-2.032863408992813,0.71338606911949],"aabb_xy":[[0.06510909208308678,-2.0628634083296133],[0.12509241755082745,-2.0028634096560123]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[-0.2637777312524827,-1.048889728994964,0.71338606911949],"aabb_xy":[[-0.3137551481177363,-1.0988897304842122],[-0.21380031438722916,-0.9988897275057153]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.6309306242684314,1.440505091409697,0.71338606911949],"aabb_xy":[[0.6215131496985686,1.431088914271978],[0.6403480988382941,1.449921268547416]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.24848998412700152,-0.8972673098682749,0.71338606911949],"aabb_xy":[[0.2109899834624228,-0.9129543678684968],[0.28598998479158017,-0.8815802518680524]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[0.43026383951585245,0.3786047368780525,0.71338606911949],"aabb_xy":[[0.39580149211771065,0.34411085448022977],[0.46472618691399425,0.41309861927587516]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.505115741187594,-0.8893904646073107,0.71338606911949],"aabb_xy":[[-0.5691157418910634,-0.9354088470802319],[-0.4411157404841247,-0.8433720821343899]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[0.1889158772750068,-1.2367906614955515,0.71338606911949],"aabb_xy":[[0.15547570207898717,-1.2702342873264814],[0.22235605247102638,-1.2033470356646212]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.2947504965226658,1.539544607007635,0.71338606911949],"aabb_xy":[[-0.31166122895900755,1.5260724014150204],[-0.277839764086324,1.5530168126002497]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[0.4837527034244309,-2.3672094324644237,0.71338606911949],"aabb_xy":[[0.4287594920872942,-2.4222094328032173],[0.5387459147615676,-2.31220943212563]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[-0.5449065178604496,-1.2718350549405817,0.71338606911949],"aabb_xy":[[-0.5989221141423495,-1.3358350578328388],[-0.4908909215785495,-1.2078350520483245]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[0.41951121131480407,-0.3878108042232542,0.71338606911949],"aabb_xy":[[0.414555191129923,-0.4103108044253759],[0.42446723149968535,-0.3653108040211326]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_31","position":[-0.43298262948444016,1.5566875976998582,0.71338606911949],"aabb_xy":[[-0.49298262999229303,1.4998408640139367],[-0.3729826289765872,1.6135343313857793]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_32","position":[0.15240999017555024,-1.48457514767918,0.71338606911949],"aabb_xy":[[0.11490999023178383,-1.4928682377140166],[0.18990999011931664,-1.4762820576443434]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_33","position":[-0.32740919003890656,-1.1980243097333718,0.71338606911949],"aabb_xy":[[-0.3772259695037413,-1.2480243082176752],[-0.2775924105740718,-1.1480243112490685]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826784748769575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3647.png","name":"3647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3647.png","name":"3647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3657.png","name":"3657"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4619.png","name":"4619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4027.png","name":"4027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2090.png","name":"2090"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":628.8353338628827,"rotation_z_degrees":321.74818120487276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006515842575689525,-0.01438990393293432,-0.012317101958706412]},{"name":"camera_2","offset_m":[-0.001103254922248751,-0.016155812162229655,-0.006139392871332264]},{"name":"camera_3","offset_m":[0.011253858362171309,0.018901785789407047,-0.015060985948024621]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010728144782648692,0.0002706394186341556,-0.0019518967941589147],"end_effector_yaw_offset_degrees":-0.427796291332303},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018689084094275447,-0.000282076801153285,-0.0016821016075497207],"end_effector_yaw_offset_degrees":-0.5677663289989174},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011365877052382733,-0.0016651241908350615,0.0010198889870198704],"end_effector_yaw_offset_degrees":-0.6006389446927187}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019489412686673146,0.0011116809754690479],"position_m":[0.20495105873133268,0.267911680975469,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036199872693571415,-0.0026629286763143866],"position_m":[0.18618001273064286,0.05493707132368561,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001047024688405434,0.004843149456259656],"position_m":[0.35944702468840545,0.18344314945625967,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002285158818000739,0.0003127405560764485],"position_m":[0.25378515881800073,-0.36508725944392356,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"75249b3e161b1d6feba740a7aecbfc85c2bf2d3e9f788e21911ff7262b5b17f3","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3647/tex_ceiling_textures_2090/tex_floor_textures_4027/tex_table_textures_3657/tex_wall_textures_4619","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4413750447276008269,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4413750447276008269,"visual_seed":4413750447276008269,"scene_id":"lab_003","finished_at":"2026-09-03T12:09:01"} +{"episode_id":"ep_000087","started_at":"2026-09-03T12:09:04","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.11563619922052693,-1.9634220831845248,0.71338606911949],"aabb_xy":[[0.08063620002770863,-1.9743891291821873],[0.15063619841334516,-1.9524550371868619]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.19558503634719693,-1.837268794746563,0.71338606911949],"aabb_xy":[[0.145606227836881,-1.887268794752282],[0.2455638448575128,-1.7872687947408443]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.24663231432468702,-1.1291951695363536,0.71338606911949],"aabb_xy":[[0.2390080462345088,-1.1368283930728975],[0.25425658241486526,-1.12156194599981]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.6670284591991189,0.8244373278046209,0.71338606911949],"aabb_xy":[[-0.6845284584772059,0.8070992277382749],[-0.6495284599210321,0.8417754278709668]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.5284293024271669,-0.5130507862825522,0.71338606911949],"aabb_xy":[[0.4644293003774348,-0.5531452693718601],[0.5924293044768988,-0.4729563031932442]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.5357176625348421,0.3864946519465713,0.71338606911949],"aabb_xy":[[-0.5448775414787186,0.3799634339030342],[-0.5265577835909654,0.39302586999010825]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.35283408284580453,0.9313139686015881,0.71338606911949],"aabb_xy":[[0.3402313837087281,0.9187185723767226],[0.365436781982881,0.9439093648264536]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.615667649660574,-1.4905141462943943,0.71338606911949],"aabb_xy":[[0.5856759869267035,-1.5205141456311946],[0.6456593123944442,-1.4605141469575935]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.5579056638928783,1.550196946220733,0.71338606911949],"aabb_xy":[[0.5329056639603605,1.5433142779998101],[0.5829056638253963,1.5570796144416568]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.059461604686007585,1.5769334943580833,0.71338606911949],"aabb_xy":[[0.028314685842424463,1.506933495671276],[0.0906085235295907,1.6469334930448905]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[0.248177568452429,-2.278047267737721,0.71338606911949],"aabb_xy":[[0.1831775705707812,-2.3291709314442617],[0.3131775663340768,-2.22692360403118]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.13951943203144657,-1.6652922868088527,0.71338606911949],"aabb_xy":[[0.1294377249528731,-1.745292284700967],[0.14960113911002004,-1.5852922889167378]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.25257346811334846,-0.5803182348527005,0.71338606911949],"aabb_xy":[[0.19757799029268902,-0.6353182362866073],[0.3075689459340078,-0.5253182334187935]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.6842857876056755,-2.4153883715651294,0.71338606911949],"aabb_xy":[[-0.6897437332426956,-2.495388374872788],[-0.6788278419686554,-2.33538836825747]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.1628771371411023,-0.500326944969617,0.71338606911949],"aabb_xy":[[-0.22687713356842418,-0.5474965687917135],[-0.09887714071378037,-0.4531573211475206]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[0.2096499617082317,-1.032990078390638,0.71338606911949],"aabb_xy":[[0.1988769877868639,-1.067990076609677],[0.22042293562959947,-0.9979900801715991]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.4210561483315618,-1.0284836491560054,0.71338606911949],"aabb_xy":[[0.4130298777009358,-1.0372351441333583],[0.4290824189621878,-1.019732154178653]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.5058785924978741,0.026968624414387854,0.71338606911949],"aabb_xy":[[-0.5433785929952324,0.02299994086626944],[-0.4683785920005159,0.030937307962506266]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.28218241192121307,1.161331641730269,0.71338606911949],"aabb_xy":[[0.23437624430744441,1.09633163902321],[0.32998857953498173,1.226331644437328]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.15470812101676967,1.4239124828466427,0.71338606911949],"aabb_xy":[[-0.17720812152881027,1.4014206244812444],[-0.13220812050472908,1.446404341212041]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.6397711812086952,0.724645017988649,0.71338606911949],"aabb_xy":[[-0.6622711807324025,0.7021490705380281],[-0.6172711816849877,0.7471409654392697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770095038340133,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/144.png","name":"144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/144.png","name":"144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2519.png","name":"2519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1461.png","name":"1461"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7784.png","name":"7784"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8766.png","name":"8766"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":587.9343302728483,"rotation_z_degrees":305.52913357506077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012533431945434744,0.012565180514451175,0.0019011162455379975]},{"name":"camera_2","offset_m":[0.005606099306753275,-0.0027536392938004098,0.014238114328171809]},{"name":"camera_3","offset_m":[0.0037577051662496565,-0.013497739184929554,-0.005874931671103921]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018051664169139157,-0.001133907228307948,-0.00011638995906357026],"end_effector_yaw_offset_degrees":-0.8223638327813863},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006251661526928576,-0.0014827327048183739,-0.0011939730094963226],"end_effector_yaw_offset_degrees":0.22098900861110815},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001576062123715373,-0.0012649258285117706,0.0017234723004925278],"end_effector_yaw_offset_degrees":0.2746229133090192}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004495160537714318,0.000839110757044949],"position_m":[0.21139516053771432,0.26763911075704494,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003184662801658393,-0.0044386569365280956],"position_m":[0.19298466280165838,0.0531613430634719,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004723692636944043,0.0011372883783214525],"position_m":[0.36312369263694405,0.17973728837832145,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003050392975513124,0.002484220332723187],"position_m":[0.24844960702448687,-0.36291577966727684,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e084c077b1360cd42edc6bb0939ed754d6118fcc382e8d7bded964763da09fbe","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_144/tex_ceiling_textures_8766/tex_floor_textures_7784/tex_table_textures_2519/tex_wall_textures_1461","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8533229901688637606,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8533229901688637606,"visual_seed":8533229901688637606,"scene_id":"lab_003","finished_at":"2026-09-03T12:11:49"} +{"episode_id":"ep_000088","started_at":"2026-09-03T12:11:52","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.3648050599015647,-1.8829496948180018,0.71338606911949],"aabb_xy":[[-0.38230505903593187,-1.8928293218555896],[-0.3473050607671975,-1.873070067780414]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.5989509309816545,-2.37254791480796,0.71338606911949],"aabb_xy":[[-0.6323911061776739,-2.40599154063889],[-0.5655107557856347,-2.3391042889770293]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.16282172964695707,-2.2850360007622625,0.71338606911949],"aabb_xy":[[-0.20032173043895252,-2.2914038417204527],[-0.12532172885496162,-2.2786681598040723]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.08802127658873926,1.0240966934831621,0.71338606911949],"aabb_xy":[[0.008021275158612048,0.9445795384705526],[0.16802127801886646,1.1036138484957716]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.3738296166800543,-0.9019648432257334,0.71338606911949],"aabb_xy":[[0.3413679157981268,-0.9320976753406359],[0.4062913175619817,-0.8718320111108308]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.6226062948328912,-1.239474487571102,0.71338606911949],"aabb_xy":[[0.558606295538723,-1.3034606279399563],[0.6866062941270594,-1.175488347202248]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.620632491647132,-1.4386088442512601,0.71338606911949],"aabb_xy":[[0.5901482415201018,-1.488608844032756],[0.6511167417741621,-1.3886088444697642]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.2671888971778388,-1.7244588508901657,0.71338606911949],"aabb_xy":[[-0.3311888974383096,-1.7694676502430937],[-0.203188896917368,-1.6794500515372377]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.4156352335050293,-1.264618640477306,0.71338606911949],"aabb_xy":[[0.395576821891789,-1.2846837273864637],[0.4356936451182696,-1.2445535535681485]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.18032074317222468,0.2589760199818101,0.71338606911949],"aabb_xy":[[-0.24032074403303744,0.20754958997532366],[-0.12032074231141184,0.3104024499882964]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.014306566806575272,-1.03917463696775,0.71338606911949],"aabb_xy":[[-0.020618666342913705,-1.0449415762209688],[-0.007994467270236836,-1.033407697714531]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.21414528497313723,-0.8623147320800328,0.71338606911949],"aabb_xy":[[0.15014528638656474,-0.9093216954795414],[0.2781452835597097,-0.815307768680524]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.6294370485723273,-1.5738373367665648,0.71338606911949],"aabb_xy":[[0.6105526648038171,-1.5927232615469176],[0.6483214323408375,-1.554951411986212]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.12889017814979986,1.28523525452322,0.71338606911949],"aabb_xy":[[0.03889018141418962,1.2320517912059252],[0.21889017488541004,1.3384187178405142]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.6395650059527944,-2.477715126687677,0.71338606911949],"aabb_xy":[[0.6220650066747074,-2.495053226754023],[0.6570650052308812,-2.460377026621331]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.03149530296521574,-1.9270932458537118,0.71338606911949],"aabb_xy":[[-0.02850469754263717,-1.9839399795396329],[0.09149530347306867,-1.8702465121677903]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.3379037175519416,0.24507580254402805,0.71338606911949],"aabb_xy":[[-0.3678953802858119,0.21507580320722752],[-0.30791205481807127,0.2750758018808286]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.6699867844561804,-2.1256352404715293,0.71338606911949],"aabb_xy":[[0.6524867841968439,-2.1397267826603024],[0.6874867847155172,-2.111543698282757]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.44143209499553515,0.2505429369774239,0.71338606911949],"aabb_xy":[[-0.46332184258447595,0.16054293968817476],[-0.41954234740659435,0.340542934266673]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.07348962471227971,1.74472484560328,0.71338606911949],"aabb_xy":[[-0.11876823959342896,1.6807248462550963],[-0.028211009831130437,1.8087248449514637]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[-0.5294438618859857,1.4802211282340996,0.71338606911949],"aabb_xy":[[-0.5746151797341547,1.4162211310895616],[-0.4842725440378167,1.5442211253786386]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.10036780040446791,-2.2132567816361517,0.71338606911949],"aabb_xy":[[0.04536780078272207,-2.2682404744236244],[0.15536780002621375,-2.158273088848679]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.5142626968276329,-0.6681513865611057,0.71338606911949],"aabb_xy":[[0.45426269623161675,-0.7229638591063293],[0.5742626974236491,-0.6133389140158824]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[-0.5119263162435574,-0.5856955931445857,0.71338606911949],"aabb_xy":[[-0.5265697217975904,-0.60035431280137],[-0.49728291068952446,-0.5710368734878015]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.59201041725903,0.21426878067482802,0.71338606911949],"aabb_xy":[[-0.6046131163961065,0.20167338444996255],[-0.5794077181219536,0.22686417689969354]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.0799846479254197,-1.1615125574191363,0.71338606911949],"aabb_xy":[[0.07195837729479372,-1.1702640523964891],[0.08801091855604572,-1.152761062441784]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.16162757634230474,-1.522743974838504,0.71338606911949],"aabb_xy":[[-0.24162757492962414,-1.602059576776665],[-0.08162757775498529,-1.4434283729003432]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.05849493129155736,-0.9447050651403501,0.71338606911949],"aabb_xy":[[-0.0736671005731907,-0.9598739220685536],[-0.04332276200992402,-0.9295362082121469]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[0.328829200988906,0.5419893810249548,0.71338606911949],"aabb_xy":[[0.27382920181231646,0.486999706249997],[0.38382920016549543,0.5969790557999123]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.49869919949265723,-1.8684591023465258,0.71338606911949],"aabb_xy":[[-0.5153763354857528,-1.8851590263204558],[-0.48202206349956167,-1.8517591783725953]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_30","position":[-0.055279245586782544,0.8059248273066095,0.71338606911949],"aabb_xy":[[-0.09027924556327838,0.7964602112589931],[-0.02027924561028672,0.8153894433542264]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[0.0006273844100578296,-0.8237524542222066,0.71338606911949],"aabb_xy":[[-0.0069968836801204155,-0.8313856777587505],[0.008251652500236075,-0.816119230685663]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_32","position":[-0.3805251807988725,-0.9565923069334143,0.71338606911949],"aabb_xy":[[-0.39028117030804627,-0.9663548409926487],[-0.3707691912896985,-0.9468297728741798]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_33","position":[0.5428775176069509,-2.356221105283212,0.71338606911949],"aabb_xy":[[0.5015729745432148,-2.4202211048513287],[0.5841820606706868,-2.2922211057150945]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_34","position":[0.5334416702989697,-0.5053504676221947,0.71338606911949],"aabb_xy":[[0.46944166708033197,-0.5520735795212031],[0.5974416735176077,-0.45862735572318636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677371107223627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3960.png","name":"3960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8151.png","name":"8151"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/695.png","name":"695"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":603.6983212290176,"rotation_z_degrees":81.13395918125296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005899422938036882,-0.006954054776589325,-0.006008105592545663]},{"name":"camera_2","offset_m":[0.000581643227570941,0.013286071510743559,0.010519878893152819]},{"name":"camera_3","offset_m":[-0.009852377946112113,0.011417767409850583,0.005789840235221527]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014353642487093489,-0.0004735376625348024,-0.0004945410680817371],"end_effector_yaw_offset_degrees":0.3833059246582946},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003776078995051653,0.0013239952235762891,0.0012745398150660401],"end_effector_yaw_offset_degrees":-0.11338426697486637},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001745873671275728,-0.0014271383649357237,-0.0019318466255299138],"end_effector_yaw_offset_degrees":-0.9984705496293982}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004392782640215011,-0.0025065263889180725],"position_m":[0.202507217359785,0.2642934736110819,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003362866503457317,-0.0020030918323986403],"position_m":[0.18643713349654267,0.05559690816760136,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030449909115499154,0.0016580065301621746],"position_m":[0.3614449909115499,0.1802580065301622,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004604805167522942,-0.0006216986629607865],"position_m":[0.24689519483247707,-0.3660216986629608,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6bb96a0b33b068688e96fc62d9e405d1284456e2254627c250a76b63cdd3b0a5","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8482/tex_ceiling_textures_695/tex_floor_textures_7807/tex_table_textures_3960/tex_wall_textures_8151","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":3103093967393332937,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":3103093967393332937,"visual_seed":3103093967393332937,"scene_id":"lab_003","finished_at":"2026-09-03T12:14:36"} +{"episode_id":"ep_000089","started_at":"2026-09-03T12:14:40","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[0.15212859586486416,-1.5403035194412276,0.71338606911949],"aabb_xy":[[0.13462859658677728,-1.5576416195075735],[0.16962859514295103,-1.5229654193748816]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.5990374799948448,1.6378234407248144,0.71338606911949],"aabb_xy":[[-0.63362856284889,1.5728234404397832],[-0.5644463971407996,1.7028234410098453]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.5369655232196113,-1.4768994989996262,0.71338606911949],"aabb_xy":[[0.47196552211366816,-1.5018648720677548],[0.6019655243255547,-1.4519341259314982]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.5948068574007116,-0.6787315052520675,0.71338606911949],"aabb_xy":[[-0.6748068595634741,-0.7586866888782111],[-0.5148068552379491,-0.5987763216259239]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[0.07784062606064157,-2.412430323202534,0.71338606911949],"aabb_xy":[[0.036591815030726844,-2.467430322714751],[0.1190894370905563,-2.3574303236903162]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.5473787360840578,-1.8286078187065677,0.71338606911949],"aabb_xy":[[0.48337873467606723,-1.8803967702304922],[0.6113787374920485,-1.7768188671826428]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.4866597151557519,-0.9350392414201101,0.71338606911949],"aabb_xy":[[0.431685993119419,-0.9900392409843433],[0.5416334371920848,-0.8800392418558769]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.12873550099006015,1.6837909288972646,0.71338606911949],"aabb_xy":[[0.06873550073865897,1.6295096038607997],[0.18873550124146132,1.738072253933729]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.09339846696059706,0.9265783939756544,0.71338606911949],"aabb_xy":[[-0.10217969410783331,0.9177986466871244],[-0.08461723981336085,0.9353581412641847]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.36187617759361346,-0.09267519377979827,0.71338606911949],"aabb_xy":[[-0.3968761759043089,-0.10039020870334392],[-0.326876179282918,-0.08496017885625262]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.5089845340811312,-0.3265086288354926,0.71338606911949],"aabb_xy":[[0.48398453480916886,-0.3428539924316549],[0.5339845333530934,-0.3101632652393302]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.600975550378531,-0.2997716870742333,0.71338606911949],"aabb_xy":[[-0.6659755530163246,-0.35125128577368026],[-0.5359755477407376,-0.24829208837478633]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.45488419331002605,-1.3198411835458534,0.71338606911949],"aabb_xy":[[0.3898841954283783,-1.3709648472523943],[0.5198841911916738,-1.2687175198393126]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.5646072139661613,1.7050053482876781,0.71338606911949],"aabb_xy":[[0.549504912505143,1.6899038266566158],[0.5797095154271792,1.7201068699187396]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.36619490474374056,-0.7305309190008431,0.71338606911949],"aabb_xy":[[-0.42619490560455336,-0.7819573490073294],[-0.30619490388292775,-0.6791044889943566]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.18381973322060718,1.3232945432385552,0.71338606911949],"aabb_xy":[[-0.2538197353520367,1.3005325776128593],[-0.11381973108917762,1.3460565088642507]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.11338632379530722,-2.0442173979646334,0.71338606911949],"aabb_xy":[[-0.15088632396717916,-2.07691813334754],[-0.07588632362343528,-2.011516662581726]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.33082606541828175,-2.165183059956433,0.71338606911949],"aabb_xy":[[0.3058260662526486,-2.1721353056617896],[0.3558260645839148,-2.1582308142510764]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.4476339930904284,-1.442779499888586,0.71338606911949],"aabb_xy":[[-0.48263399444191013,-1.4631392358454065],[-0.41263399173894666,-1.4224197639317648]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.2694353699194274,0.5751282709012537,0.71338606911949],"aabb_xy":[[-0.3334353672217738,0.5307618439333969],[-0.205435372617081,0.6194946978691104]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.5426660506744369,0.4462651210563311,0.71338606911949],"aabb_xy":[[-0.5467442085814866,0.4421841408080677],[-0.538587892767387,0.45034610130459435]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.15997819827964055,0.6587642219620093,0.71338606911949],"aabb_xy":[[0.14735141099244417,0.6492181482604363],[0.17260498556683687,0.6683102956635821]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[0.007242980687163003,-1.683350771904151,0.71338606911949],"aabb_xy":[[-0.04275629448127316,-1.7333507731800983],[0.05724225585559917,-1.633350770628204]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[0.49190506503951514,-0.7046465913500635,0.71338606911949],"aabb_xy":[[0.4544050650957488,-0.7129396813848999],[0.5294050649832815,-0.6963535013152268]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.38244312031005584,0.321947364595879,0.71338606911949],"aabb_xy":[[-0.4323258171877521,0.2719473653496043],[-0.33256042343235964,0.37194736384215377]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.22000427455382426,-0.250714900142917,0.71338606911949],"aabb_xy":[[-0.23287617805476438,-0.3307149005567531],[-0.2071323710528841,-0.17071489972908085]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.5654096809923911,1.4500453416465864,0.71338606911949],"aabb_xy":[[-0.5726709285627986,1.4372583313830771],[-0.5581484334219838,1.462832351910096]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[0.08003439750145014,1.3006957265146557,0.71338606911949],"aabb_xy":[[0.020034396993597225,1.2438489928287346],[0.14003439800930306,1.3575424602005772]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[0.49793024159607047,1.1990943988291058,0.71338606911949],"aabb_xy":[[0.486162054801413,1.1140943989238843],[0.509698428390728,1.2840943987343274]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_29","position":[0.5388152775326622,-1.9668799007211542,0.71338606911949],"aabb_xy":[[0.5339716827714323,-1.9717315532001385],[0.5436588722938922,-1.9620282482421703]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_30","position":[0.3291654022496917,-2.0240776038048067,0.71338606911949],"aabb_xy":[[0.24916539898567863,-2.03763763611372],[0.4091654055137049,-2.0105175714958934]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[-0.11910385989535599,0.2883092919450849,0.71338606911949],"aabb_xy":[[-0.18310386211576302,0.24393620781979658],[-0.055103857674948964,0.33268237607037315]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_32","position":[-0.034772706633810824,-1.936964762048175,0.71338606911949],"aabb_xy":[[-0.045340186291909834,-1.9475097921611835],[-0.024205226975711813,-1.9264197319351664]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831737309265787,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6096.png","name":"6096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6096.png","name":"6096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2883.png","name":"2883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1253.png","name":"1253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7140.png","name":"7140"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4650.png","name":"4650"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":669.811322435336,"rotation_z_degrees":355.7792890846852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007270546647808424,-0.010556859736267597,-0.015020364846005392]},{"name":"camera_2","offset_m":[0.011505568096018017,-0.006724067147783584,-0.006384465673584803]},{"name":"camera_3","offset_m":[0.015623329332276736,-0.016041636375084982,-0.008402703914088195]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005472781091564985,-0.0016061663802091717,0.001583554951811326],"end_effector_yaw_offset_degrees":0.8186044865466329},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015345343562508922,0.0011049997639487668,0.0012968849372006052],"end_effector_yaw_offset_degrees":-0.2624813409533493},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007004013013542959,-0.0012324050601664532,0.001173820995207315],"end_effector_yaw_offset_degrees":-0.13935193273529745}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0028129341125719275,-0.0009127790977423176],"position_m":[0.20408706588742806,0.26588722090225764,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038409468710165076,-0.0023613990245245444],"position_m":[0.19364094687101652,0.055238600975475456,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003244368530479517,-0.002132241128882534],"position_m":[0.35807556314695205,0.17646775887111749,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013754638500132052,-0.0020422452903361265],"position_m":[0.2528754638500132,-0.36744224529033614,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6fd9e45f8fa9f115db57235207463c0e2e91fae39a308cf61075c297ca419cf3","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6096/tex_ceiling_textures_4650/tex_floor_textures_7140/tex_table_textures_2883/tex_wall_textures_1253","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":345552955722735934,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":345552955722735934,"visual_seed":345552955722735934,"scene_id":"lab_003","finished_at":"2026-09-03T12:17:25"} +{"episode_id":"ep_000090","started_at":"2026-09-03T12:17:29","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.21774337634511265,1.278187845767233,0.71338606911949],"aabb_xy":[[0.19994986941019618,1.2603881001714354],[0.23553688328002906,1.2959875913630308]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.33498432282640067,-1.8033457811496176,0.71338606911949],"aabb_xy":[[0.32483130727225124,-1.8394153227223573],[0.34513733838055,-1.7672762395768766]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.5657619432835135,1.2199672243324442,0.71338606911949],"aabb_xy":[[-0.6156446401612098,1.1699672250861695],[-0.5158792464058174,1.269967223578719]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[0.3593113391532239,-2.2764022010788527,0.71338606911949],"aabb_xy":[[0.334797715056218,-2.300666794380889],[0.38382496325022974,-2.2521376077768163]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.3169916593264065,1.3298558521509984,0.71338606911949],"aabb_xy":[[-0.3641210383282421,1.265855851106596],[-0.26986228032457077,1.3938558531954]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.09387602948977514,-1.4340999642602084,0.71338606911949],"aabb_xy":[[-0.1578760318325767,-1.4790408155043409],[-0.029876027146973582,-1.3891591130160759]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.3720530686813503,-1.2319239591246676,0.71338606911949],"aabb_xy":[[-0.4420530720729122,-1.2672397328280984],[-0.30205306528978826,-1.1966081854212367]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.6269056870161145,1.0308746848426664,0.71338606911949],"aabb_xy":[[0.6044056867725991,1.0186700501828947],[0.6494056872596299,1.0430793195024386]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.2845451666373041,0.5579304054741092,0.71338606911949],"aabb_xy":[[-0.346135925861297,0.49393040736506233],[-0.22295440741331135,0.6219304035831561]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.45402691125461603,-2.5352973056504924,0.71338606911949],"aabb_xy":[[0.4261818744740089,-2.566081804388804],[0.48187194803522315,-2.5045128069121807]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.15948545303306005,1.4486114382722106,0.71338606911949],"aabb_xy":[[0.1094854535928644,1.3986435137878943],[0.20948545247325565,1.498579362756527]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.4890053451248888,-0.6407100303266346,0.71338606911949],"aabb_xy":[[0.4853020837957499,-0.6444120486353524],[0.4927086064540277,-0.6370080120179167]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.10388431627119077,0.9131444098909767,0.71338606911949],"aabb_xy":[[-0.10784480004092514,0.9054765453054562],[-0.0999238325014564,0.9208122744764974]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[0.6194184649270775,1.7501316387280146,0.71338606911949],"aabb_xy":[[0.5644252535899408,1.695131638389221],[0.6744116762642143,1.8051316390668082]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.17136113021826938,1.6339051188963407,0.71338606911949],"aabb_xy":[[0.1213878362150089,1.5839051183417932],[0.2213344242215298,1.6839051194508878]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.5210270776744244,0.6977095054151619,0.71338606911949],"aabb_xy":[[0.4732209100606557,0.6327095027081029],[0.568833245288193,0.7627095081222207]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.08576806453396546,-0.5757454680240754,0.71338606911949],"aabb_xy":[[-0.1557680609439272,-0.5961834036757571],[-0.015768068124003647,-0.5553075323723936]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[0.41350263258048336,-2.3681660299022234,0.71338606911949],"aabb_xy":[[0.40538897790710626,-2.3762718463562527],[0.42161628725386047,-2.360060213448194]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.015648282594091567,1.694117107409499,0.71338606911949],"aabb_xy":[[-0.05156178701908125,1.6582035991927442],[0.020265221830898114,1.7300306156262533]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.5255607434797509,-1.8464481798645829,0.71338606911949],"aabb_xy":[[-0.5349077510620461,-1.860751802082227],[-0.5162137358974557,-1.8321445576469388]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.30734794719226693,-0.17490389603884848,0.71338606911949],"aabb_xy":[[-0.3249262493812138,-0.1924783856129534],[-0.2897696450033201,-0.1573294064647436]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.2940541057367503,-0.32435323764306956,0.71338606911949],"aabb_xy":[[-0.3580541059972211,-0.3693620369959975],[-0.2300541054762795,-0.2793444382901415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839152566321669,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7039.png","name":"7039"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7039.png","name":"7039"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6376.png","name":"6376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4817.png","name":"4817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2715.png","name":"2715"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/508.png","name":"508"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":616.3790645512023,"rotation_z_degrees":257.94261773336507,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005755515890926027,-0.009223570562649752,0.017902265940084153]},{"name":"camera_2","offset_m":[0.012056336649510977,0.016513085069158672,-0.016301679988915376]},{"name":"camera_3","offset_m":[0.006435368023460758,-0.01067108616580029,-0.01303362594661461]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004453043833401451,-0.0008923787226038961,0.0012696672656361489],"end_effector_yaw_offset_degrees":-0.7012256683912259},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007289081148512204,0.0003677323057660379,-0.0003382115061025411],"end_effector_yaw_offset_degrees":-0.40622574912719145},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002436472854845629,0.001134643281333233,-0.0005001390434307056],"end_effector_yaw_offset_degrees":0.6672298689815859}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015062464451165805,0.0032658187936029813],"position_m":[0.20539375355488343,0.270065818793603,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006688660185113441,-0.004533320049799815],"position_m":[0.18913113398148865,0.05306667995020018,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024731071016172645,-0.0003338759606764828],"position_m":[0.36087310710161724,0.17826612403932351,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035059425504536173,-7.089025363442823e-05],"position_m":[0.2550059425504536,-0.36547089025363444,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"767e5f6fb083e1a51f13515b37597c7f9b9abd4f59eadf3dfae026ac20997761","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7039/tex_ceiling_textures_508/tex_floor_textures_2715/tex_table_textures_6376/tex_wall_textures_4817","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8850585283361461853,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8850585283361461853,"visual_seed":8850585283361461853,"scene_id":"lab_003","finished_at":"2026-09-03T12:20:16"} +{"episode_id":"ep_000091","started_at":"2026-09-03T12:23:35","dimensions":{"distractor":{"count":31,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.3686499559342282,-1.246921298700607,0.71338606911949],"aabb_xy":[[0.3351707886731873,-1.280400412071714],[0.40212912319526917,-1.2134421853295]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.261263472757548,-1.4990404767710077,0.71338606911949],"aabb_xy":[[0.24368517056860117,-1.5166149663451125],[0.27884177494649487,-1.481465987196903]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.2677953481796639,-1.7741296318598443,0.71338606911949],"aabb_xy":[[0.2027953472225367,-1.8260778437935496],[0.3327953491367911,-1.7221814199261385]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.4035399545561529,-2.2674327591149654,0.71338606911949],"aabb_xy":[[-0.4635399544027196,-2.3242513813080037],[-0.34353995470958604,-2.2106141369219263]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[0.6165461677634358,-0.39009719311941504,0.71338606911949],"aabb_xy":[[0.5831059925674161,-0.423540818950345],[0.6499863429594553,-0.35665356728848485]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.38251713919653896,0.42824062521862727,0.71338606911949],"aabb_xy":[[0.348200862021921,0.3782406252454495],[0.4168334163711569,0.47824062519180494]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.4134783583805271,0.16748005898732155,0.71338606911949],"aabb_xy":[[-0.437063481844422,0.10248005674188976],[-0.3898932349166323,0.23248006123275333]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.1759074982445894,-0.7351104345483435,0.71338606911949],"aabb_xy":[[-0.23749825746858222,-0.7991104326573903],[-0.11431673902059658,-0.6711104364392966]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.1442922855705019,-1.117497401741369,0.71338606911949],"aabb_xy":[[0.12182751559909677,-1.1399974026202293],[0.166757055541907,-1.0949974008625083]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.4397172631048351,0.6846673742357683,0.71338606911949],"aabb_xy":[[-0.5047172657426287,0.6331877755363213],[-0.3747172604670416,0.7361469729352152]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.5149636736982732,-1.9752787144298953,0.71338606911949],"aabb_xy":[[0.4649636727477404,-2.0068278614334165],[0.564963674648806,-1.943729567426374]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.39039378416639847,-0.08736168747533624,0.71338606911949],"aabb_xy":[[-0.4078937844257352,-0.10145322966410887],[-0.3728937839070619,-0.07327014528656361]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.6520111071533528,-2.005053269582776,0.71338606911949],"aabb_xy":[[-0.6866021900073979,-2.0700532698678065],[-0.6174200242993074,-1.9400532692977446]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.06973923827739814,0.949988066221914,0.71338606911949],"aabb_xy":[[-0.13373924156710623,0.9066531472179964],[-0.005739234987690022,0.9933229852258316]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[0.0844669235344161,1.5767050247608778,0.71338606911949],"aabb_xy":[[0.07566486822544337,1.5688936986059485],[0.09326897884338879,1.5845163509158067]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.5828668441677438,-1.7771392461767404,0.71338606911949],"aabb_xy":[[0.5278931221314109,-1.8321392457409735],[0.6378405662040767,-1.7221392466125072]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.6355508310418734,0.8131249572350443,0.71338606911949],"aabb_xy":[[0.6130544096080093,0.7906249574282969],[0.6580472524757375,0.8356249570417917]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.4862092918737748,-0.21658778978933357,0.71338606911949],"aabb_xy":[[0.4362092905899348,-0.2665666441799557],[0.5362092931576147,-0.16660893539871147]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.012328600786320476,1.069578109987388,0.71338606911949],"aabb_xy":[[-0.01974105632770895,1.0637268995657603],[-0.004916145244932002,1.0754293204090162]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.5188552282402559,0.5150807380696856,0.71338606911949],"aabb_xy":[[0.4688552295943347,0.4651611944102232],[0.5688552268861771,0.565000281729148]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.26995109217240343,0.7124151051558769,0.71338606911949],"aabb_xy":[[0.20595539477730684,0.6484151068551681],[0.3339467895675,0.7764151034565855]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.016039430592544424,1.4114176471077586,0.71338606911949],"aabb_xy":[[-0.10103942928461906,1.3794317837128798],[0.06896056809953022,1.4434035105026375]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.13215358777894726,-0.9102442302580982,0.71338606911949],"aabb_xy":[[-0.19215358837496344,-0.9650567028033218],[-0.07215358718293108,-0.8554317577128748]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.5501899613690225,0.12531912704155168,0.71338606911949],"aabb_xy":[[-0.5726899613791707,0.11122290740194837],[-0.5276899613588741,0.13941534668115493]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.2895731742395503,1.0519283656384313,0.71338606911949],"aabb_xy":[[0.23194270535227934,0.9919283667117205],[0.34720364312682106,1.1119283645651417]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[-0.632801452799982,0.5100714328496374,0.71338606911949],"aabb_xy":[[-0.6827945649091739,0.4600714321754419],[-0.5828083406907901,0.5600714335238332]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[-0.5064781754993446,-1.091695885433742,0.71338606911949],"aabb_xy":[[-0.5118106901539575,-1.0970202136789775],[-0.5011456608447314,-1.0863715571885064]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[-0.22628610759934037,-1.830391804490651,0.71338606911949],"aabb_xy":[[-0.243296204889391,-1.846526292988925],[-0.2092760103092897,-1.8142573159923772]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[-0.26337922327143126,-2.542490448861735,0.71338606911949],"aabb_xy":[[-0.267457381178481,-2.5465714291099983],[-0.2593010653643815,-2.5384094686134713]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_29","position":[0.23417660760754866,-1.9849153459253297,0.71338606911949],"aabb_xy":[[0.18917660614131987,-2.0299152027868104],[0.27917660907377756,-1.9399154890638493]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[-0.4304838333439599,-0.3818455615649503,0.71338606911949],"aabb_xy":[[-0.4944838336044307,-0.42685436091787826],[-0.3664838330834891,-0.33683676221202224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777806962259679,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/972.png","name":"972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2217.png","name":"2217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8735.png","name":"8735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8304.png","name":"8304"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":533.2355651399221,"rotation_z_degrees":216.08082957372466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013072451862750465,-0.0034620165148641253,-0.013297217278495536]},{"name":"camera_2","offset_m":[0.018336207253025493,0.007886667856431037,-0.014421471723251074]},{"name":"camera_3","offset_m":[0.004431902952743573,0.009115242036505794,0.012956947846490537]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008240198594693443,-0.0016012278388127434,0.0017045539550766234],"end_effector_yaw_offset_degrees":0.8683686421485926},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016893379408878637,0.0011297554774763025,-0.0015689056417295944],"end_effector_yaw_offset_degrees":0.09567722224862729},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007724333668128836,0.0013629311771159872,3.832246126068322e-05],"end_effector_yaw_offset_degrees":-0.783940116062364}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022788502428586466,0.00291429464589654],"position_m":[0.20462114975714135,0.2697142946458965,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002731067519048799,-0.0009687325112276686],"position_m":[0.1925310675190488,0.05663126748877233,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002725411178595576,-0.0031485231338152665],"position_m":[0.3556745888214044,0.17545147686618473,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001388825019018788,0.0036670795031609584],"position_m":[0.25011117498098123,-0.361732920496839,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bb987ca81a47132f9c44d3a6f49a89004c6910b86c9ad475f12134d5639a935e","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1496/tex_ceiling_textures_8304/tex_floor_textures_8735/tex_table_textures_972/tex_wall_textures_2217","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6575896780939463205,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6575896780939463205,"visual_seed":6575896780939463205,"scene_id":"lab_003","finished_at":"2026-09-03T12:26:22"} +{"episode_id":"ep_000092","started_at":"2026-09-03T12:26:25","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.43004581747245785,-2.091518344552861,0.71338606911949],"aabb_xy":[[-0.44095159356002056,-2.1715183409516903],[-0.41914004138489513,-2.011518348154032]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.10402099434348622,-1.6020145354252429,0.71338606911949],"aabb_xy":[[0.039020993237542934,-1.6269799084933712],[0.1690209954494295,-1.5770491623571146]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.3163329443332577,-1.0781672345913516,0.71338606911949],"aabb_xy":[[-0.3204488944453303,-1.0822827896241967],[-0.312216994221185,-1.0740516795585056]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.4792275559788741,-2.3119958524467554,0.71338606911949],"aabb_xy":[[0.44172755755547377,-2.3251600664145857],[0.5167275544022745,-2.2988316384789242]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.23091295953690177,-2.425485930580263,0.71338606911949],"aabb_xy":[[-0.24878206729135724,-2.4393188385574742],[-0.21304385178244625,-2.411653022603052]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.467056630750295,0.49668190812623747,0.71338606911949],"aabb_xy":[[0.4441409178652452,0.473777610989814],[0.489972343635345,0.519586205262661]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.5387979445210511,-0.9370167630304871,0.71338606911949],"aabb_xy":[[-0.5512653026307868,-0.9494820876638108],[-0.5263305864113155,-0.9245514383971638]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.35361961880226805,1.5493376147500926,0.71338606911949],"aabb_xy":[[-0.39047016673925566,1.5118376139270588],[-0.31676907086528044,1.5868376155731263]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.3282309787196125,-1.8459585653266557,0.71338606911949],"aabb_xy":[[0.3057172868961553,-1.915958565927663],[0.3507446705430697,-1.775958564725648]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.305637116886434,0.8711931701987146,0.71338606911949],"aabb_xy":[[0.26709142406123293,0.832647399142526],[0.344182809711635,0.9097389412549032]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.2923199201997238,0.5008503326995606,0.71338606911949],"aabb_xy":[[-0.3267822675978655,0.4663564503017377],[-0.2578575728015819,0.5353442150973831]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.0704968283815115,1.3943897185874943,0.71338606911949],"aabb_xy":[[0.03299682820963955,1.3616889832045869],[0.10799682855338343,1.4270904539704012]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.12051855280000678,1.0986222836811637,0.71338606911949],"aabb_xy":[[-0.1845185492273287,1.0514526598590672],[-0.05651855637268488,1.14579190750326]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.22764182850868453,-2.219002057074593,0.71338606911949],"aabb_xy":[[0.1901418278441058,-2.234689115074815],[0.2651418291732632,-2.2033149990743706]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.19828917478240404,-0.4716419042471931,0.71338606911949],"aabb_xy":[[-0.20555042235281143,-0.48442891451070264],[-0.1910279272119966,-0.4588548939836837]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.6156736081142828,0.5298006817123939,0.71338606911949],"aabb_xy":[[-0.6609522229954321,0.46580068236421013],[-0.5703949932331336,0.5938006810605775]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.0528911817268477,-0.8704020340797187,0.71338606911949],"aabb_xy":[[-0.012108818307455034,-0.917102710760046],[0.11789118176115043,-0.8237013573993914]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.5358609609445986,0.7047800903940593,0.71338606911949],"aabb_xy":[[0.47186096024112933,0.6587617079211383],[0.599860961648068,0.7507984728669804]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.62880971562768,-2.199143217519975,0.71338606911949],"aabb_xy":[[-0.6698276590140508,-2.2491432181509325],[-0.5877917722413091,-2.149143216889018]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.5684355532015006,-1.7252032568344153,0.71338606911949],"aabb_xy":[[0.5549890265674573,-1.7386731084875064],[0.581882079835544,-1.7117334051813242]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.584505949930186,1.4821347211458522,0.71338606911949],"aabb_xy":[[-0.6179461251262054,1.4486910953149221],[-0.5510657747341662,1.5155783469767823]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.296494307169529,-1.94698906351186,0.71338606911949],"aabb_xy":[[-0.3189907286033931,-1.969489063318607],[-0.2739978857356649,-1.9244890637051122]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[-0.3133653775100629,1.7064468423585697,0.71338606911949],"aabb_xy":[[-0.3503994869381226,1.67206963502486],[-0.27633126808200315,1.7408240496922789]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.4111003222834293,-0.3007575400408786,0.71338606911949],"aabb_xy":[[0.3761003240133094,-0.30783166773586673],[0.4461003205535492,-0.2936834123458904]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[0.2352360978227931,0.5363391618693716,0.71338606911949],"aabb_xy":[[0.2317954215827359,0.5324777288950071],[0.23867677406285023,0.5402005948437361]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.6046241872833058,0.7123482602246414,0.71338606911949],"aabb_xy":[[-0.6546029957936217,0.6623482602189226],[-0.5546453787729899,0.7623482602303602]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.1910220019479989,-1.7149949317081166,0.71338606911949],"aabb_xy":[[-0.19806231188153595,-1.7949949311077884],[-0.18398169201446193,-1.6349949323084456]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.21829908042081925,1.5898325852340247,0.71338606911949],"aabb_xy":[[0.19579908060691684,1.585357968863544],[0.2407990802347216,1.5943072016045055]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[-0.3791932734447972,-1.4250157799265861,0.71338606911949],"aabb_xy":[[-0.43919327508771905,-1.47701592921853],[-0.31919327180187534,-1.3730156306346417]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_29","position":[-0.42621129978929456,-1.6706153581874843,0.71338606911949],"aabb_xy":[[-0.433623755330683,-1.6764665686091118],[-0.41879884424790603,-1.664764147765856]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.4598425263195808,0.27453744228649724,0.71338606911949],"aabb_xy":[[-0.5238382237146773,0.21053744398578855],[-0.39584682892448414,0.3385374405872059]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[0.6042922585208124,1.730580082628363,0.71338606911949],"aabb_xy":[[0.5866166279322139,1.7128998663489603],[0.6219678891094106,1.7482602989077658]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_32","position":[-0.08385526902496965,0.6003980467215011,0.71338606911949],"aabb_xy":[[-0.16385526618454493,0.588850445763684],[-0.0038552718653943607,0.611945647679318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854015687901193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8701.png","name":"8701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8701.png","name":"8701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1808.png","name":"1808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8962.png","name":"8962"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6905.png","name":"6905"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":657.4012934860255,"rotation_z_degrees":140.71589657502793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004817305243736598,0.018444579243081207,-0.00863478573251741]},{"name":"camera_2","offset_m":[-0.011277269886020904,-0.005571351421808651,0.007509923927709442]},{"name":"camera_3","offset_m":[-0.006492250481145656,0.01549512340524654,0.004064514782893394]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00014532860957629712,5.395911002958843e-05,-0.0009281766279234161],"end_effector_yaw_offset_degrees":0.02438854879352359},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019534104887396764,0.00041994792297734293,0.0005926890884855561],"end_effector_yaw_offset_degrees":-0.17907227274629278},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008932946606032329,-0.0001520486960647797,0.0013310581098166761],"end_effector_yaw_offset_degrees":-0.7392872549437648}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029413921294856485,-0.004765533625419903],"position_m":[0.20395860787051434,0.26203446637458006,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020504179552100466,0.003513480779398185],"position_m":[0.18774958204478995,0.06111348077939818,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005306268002251216,0.00462632121395233],"position_m":[0.35786937319977485,0.18322632121395233,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00216805847906175,-0.004936496000173782],"position_m":[0.25366805847906176,-0.37033649600017376,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dc020056f36ba51214881866a67cf552fa3658e2bf034094ba95eeecf6315522","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8701/tex_ceiling_textures_6905/tex_floor_textures_8962/tex_table_textures_1808/tex_wall_textures_9291","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":5869711838818185666,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":5869711838818185666,"visual_seed":5869711838818185666,"scene_id":"lab_003","finished_at":"2026-09-03T12:29:14"} +{"episode_id":"ep_000093","started_at":"2026-09-03T12:29:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.19684754395445997,0.4664745589124637,0.71338606911949],"aabb_xy":[[-0.26184754659225346,0.41499496021301674],[-0.13184754131666648,0.5179541576119107]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.33845159126481605,-1.166905807556727,0.71338606911949],"aabb_xy":[[0.2744515909908378,-1.216971907754015],[0.4024515915387943,-1.1168397073594392]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.5205525352528066,0.8342249757522735,0.71338606911949],"aabb_xy":[[0.5152149595868021,0.8092249748231337],[0.5258901109188112,0.8592249766814133]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[-0.49054774880669305,0.5919785297730455,0.71338606911949],"aabb_xy":[[-0.5084168565611485,0.5781456217958346],[-0.47267864105223756,0.6058114377502565]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.5907850082602445,-0.8123810020535287,0.71338606911949],"aabb_xy":[[-0.6448006045421444,-0.8763810049457857],[-0.5367694119783444,-0.7483809991612714]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.486984233200217,-0.9909774554966038,0.71338606911949],"aabb_xy":[[0.4494842333831835,-0.9956156668077456],[0.5244842330172506,-0.9863392441854619]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.12085593194547217,-1.299438909948107,0.71338606911949],"aabb_xy":[[0.055855930944971655,-1.3502252751027821],[0.1858559329459727,-1.2486525447934322]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.1799520776785105,-0.36028453677878636,0.71338606911949],"aabb_xy":[[-0.2227187845579307,-0.42428454020058887],[-0.13718537079909032,-0.29628453335698396]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.7057715920698198,1.2223399074964219,0.71338606911949],"aabb_xy":[[0.6942026113228833,1.1973399073794901],[0.7173405728167564,1.2473399076133536]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.3056047945467954,1.4032352287590713,0.71338606911949],"aabb_xy":[[-0.3855986181253536,1.32323522616623],[-0.22561097096823718,1.483235231351913]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.43118357558368814,-0.3390975149358626,0.71338606911949],"aabb_xy":[[0.4136835764493209,-0.34897714197345037],[0.44868357471805526,-0.3292178878982747]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.32617587086237165,-0.6520309352177105,0.71338606911949],"aabb_xy":[[0.3160228553082222,-0.6881004767904507],[0.336328886416521,-0.61596139364497]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.06721215605170172,-0.7295342405953567,0.71338606911949],"aabb_xy":[[-0.012787841351891689,-0.8095268117935395],[0.14721215345529515,-0.6495416693971738]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.19695930376846382,1.4715362031699457,0.71338606911949],"aabb_xy":[[0.11695930050445066,1.4579761708610322],[0.27695930703247695,1.4850962354788588]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.2925947923679071,-1.869029797495995,0.71338606911949],"aabb_xy":[[0.25509479118311423,-1.8734480201920556],[0.33009479355269983,-1.8646115747999346]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[0.1847265747741802,-2.0993888668618417,0.71338606911949],"aabb_xy":[[0.12073087737908361,-2.16338886516255],[0.24872227216927678,-2.0353888685611325]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.26588366667204943,-2.2797053484852117,0.71338606911949],"aabb_xy":[[-0.3159811306531231,-2.3437053489950235],[-0.21578620269097587,-2.2157053479754]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.24255190555378026,-2.0490875074769397,0.71338606911949],"aabb_xy":[[-0.32255190421066626,-2.0635923664012026],[-0.16255190689689425,-2.034582648552677]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.6962091828674926,0.10161822227467177,0.71338606911949],"aabb_xy":[[0.6811068814064742,0.08651670064360992],[0.7113114843285104,0.11671974390573356]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.31827968977413634,-1.218821145565592,0.71338606911949],"aabb_xy":[[-0.35171986497015584,-1.2522647713965218],[-0.2848395145781166,-1.1853775197346617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6758055808314665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5472.png","name":"5472"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5472.png","name":"5472"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7908.png","name":"7908"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6936.png","name":"6936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/183.png","name":"183"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1329.png","name":"1329"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":606.5034902691054,"rotation_z_degrees":320.4999775996644,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004326990127467609,-0.00517662191868053,0.01917750131863585]},{"name":"camera_2","offset_m":[0.0033656814337556275,0.003031138008018873,0.008354422861192246]},{"name":"camera_3","offset_m":[0.008288957048140401,0.004457202671336997,0.006138375808228118]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001227041608112679,0.0017133740433569918,-0.0008948272152593808],"end_effector_yaw_offset_degrees":-0.960810094710888},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008027430383662666,0.001235066218745382,-0.00032546825776184765],"end_effector_yaw_offset_degrees":-0.5902208575871646},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001497253690820145,-0.0011128581054203391,0.0007560327260753381],"end_effector_yaw_offset_degrees":-0.6163876704357867}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022289951339634216,-0.002696696406182013],"position_m":[0.20467100486603657,0.26410330359381795,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018465477227834438,-0.00011316742284046919],"position_m":[0.18795345227721655,0.05748683257715953,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00022812831088460037,-0.004186129442538797],"position_m":[0.3586281283108846,0.17441387055746121,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033602051564034863,0.0042445853890402925],"position_m":[0.24813979484359652,-0.36115541461095974,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"19f7cc3e681cd793c59b8a6f4b0ba3c83a009da3762cbfcf3f66fa9ddab6cf7a","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5472/tex_ceiling_textures_1329/tex_floor_textures_183/tex_table_textures_7908/tex_wall_textures_6936","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2016654413131614453,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2016654413131614453,"visual_seed":2016654413131614453,"scene_id":"lab_003","finished_at":"2026-09-03T12:32:07"} +{"episode_id":"ep_000094","started_at":"2026-09-03T12:32:12","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[-0.607977986599395,-1.8341151695732325,0.71338606911949],"aabb_xy":[[-0.6240399140579126,-1.9191151713858243],[-0.5919160591408773,-1.7491151677606407]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.39724470277909174,-1.6479241268628042,0.71338606911949],"aabb_xy":[[0.37974476934510837,-1.6654241267830385],[0.4147446362130751,-1.6304241269425694]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.5433844970450756,0.6723760562388592,0.71338606911949],"aabb_xy":[[0.48575402815780466,0.6123760573121485],[0.6010149659323464,0.7323760551655697]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.43363041150428666,0.38300051016705083,0.71338606911949],"aabb_xy":[[-0.4588512483641263,0.35777675931416403],[-0.40840957464444694,0.40822426101993753]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.6764887699216745,-0.8730908602702738,0.71338606911949],"aabb_xy":[[-0.6897197154563557,-0.8863182792922732],[-0.6632578243869931,-0.8598634412482744]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.14047193082068454,0.8613335589250797,0.71338606911949],"aabb_xy":[[-0.195471929997274,0.8063438841501219],[-0.08547193164409503,0.9163232337000372]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[0.5757676429480949,1.5415504949723524,0.71338606911949],"aabb_xy":[[0.4957676449673099,1.5339489540105005],[0.65576764092888,1.5491520359342044]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.21077168280467218,0.3182909101210063,0.71338606911949],"aabb_xy":[[-0.2747716801070186,0.2739244831531495],[-0.14677168550232575,0.362657337088863]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[0.5149048835741072,-1.9773566697446863,0.71338606911949],"aabb_xy":[[0.5030328005626061,-2.062356669438337],[0.5267769665856084,-1.8923566700510361]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.13054747738143146,-0.9345703813269632,0.71338606911949],"aabb_xy":[[0.07555522674592054,-0.9895703830702761],[0.18553972801694243,-0.8795703795836506]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[-0.38439602274838597,-2.2430020651970097,0.71338606911949],"aabb_xy":[[-0.4218960213240067,-2.2557383608605677],[-0.3468960241727651,-2.230265769533452]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.44826965640535255,0.9201719515314966,0.71338606911949],"aabb_xy":[[-0.4543066694060173,0.9141452504625484],[-0.4422326434046879,0.9261986526004448]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.17821512659797212,-1.739581529397935,0.71338606911949],"aabb_xy":[[-0.24221512576774207,-1.7863482165168976],[-0.11421512742820218,-1.6928148422789726]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.6814118739659094,-0.1559849473428594,0.71338606911949],"aabb_xy":[[0.676074298299905,-0.18098494827199915],[0.6867494496319141,-0.13098494641371958]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.1704105015988151,-1.4633770280432572,0.71338606911949],"aabb_xy":[[0.164952555961795,-1.543377031350916],[0.17586844723583514,-1.3833770247355979]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.16949712202432832,1.250931821849126,0.71338606911949],"aabb_xy":[[0.13216584549908567,1.2162787670542738],[0.2068283985495709,1.2855848766439784]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.2427475243178805,-1.9857593643129143,0.71338606911949],"aabb_xy":[[-0.2928449882989541,-2.0497593648227266],[-0.19265006033680684,-1.9217593638031027]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.47011229428250356,-0.5488967316219013,0.71338606911949],"aabb_xy":[[-0.4852145957435216,-0.5639982532529629],[-0.4550099928214854,-0.5337952099908393]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.5396936846618164,-1.5309949919761054,0.71338606911949],"aabb_xy":[[-0.5849722995429657,-1.594994991324289],[-0.4944150697806672,-1.4669949926279215]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.36462770871937056,-1.259236627365986,0.71338606911949],"aabb_xy":[[0.3271277082220123,-1.2632053109141044],[0.4021277092167288,-1.2552679438178678]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.6205254695999389,0.729903305947198,0.71338606911949],"aabb_xy":[[-0.6318872042532249,0.7185348395409099],[-0.6091637349466525,0.7412717723534861]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.46055815761657315,-1.8077369648586266,0.71338606911949],"aabb_xy":[[0.44795545847949675,-1.820332361083492],[0.47316085675364966,-1.795141568633761]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.11427457270205343,1.0574127985873885,0.71338606911949],"aabb_xy":[[-0.12512617895092903,1.0465535078597372],[-0.10342296645317783,1.0682720893150393]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[0.3529937171258759,0.3953149174699808,0.71338606911949],"aabb_xy":[[0.34122553033121844,0.31031491756475926],[0.3647619039205335,0.48031491737520243]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[0.33008877294140526,-1.9388665415843254,0.71338606911949],"aabb_xy":[[0.266088771029063,-1.9947776908423362],[0.39408877485374766,-1.8829553923263154]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[-0.01126748548401102,1.3724659118551221,0.71338606911949],"aabb_xy":[[-0.018307795417548015,1.292465912455451],[-0.004227175550474028,1.4524659112547937]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[0.521823016638294,1.2032265362278953,0.71338606911949],"aabb_xy":[[0.48804745744760114,1.1891880410147304],[0.5555985758289871,1.2172650314410602]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.6310482333441094,1.0153536899533906,0.71338606911949],"aabb_xy":[[-0.640208112287986,1.0088224719098535],[-0.6218883544002328,1.0218849079969277]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6797274068978907,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/732.png","name":"732"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6314.png","name":"6314"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1205.png","name":"1205"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4488.png","name":"4488"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":724.5263387384671,"rotation_z_degrees":64.65825746595132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012093382450932477,-0.012384602927718699,0.001272417685613085]},{"name":"camera_2","offset_m":[-0.014906587563351614,0.002334062426034983,-0.000390158874650718]},{"name":"camera_3","offset_m":[0.013134884213465804,-0.015077876298214572,-0.00974573486853291]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016879287644026735,0.0008836823366199088,0.0019020615137724049],"end_effector_yaw_offset_degrees":0.4143984220706145},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010251279158685724,0.0016948021903204062,-0.0011528026087479569],"end_effector_yaw_offset_degrees":-0.10320024934420169},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019967783062894776,-0.00020349994947037905,0.0016698889865057148],"end_effector_yaw_offset_degrees":0.9715748300542943}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002932479316882698,0.003460799571921111],"position_m":[0.2098324793168827,0.2702607995719211,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002441635471668264,-0.0036987201087997947],"position_m":[0.18735836452833174,0.05390127989120021,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018550204568593062,0.003136383015961453],"position_m":[0.3602550204568593,0.18173638301596146,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020225569302440116,-0.0009596412590007399],"position_m":[0.249477443069756,-0.3663596412590007,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ba82be79f69a337be929b4be9ea87a0097c807a8f1018baa71e50e5f7105fd8c","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8089/tex_ceiling_textures_4488/tex_floor_textures_1205/tex_table_textures_732/tex_wall_textures_6314","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":8232619650216061100,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":8232619650216061100,"visual_seed":8232619650216061100,"scene_id":"lab_003","finished_at":"2026-09-03T12:35:09"} +{"episode_id":"ep_000095","started_at":"2026-09-03T12:35:12","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.41856148642020496,-2.1219437620791246,0.71338606911949],"aabb_xy":[[0.38856982368633464,-2.151943761415925],[0.4485531491540753,-2.091943762742324]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.4545235024096532,-1.5709418460359448,0.71338606911949],"aabb_xy":[[0.44489186618922366,-1.5805791588156535],[0.4641551386300829,-1.5613045332562356]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.4749445255893526,-1.3013490881619854,0.71338606911949],"aabb_xy":[[-0.5599445240067757,-1.3862233836242703],[-0.3899445271719293,-1.2164747926997004]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[0.32426273782552273,1.138583725940352,0.71338606911949],"aabb_xy":[[0.2814960309461026,1.0745837225185493],[0.367029444704943,1.2025837293621542]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.6190469017995952,-1.8475270286020025,0.71338606911949],"aabb_xy":[[-0.6270731724302213,-1.8562785235793555],[-0.6110206311689693,-1.8387755336246503]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.12504863395947308,-2.3073386253230863,0.71338606911949],"aabb_xy":[[0.061048632281475695,-2.3558560168024005],[0.1890486356374704,-2.258821233843772]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[0.6342434885703903,-1.4799696472705883,0.71338606911949],"aabb_xy":[[0.5542434905896053,-1.48757118823244],[0.7142434865511754,-1.4723681063087362]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.03106301991463467,-2.5184334157203394,0.71338606911949],"aabb_xy":[[0.021645545344771918,-2.5278495928580584],[0.04048049448449742,-2.5090172385826204]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.33750950968017746,-1.654811405482718,0.71338606911949],"aabb_xy":[[0.30000950957458444,-1.6616335673356992],[0.37500950978577036,-1.647989243629737]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.5957415755210458,1.6039252288028227,0.71338606911949],"aabb_xy":[[-0.6857415720219174,1.558013586384364],[-0.5057415790201739,1.6498368712212805]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.03318352868823493,-0.6959137991085658,0.71338606911949],"aabb_xy":[[-0.036816472914044544,-0.7093465923102233],[0.10318353029051441,-0.6824810059069082]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[0.3783125933910667,1.575589078870999,0.71338606911949],"aabb_xy":[[0.37090013784967824,1.5697378684493708],[0.3857250489324552,1.5814402892926267]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.6244978409403492,-1.897108203821042,0.71338606911949],"aabb_xy":[[0.5344978415219782,-1.930483700665232],[0.71449784035872,-1.8637327069768526]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.07665496221130874,-1.8569573595470321,0.71338606911949],"aabb_xy":[[0.07131738654530419,-1.881957360476172],[0.08199253787731332,-1.8319573586178923]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[0.47638881174372494,-1.300132585407288,0.71338606911949],"aabb_xy":[[0.4637861126066485,-1.3127279816321538],[0.4889915108808014,-1.2875371891824228]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.5353612869397417,-1.6538466801467475,0.71338606911949],"aabb_xy":[[0.5178613535057582,-1.671346680066982],[0.552861220373725,-1.636346680226513]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.5437033147158774,-2.3693591060979684,0.71338606911949],"aabb_xy":[[-0.5937033142922122,-2.4193396850500744],[-0.4937033151395428,-2.3193785271458625]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.31112159884794854,1.3108104965551703,0.71338606911949],"aabb_xy":[[0.2754924429479888,1.2751778297983174],[0.3467507547479083,1.3464431633120233]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.4363844827550589,-0.6748000692795573,0.71338606911949],"aabb_xy":[[-0.4963844832629118,-0.7316468029654786],[-0.37638448224720594,-0.617953335593636]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.41993481164894364,1.7275087674844962,0.71338606911949],"aabb_xy":[[0.38243481147707165,1.6948080321015888],[0.4574348118208155,1.7602095028674032]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.4876572653531107,-1.5570131575734272,0.71338606911949],"aabb_xy":[[-0.5516572674028426,-1.5971076406627351],[-0.42365726330337866,-1.5169186744841192]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.22205894824514127,0.14718061885227218,0.71338606911949],"aabb_xy":[[-0.2555381155061822,0.1137015054811652],[-0.18857978098410036,0.18065973222337922]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835115175903705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7587.png","name":"7587"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7587.png","name":"7587"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9905.png","name":"9905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3032.png","name":"3032"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9518.png","name":"9518"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8780.png","name":"8780"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":762.3204773175869,"rotation_z_degrees":27.34912758775863,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011183383337441427,0.009778741377404171,-0.017016266731191214]},{"name":"camera_2","offset_m":[-0.007260666121696043,0.0019950132981281996,-0.01924450802544518]},{"name":"camera_3","offset_m":[0.018280822093596116,-0.017784536483647546,-0.013947436466484522]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-4.534643570703245e-05,-0.0003749915396796695,0.001318104417385637],"end_effector_yaw_offset_degrees":0.11774311203216836},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005143005728612008,0.0008718115560710539,-0.0009667804772508202],"end_effector_yaw_offset_degrees":-0.17914121984925857},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017627306964623029,0.001469015234439995,-0.0013694976987810225],"end_effector_yaw_offset_degrees":-0.5089180399001139}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003322231945449292,0.0004169176933668736],"position_m":[0.20723222319454493,0.26721691769336686,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003012541351309207,0.003804496645773844],"position_m":[0.18678745864869079,0.06140449664577384,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016041899678266702,-0.0025547228316583313],"position_m":[0.3600041899678267,0.17604527716834167,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004924799123954926,0.002943762619522487],"position_m":[0.25642479912395494,-0.3624562373804775,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac03d9ce0090e10c3d592d0b2499d39ed465ba7c5586289f5d694b956b8cee43","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7587/tex_ceiling_textures_8780/tex_floor_textures_9518/tex_table_textures_9905/tex_wall_textures_3032","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":2469903241512274968,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":2469903241512274968,"visual_seed":2469903241512274968,"scene_id":"lab_003","finished_at":"2026-09-03T12:37:54"} +{"episode_id":"ep_000096","started_at":"2026-09-03T12:37:57","dimensions":{"distractor":{"count":20,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.5115852198086919,-1.5083933302543182,0.71338606911949],"aabb_xy":[[0.474085221233071,-1.521129625917876],[0.5490852183843126,-1.49565703459076]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.48744297521716473,0.9146417663559898,0.71338606911949],"aabb_xy":[[0.4234429735391674,0.8661243748766755],[0.5514429768951621,0.9631591578353039]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.6971950233524877,-1.0876662284556577,0.71338606911949],"aabb_xy":[[0.6796950899185041,-1.105166228375892],[0.7146949567864709,-1.070166228535423]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.6685092286478748,-2.325902649785355,0.71338606911949],"aabb_xy":[[-0.6851863646409703,-2.3426025737592853],[-0.6518320926547793,-2.3092027258114247]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.4027281689981488,0.7087779371140779,0.71338606911949],"aabb_xy":[[0.39568785906461185,0.6287779377144065],[0.40976847893168583,0.7887779365137494]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.5199391242566749,-2.5771132151795837,0.71338606911949],"aabb_xy":[[0.5135253106134898,-2.5835230354272514],[0.5263529378998597,-2.570703394931915]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.3094799037267368,1.1179069293557378,0.71338606911949],"aabb_xy":[[-0.32194726183647243,1.1054416047224143],[-0.29701254561700113,1.1303722539890613]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.2199493202474262,1.4651391053005836,0.71338606911949],"aabb_xy":[[0.1874876193654987,1.4350062731856807],[0.2524110211293536,1.495271937415486]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.10737271048699903,0.38096971654571954,0.71338606911949],"aabb_xy":[[-0.15737271177083897,0.3309908621550974],[-0.05737270920315906,0.4309485709363416]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.2653079739375569,-0.827787325898385,0.71338606911949],"aabb_xy":[[-0.3153079749566922,-0.864253541636213],[-0.2153079729184217,-0.7913211101605572]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.013078393933908083,-1.3193581660834643,0.71338606911949],"aabb_xy":[[-0.03599410681895799,-1.342262463219888],[0.009837318951141817,-1.296453868947041]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.5964316589564831,0.8860195457662718,0.71338606911949],"aabb_xy":[[-0.6119874283667485,0.8704691125218649],[-0.5808758895462179,0.9015699790106793]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.31880025086285946,-1.353185685606744,0.71338606911949],"aabb_xy":[[-0.35326259826100115,-1.3876795680045662],[-0.28433790346471755,-1.3186918032089208]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.553503731515629,-0.34148512279680965,0.71338606911949],"aabb_xy":[[-0.5910037318078039,-0.34552659819741327],[-0.5160037312234542,-0.337443647396206]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.6762527821182529,0.6451007157037814,0.71338606911949],"aabb_xy":[[0.668970465741589,0.5551007120942721],[0.6835350984949163,0.7351007193132901]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[0.10800533938556356,1.547065457180651,0.71338606911949],"aabb_xy":[[0.0858328124089127,1.5248897900245277],[0.13017786636221437,1.5692411243367739]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.5842983530111634,1.073379608904078,0.71338606911949],"aabb_xy":[[0.5798677236563233,1.0679312371693956],[0.5887289823660037,1.0788279806387606]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.5575501231429013,-1.7200314542408655,0.71338606911949],"aabb_xy":[[-0.6215501253633083,-1.764404538366154],[-0.4935501209224943,-1.6756583701155774]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.6715051362922657,-1.9445506087421904,0.71338606911949],"aabb_xy":[[0.6583538903209764,-1.9695506084988772],[0.6846563822635551,-1.9195506089855041]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.5653225171614344,1.4162028337820272,0.71338606911949],"aabb_xy":[[0.5175163495476658,1.3512028310749682],[0.6131286847752031,1.4812028364890861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6778267518264117,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4572.png","name":"4572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4572.png","name":"4572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1979.png","name":"1979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2809.png","name":"2809"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":727.2704274310394,"rotation_z_degrees":206.72168636740187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010868154435703374,0.008907605587135464,0.01823996240012511]},{"name":"camera_2","offset_m":[-0.0001912325171194336,0.018228064234769897,0.0036852723539920265]},{"name":"camera_3","offset_m":[-0.01256288344452059,-0.0030398207508188606,0.004296482982823337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006804939350239319,0.00016052502219476156,0.0009325663208258317],"end_effector_yaw_offset_degrees":-0.7195632975407715},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015959577090609947,-0.0016794239593098666,0.0012978872740679781],"end_effector_yaw_offset_degrees":0.6465754325240791},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012284508755562897,-0.0013120523382575606,9.734643297306745e-05],"end_effector_yaw_offset_degrees":0.30991155605155196}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017839085687524183,0.001833844209905922],"position_m":[0.2051160914312476,0.2686338442099059,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0033802352389560664,0.0020732244514789196],"position_m":[0.19318023523895606,0.05967322445147892,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002873461360224207,-0.0006580558298325901],"position_m":[0.35868734613602243,0.17794194417016743,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002708518490215627,0.001498645368723013],"position_m":[0.24879148150978436,-0.363901354631277,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d6d37278c262b93ef20407cb6c16d5eb80a3d711c3a6b8f4ca32be557feb56fd","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4572/tex_ceiling_textures_2809/tex_floor_textures_6255/tex_table_textures_1979/tex_wall_textures_9709","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":7165226291918396566,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":7165226291918396566,"visual_seed":7165226291918396566,"scene_id":"lab_003","finished_at":"2026-09-03T12:40:47"} +{"episode_id":"ep_000097","started_at":"2026-09-03T12:40:50","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.053452463805057415,-2.1078422466737754,0.71338606911949],"aabb_xy":[[0.035776833216459074,-2.125522462953178],[0.07112809439365574,-2.0901620303943726]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.2917464256921506,0.16537039875412995,0.71338606911949],"aabb_xy":[[-0.3099522493533983,0.15434499817213834],[-0.27354060203090297,0.17639579933612162]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.08326696764841546,-1.9651819746389978,0.71338606911949],"aabb_xy":[[-0.13826017898555223,-2.020181974977792],[-0.028273756311278715,-1.9101819743002044]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.39392799071229995,1.5494052896999206,0.71338606911949],"aabb_xy":[[-0.40981248397762504,1.5350523494010966],[-0.37804349744697474,1.5637582299987447]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.1190086307847611,1.329035080323567,0.71338606911949],"aabb_xy":[[0.11487277445206091,1.29153508087921],[0.1231444871174613,1.366535079767924]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.5444891013036411,0.4439068989117483,0.71338606911949],"aabb_xy":[[-0.552525436004926,0.43586877960733145],[-0.5364527666023563,0.451945018216165]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.2965372481017309,-2.1846203044886296,0.71338606911949],"aabb_xy":[[0.26207490070358896,-2.2191141868864515],[0.33099959549987257,-2.150126422090806]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.0068895679506800755,1.0892741314154684,0.71338606911949],"aabb_xy":[[-0.010120529339370576,1.0731396429171944],[0.023899665240730728,1.1054086199137423]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.682311862411207,-0.5947493193950117,0.71338606911949],"aabb_xy":[[0.6544668256305999,-0.6255338181333234],[0.7101568991918141,-0.5639648206567001]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.6234276006799151,-2.396529481686331,0.71338606911949],"aabb_xy":[[-0.6584276006564108,-2.405994097733948],[-0.5884276007034192,-2.387064865638714]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.3213053451589394,-1.1529413357679654,0.71338606911949],"aabb_xy":[[-0.38530534158626134,-1.200110959590062],[-0.25730534873161753,-1.1057717119458692]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.1852675430187669,0.8760143576015942,0.71338606911949],"aabb_xy":[[0.14877172239148811,0.8395304151748365],[0.2217633636460456,0.9124983000283516]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.24576812754600075,-2.0069058611718384,0.71338606911949],"aabb_xy":[[-0.2696043451866058,-2.0969058619803254],[-0.2219319099053957,-1.9169058603633524]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.6483946560518021,-0.8438607595281853,0.71338606911949],"aabb_xy":[[0.6140783788771842,-0.893860759501363],[0.6827109332264201,-0.7938607595550076]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.6185301061858814,-1.6761501115699917,0.71338606911949],"aabb_xy":[[-0.6683468856507162,-1.7261501100542949],[-0.5687133267210467,-1.6261501130856881]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.2805414850961361,-1.0086739736319486,0.71338606911949],"aabb_xy":[[0.23054148645021488,-1.058593517291411],[0.3305414837420573,-0.9587544299724862]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.37562637711876246,0.5220041552902028,0.71338606911949],"aabb_xy":[[0.3650588974606634,0.5114591251771943],[0.3861938567768614,0.5325491854032114]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.2991220875971844,1.3395792622365046,0.71338606911949],"aabb_xy":[[0.23512208430747625,1.296244343232587],[0.36312209088689246,1.3829141812404222]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.5236433689266988,-1.251252629157915,0.71338606911949],"aabb_xy":[[-0.5876433675132712,-1.2982595925574236],[-0.45964337034012626,-1.2042456657584062]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.20919093791587917,-2.2381170319322203,0.71338606911949],"aabb_xy":[[-0.25446955279702843,-2.3021170312804036],[-0.16391232303472988,-2.174117032584036]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[0.337679551611513,-2.522730285978476,0.71338606911949],"aabb_xy":[[0.30521785072958546,-2.5528631180933785],[0.3701412524934404,-2.492597453863573]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[0.41843200773832545,-1.224212947780031,0.71338606911949],"aabb_xy":[[0.39591831591486815,-1.2942129483810383],[0.44094569956178253,-1.1542129471790232]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.16804569402044778,-2.5137973033963825,0.71338606911949],"aabb_xy":[[0.1479872824072075,-2.5338623903055395],[0.18810410563368807,-2.4937322164872247]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.22698745578507673,0.7001711662794379,0.71338606911949],"aabb_xy":[[0.19198745588905788,0.6917969307674979],[0.2619874556810956,0.7085454017913778]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[-0.27971816971331576,0.36634284737615497,0.71338606911949],"aabb_xy":[[-0.34971817131559524,0.35291005417449733],[-0.20971816811103627,0.3797756405778125]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.5058920671625533,-1.1078596582731406,0.71338606911949],"aabb_xy":[[-0.5185188544497495,-1.1174057319747133],[-0.49326527987535684,-1.0983135845715675]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.26933486597210543,-1.5818429799142992,0.71338606911949],"aabb_xy":[[-0.2844371674331234,-1.5969445015453605],[-0.2542325645110872,-1.566741458283237]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.41400610893000644,-0.6242199565512232,0.71338606911949],"aabb_xy":[[0.36401127600206484,-0.6742199554464667],[0.46400094185794805,-0.5742199576559797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679297281019945,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/218.png","name":"218"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/218.png","name":"218"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5122.png","name":"5122"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6250.png","name":"6250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8655.png","name":"8655"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":502.65147854661467,"rotation_z_degrees":167.37121112506838,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019452026153683247,0.014159457430338234,0.01904575311175585]},{"name":"camera_2","offset_m":[-0.013723510797190133,-0.014853406806000438,-0.012033740381246303]},{"name":"camera_3","offset_m":[-0.016002470356936305,-0.0015488785299643572,-0.015476703912448344]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001276878006236921,0.0014403693806598725,0.000682947522720028],"end_effector_yaw_offset_degrees":0.04881778317546015},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00029851565492522826,0.0003897300650158621,0.0014161649454740655],"end_effector_yaw_offset_degrees":0.855537387832418},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013718871050714333,-0.0004277837889736019,-0.001886524921391473],"end_effector_yaw_offset_degrees":0.44313521909173614}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0046566959642289655,0.0036498614481438136],"position_m":[0.20224330403577104,0.2704498614481438,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0049604585597816855,-0.0007874908151179853],"position_m":[0.1848395414402183,0.05681250918488201,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004335150731439637,0.0035809986424666486],"position_m":[0.35406484926856036,0.18218099864246665,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003930326682256504,-0.0031318409391803336],"position_m":[0.2475696733177435,-0.36853184093918034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2f86947f767095a4d64457d96a764c8cb2006473a8226b5a7c14d8684da42d80","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_218/tex_ceiling_textures_8655/tex_floor_textures_1198/tex_table_textures_5122/tex_wall_textures_6250","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":6756829767477214463,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":6756829767477214463,"visual_seed":6756829767477214463,"scene_id":"lab_003","finished_at":"2026-09-03T12:43:40"} +{"episode_id":"ep_000098","started_at":"2026-09-03T12:43:43","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.5942529927367433,-0.4975160860715593,0.71338606911949],"aabb_xy":[[-0.6022464825320254,-0.5055142180120349],[-0.5862595029414613,-0.4895179541310837]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.563410000533272,1.3974860914548075,0.71338606911949],"aabb_xy":[[-0.643409997496311,1.320410449811034],[-0.48341000357023267,1.474561733098581]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.37377597774630034,-1.2567030235464174,0.71338606911949],"aabb_xy":[[0.32379174203812305,-1.306703022359913],[0.4237602134544775,-1.2067030247329218]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.653734507429057,-1.4991715762942275,0.71338606911949],"aabb_xy":[[-0.6912345080936357,-1.5148586342944494],[-0.6162345067644783,-1.483484518294005]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.01874878904327615,-0.43156723102377414,0.71338606911949],"aabb_xy":[[-0.030516975837933672,-0.5165672309289957],[-0.006980602248618626,-0.3465672311185526]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.47824983304991975,-1.4784489858768632,0.71338606911949],"aabb_xy":[[-0.48646437816560373,-1.4871255761745041],[-0.47003528793423577,-1.4697723955792215]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.302439764561952,0.695862763929119,0.71338606911949],"aabb_xy":[[0.2845706568074965,0.6820298559519081],[0.3203088723164075,0.70969567190633]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.13348704861821936,0.8977124335452964,0.71338606911949],"aabb_xy":[[-0.1512805555531358,0.8799126879494986],[-0.11569354168330293,0.915512179141094]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.27362681127560046,-0.47306805349255177,0.71338606911949],"aabb_xy":[[-0.2981404353726063,-0.4973326467945882],[-0.2491131871785946,-0.4488034601905153]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.5659382385332403,-0.5832369895503167,0.71338606911949],"aabb_xy":[[-0.6002351495509809,-0.617533875760258],[-0.5316413275154998,-0.5489401033403754]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.399724616392637,-0.45529335423121564,0.71338606911949],"aabb_xy":[[-0.41295556192731825,-0.468520773253215],[-0.38649367085795566,-0.44206593520921617]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.4884840163777183,0.35352303909366034,0.71338606911949],"aabb_xy":[[-0.499389792465281,0.2735230426948312],[-0.47757824029015555,0.4335230354924895]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.030704141236667537,-1.7635548562776333,0.71338606911949],"aabb_xy":[[-0.03429585986927575,-1.7885202293457616],[0.09570414234261082,-1.738589483209505]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.010403608448414148,-1.3307538610415575,0.71338606911949],"aabb_xy":[[-0.09540360714048879,-1.3627397244364363],[0.0745963902436605,-1.2987679976466786]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.2559448022962176,-1.5697089833779765,0.71338606911949],"aabb_xy":[[-0.278444801819925,-1.5922049308285973],[-0.2334448027725102,-1.5472130359273557]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.5332117498603588,-0.68070859482755,0.71338606911949],"aabb_xy":[[0.4532117518795738,-0.6883101357894019],[0.6132117478411439,-0.673107053865698]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.18766228530640627,1.6328953975366924,0.71338606911949],"aabb_xy":[[-0.1955855655451546,1.6103953972986893],[-0.17973900506765794,1.655395397774696]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.6211622840333211,-1.7023987254579467,0.71338606911949],"aabb_xy":[[0.5836622836850932,-1.7141901210390302],[0.6586622843815487,-1.6906073298768631]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.17251297125714038,-1.3243942113178464,0.71338606911949],"aabb_xy":[[0.13501297283374003,-1.3375584252856765],[0.21001296968054073,-1.3112299973500154]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.13962578108883505,-0.7422754832410421,0.71338606911949],"aabb_xy":[[0.11773603349989427,-0.8322754805302912],[0.16151552867777585,-0.652275485951793]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.10519244892935498,-2.217489918989773,0.71338606911949],"aabb_xy":[[-0.11460992349921773,-2.2269060961274922],[-0.09577497435949223,-2.208073741852054]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.564467556747341,-2.264856035441112,0.71338606911949],"aabb_xy":[[0.5528985760004044,-2.2898560355580435],[0.5760365374942775,-2.23985603532418]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.3472231158965482,-2.5075911004749436,0.71338606911949],"aabb_xy":[[0.2832231186108996,-2.5490978194277876],[0.4112231131821969,-2.4660843815220996]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[0.47553569234596527,-1.524499515368313,0.71338606911949],"aabb_xy":[[0.4399065364460055,-1.560132182125166],[0.511164848245925,-1.48886684861146]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.61072710045813,1.6814342451823534,0.71338606911949],"aabb_xy":[[-0.6282270338921133,1.6639342452621184],[-0.5932271670241466,1.6989342451025875]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.1441169422931875,0.7968384191873072,0.71338606911949],"aabb_xy":[[-0.20911694085026036,0.7670858857734246],[-0.07911694373611469,0.8265909526011899]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.3618928034974817,0.8414736314672373,0.71338606911949],"aabb_xy":[[-0.41187022036273524,0.7914736299779885],[-0.31191538663222806,0.8914736329564856]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.5617477744552497,0.7086007311838394,0.71338606911949],"aabb_xy":[[-0.5900774844037899,0.7041399889901222],[-0.5334180645067095,0.7130614733775563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791774832476956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/104.png","name":"104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/104.png","name":"104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6792.png","name":"6792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":698.7244181708678,"rotation_z_degrees":144.89950443471818,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004224560283921184,-0.011383833197518319,-0.008575158949299437]},{"name":"camera_2","offset_m":[0.007671096510280317,-0.006725457674096474,-0.019270367672725986]},{"name":"camera_3","offset_m":[0.00969857187745081,-0.01753003388617973,0.01409890533115277]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012671767616026825,-0.0015548884536951317,-0.0002150801063124175],"end_effector_yaw_offset_degrees":0.2729439909415916},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004905842515828135,0.0011473504148136041,0.00015231563538384198],"end_effector_yaw_offset_degrees":-0.4791784248276656},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014166054744400047,-0.0009907510514952796,-0.0008777311523787818],"end_effector_yaw_offset_degrees":-0.6257936721748916}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004940678189830252,0.00039085299219961643],"position_m":[0.21184067818983024,0.2671908529921996,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020402612022234223,0.0019813854265457913],"position_m":[0.18775973879777658,0.05958138542654579,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008201603735264688,0.0012044905066075336],"position_m":[0.35922016037352644,0.17980449050660754,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018172947285204277,0.00038352196043029557],"position_m":[0.24968270527147957,-0.3650164780395697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e192c0b50e4daf8a3551ab653f7a08731c301d57cd7257f2a394e7be3ef2719","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_104/tex_ceiling_textures_8109/tex_floor_textures_6792/tex_table_textures_1718/tex_wall_textures_2808","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":1951275933200801651,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":1951275933200801651,"visual_seed":1951275933200801651,"scene_id":"lab_003","finished_at":"2026-09-03T12:46:54"} +{"episode_id":"ep_000099","started_at":"2026-09-03T12:46:58","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.20642046622637245,-1.635116006866098,0.71338606911949],"aabb_xy":[[0.19839419559574645,-1.6438675018434505],[0.21444673685699844,-1.6263645118887453]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.5574017705860153,-1.5452853226672032,0.71338606911949],"aabb_xy":[[0.5152173564251845,-1.6092853229444144],[0.599586184746846,-1.481285322389992]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.4748998261880686,-2.039070667216781,0.71338606911949],"aabb_xy":[[-0.5298930375252053,-2.0940706675555747],[-0.41990661485093184,-1.9840706668779875]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.40514803451041215,0.4868890300075437,0.71338606911949],"aabb_xy":[[0.3822323216253623,0.4639847328711203],[0.4280637473954621,0.5097933271439673]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.38140102524725317,1.4610451422394788,0.71338606911949],"aabb_xy":[[-0.3888134807886416,1.455193931817851],[-0.37398856970586464,1.466896352661107]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[0.6589980733556773,-1.9687678627745964,0.71338606911949],"aabb_xy":[[0.6364980733455289,-1.9828640824141999],[0.6814980733658255,-1.9546716431349933]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.5671425803125519,-2.3465400754567867,0.71338606911949],"aabb_xy":[[-0.5727242519466806,-2.3590400752745615],[-0.5615609086784232,-2.334040075639011]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.45268394543395707,-0.30352978150375653,0.71338606911949],"aabb_xy":[[-0.5026839470954517,-0.35352822375945914],[-0.40268394377246225,-0.2535313392480537]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.17552246371771896,-2.0717714252815034,0.71338606911949],"aabb_xy":[[0.09552246631412552,-2.1517639964796857],[0.2555224611213123,-1.9917788540833203]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.0951933637368394,-0.9102329650037491,0.71338606911949],"aabb_xy":[[0.0701933641851009,-0.9203754488688837],[0.12019336328857787,-0.9000904811386142]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.08147895473919797,1.5410653157611747,0.71338606911949],"aabb_xy":[[0.0314789537200627,1.504599100023347],[0.13147895575833324,1.5775315314990028]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.15358527097346653,0.3012771409233297,0.71338606911949],"aabb_xy":[[-0.16300274554332925,0.29186096378561066],[-0.14416779640360375,0.3106933180610487]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.42822136450658665,-1.8946319503697624,0.71338606911949],"aabb_xy":[[0.39118725507852686,-1.9290091577034714],[0.46525547393464634,-1.8602547430360525]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.5863590480456491,0.3786537573834634,0.71338606911949],"aabb_xy":[[-0.6413590472222385,0.32366408260850565],[-0.5313590488690595,0.43364343215842094]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.24298225204726154,-2.3008958850986643,0.71338606911949],"aabb_xy":[[-0.2882608669284108,-2.364895884446848],[-0.19770363716611228,-2.2368958857504806]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.021654022604302936,1.0503973009629486,0.71338606911949],"aabb_xy":[[-0.030351984895018228,1.0382723266554739],[-0.012956060313587647,1.0625222752704233]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.18160051178214964,-2.2163443137016805,0.71338606911949],"aabb_xy":[[0.16695710622811666,-2.2310030333584643],[0.19624391733618263,-2.201685594044896]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.054751831923972816,-1.318798243205964,0.71338606911949],"aabb_xy":[[-0.010248168110329914,-1.365498919886291],[0.11975183195827555,-1.2720975665256364]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.37174895523072005,0.6090684873657581,0.71338606911949],"aabb_xy":[[-0.3942489557427606,0.5865766290003596],[-0.3492489547186794,0.6315603457311563]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.2214919746057762,-0.7712324302194542,0.71338606911949],"aabb_xy":[[0.21092449494767715,-0.7817774603324628],[0.23205945426387517,-0.7606874001064456]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[0.5541309754094965,1.076184285289325,0.71338606911949],"aabb_xy":[[0.4901309731890896,1.0318112011640368],[0.6181309776299037,1.1205573694146134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812662921984065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5719.png","name":"5719"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5719.png","name":"5719"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4301.png","name":"4301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9674.png","name":"9674"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9119.png","name":"9119"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":598.9790764384059,"rotation_z_degrees":77.47067704632877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030956534149892342,0.01794837679098137,0.01642397531583047]},{"name":"camera_2","offset_m":[0.004164500300925661,0.007460325719236473,-0.012960133769696234]},{"name":"camera_3","offset_m":[0.015211198787460311,0.004179869814160634,0.01895947627192732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008544264933714094,-0.001462095115890199,-0.0004930534209872039],"end_effector_yaw_offset_degrees":0.29378553885204317},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00032849750798389765,0.0015463395634962135,-0.0015579726730019145],"end_effector_yaw_offset_degrees":-0.3190831401483376},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015894510992738825,-0.0015611593923568169,-0.000718371955148184],"end_effector_yaw_offset_degrees":0.8491149323347797}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_poo_00021","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001298559837847235,0.002005002379736334],"position_m":[0.20560144016215276,0.2688050023797363,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00043499953444488346,-0.0032247344896394027],"position_m":[0.1893650004655551,0.05437526551036059,0.7774145980897915],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046155974835306425,0.0028097218767528806],"position_m":[0.35378440251646937,0.1814097218767529,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00046930335965521784,-0.0013870978392784938],"position_m":[0.2510306966403448,-0.3667870978392785,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"81b17f999556c05a1d86e411f77219175e193bf749c09c02165273fe1fdc711e","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5719/tex_ceiling_textures_9119/tex_floor_textures_9748/tex_table_textures_4301/tex_wall_textures_9674","seeds":{"action_seed":4436174054177433429,"physical_seed":2929340259737324953,"visual_seed":4259646680642456553,"layout_id":"layout_00021","physical_randomization_enabled":true},"episode_seed":4259646680642456553,"visual_seed":4259646680642456553,"scene_id":"lab_003","finished_at":"2026-09-03T12:49:21"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f45808873e6a74d29a6c33b3043176d881dfa662 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_poo_00021 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at home. + layout_id: layout_00021 + reproducibility: + enabled: true + layout_id: layout_00021 + action_seed: 4436174054177433429 + step_seeds: + - 541293577389107883 + - 2316932217596112086 + - 8358960574803703126 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1898 + - 0.1898 + 'y': + - 0.0576 + - 0.0576 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2069 + - 0.2069 + 'y': + - 0.2668 + - 0.2668 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3584 + - 0.3584 + 'y': + - 0.1786 + - 0.1786 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2515 + - 0.2515 + 'y': + - -0.3654 + - -0.3654 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4bb410fb465c8381e986f74068b8251afb47f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2361185851688702, + 0.2658880323650744, + 1.0458303153963546 + ], + "current_z": 1.0458303153963546, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1892436887784995, + "gripper_z": 1.0492517533811925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23093761284805223, + 0.2609621566380932, + 1.0492517533811925 + ], + "object_minus_gripper": [ + 0.0051809723208179614, + 0.0049258757269812214, + -0.0034214379848378496 + ], + "object_to_gripper_xy": 0.007148896828654379, + "object_to_gripper_z": -0.0034214379848378496, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2361185851688702, + 0.24131577145335414, + 1.0458303153963546 + ], + "finger_b": [ + 0.22424852442600313, + 0.2658880323650744, + 1.0458303153963546 + ], + "finger_midpoint": [ + 0.23018355479743666, + 0.2536019019092143, + 1.0458303153963546 + ], + "object_minus_finger_midpoint": [ + 0.005935030371433531, + 0.012286130455860134, + 0.0 + ], + "finger_gap": 0.027289088448554114, + "fingertip_max_gap": 0.09209671708135334, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013644544224277057, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0458303153963546, + "object_top_z": 1.092134992307821, + "finger_top_clearance": 0.046304676911466336, + "fingertip_min_top_clearance": 0.0138914030734399, + "object_projection_between_fingers": 0.8107970842655525, + "object_to_finger_line_xy": 0.010688309730886287, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854835854067667, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.762241739143114, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23549581378912615, + 0.2654384021079603, + 1.2384913627646363 + ], + "held_position": [ + 0.24097156961853233, + 0.26997968726151406, + 1.2349704437874303 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007937508626339452, + "max_held_gripper_dist": 0.007940374571060956, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003520918977206078, + "max_held_gripper_z_dist": 0.003594055747361935, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08680454726273554, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24097156961853233, + 0.24460571869433057, + 1.2349704437874303 + ], + "held_grasp_finger_b": [ + 0.23076907120956464, + 0.26997968726151406, + 1.2349704437874303 + ], + "held_grasp_midpoint": [ + 0.23587032041404848, + 0.2572927029779223, + 1.2349704437874303 + ], + "held_grasp_object_position": [ + 0.24097156961853233, + 0.26997968726151406, + 1.2349704437874303 + ], + "held_grasp_finger_gap": 0.027348295278378947, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024608587663511622, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06848478440665098, + -0.9973727010992385, + 0.023612060621299835 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004231317935532601, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032197215230107615, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.197777764674612, + 0.27305494086225335, + 0.7565876603244674 + ], + "target_position": [ + 0.21145838905924844, + 0.2633688468083548, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01676245511774685, + "xy_threshold": 0.08, + "gripper_dist": 0.206268428576565, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565876603244674, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576281517232922, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524240478455793, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17889887393644743, + "release_required_pad_clearance": 0.052621202392278965, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3013110409854926, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c6666fab191e88d53660849c83f21f7c3913705d9cc837aa762dfecd0710f0cc", + "visual_seed": 2813477357005999131, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5208c35697f9b97e815306c75feb09cdd604acae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23022206151395586, + 0.2707833281286928, + 1.0454240558126517 + ], + "current_z": 1.0454240558126517, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1888374887994414, + "gripper_z": 1.048907440708886, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22508278371421755, + 0.26585200920284113, + 1.048907440708886 + ], + "object_minus_gripper": [ + 0.005139277799738301, + 0.004931318925851691, + -0.0034833848962343428 + ], + "object_to_gripper_xy": 0.007122505363377835, + "object_to_gripper_z": -0.0034833848962343428, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23022206151395586, + 0.24627155365363937, + 1.0454240558126517 + ], + "finger_b": [ + 0.21830679036969836, + 0.2707833281286928, + 1.0454240558126517 + ], + "finger_midpoint": [ + 0.2242644259418271, + 0.2585274408911661, + 1.0454240558126517 + ], + "object_minus_finger_midpoint": [ + 0.00595763557212875, + 0.012255887237526741, + 0.0 + ], + "finger_gap": 0.02725437165588408, + "fingertip_max_gap": 0.09162577546018358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013627185827942052, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0454240558126517, + "object_top_z": 1.0915317587929076, + "finger_top_clearance": 0.046107702980255905, + "fingertip_min_top_clearance": 0.013832310894076754, + "object_projection_between_fingers": 0.8088670726493751, + "object_to_finger_line_xy": 0.010716241885330598, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831288773009179, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5913015341455004, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22950753910077137, + 0.27033868798509, + 1.2364009106573943 + ], + "held_position": [ + 0.23492945074823882, + 0.2748765445871526, + 1.2327977411475848 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007935496138884302, + "max_held_gripper_dist": 0.007939114301567766, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003603169509809545, + "max_held_gripper_z_dist": 0.0036776327381422558, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08659504897138648, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23492945074823882, + 0.2495418459264516, + 1.2327977411475848 + ], + "held_grasp_finger_b": [ + 0.2247765644068648, + 0.2748765445871526, + 1.2327977411475848 + ], + "held_grasp_midpoint": [ + 0.2298530075775518, + 0.2622091952568021, + 1.2327977411475848 + ], + "held_grasp_object_position": [ + 0.23492945074823882, + 0.2748765445871526, + 1.2327977411475848 + ], + "held_grasp_finger_gap": 0.02729337020760508, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458858420527242, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06725095834330819, + -0.9975005379038224, + 0.021679148587796182 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004222241080093415, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032223141526766474, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19044449181426223, + 0.2621473822608205, + 0.7566022572076498 + ], + "target_position": [ + 0.20560144016215276, + 0.2688050023797363, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016554666679471794, + "xy_threshold": 0.08, + "gripper_dist": 0.2062282016731456, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566022572076498, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586552289785453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08865049569588808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17507363118574631, + "release_required_pad_clearance": 0.05432524784794404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.589277329227521, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81b17f999556c05a1d86e411f77219175e193bf749c09c02165273fe1fdc711e", + "visual_seed": 4259646680642456553, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e143a9f5731235833bd13ff5ea99d17a03d3faaa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22929936862112998, + 0.26952255215727844, + 1.046497259695349 + ], + "current_z": 1.046497259695349, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18991075228678345, + "gripper_z": 1.0502837994047105, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22383202425145662, + 0.26454698654877307, + 1.0502837994047105 + ], + "object_minus_gripper": [ + 0.00546734436967336, + 0.004975565608505372, + -0.0037865397093614916 + ], + "object_to_gripper_xy": 0.007392435835442904, + "object_to_gripper_z": -0.0037865397093614916, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22929936862112998, + 0.24467683804687, + 1.046497259695349 + ], + "finger_b": [ + 0.2174412363849311, + 0.26952255215727844, + 1.046497259695349 + ], + "finger_midpoint": [ + 0.22337030250303053, + 0.2570996951020742, + 1.046497259695349 + ], + "object_minus_finger_midpoint": [ + 0.0059290661180994575, + 0.01242285705520424, + 0.0 + ], + "finger_gap": 0.027530434246254253, + "fingertip_max_gap": 0.09127862290929933, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013765217123127144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046497259695349, + "object_top_z": 1.0921931915690095, + "finger_top_clearance": 0.0456959318736605, + "fingertip_min_top_clearance": 0.013708779562098117, + "object_projection_between_fingers": 0.8144732850602484, + "object_to_finger_line_xy": 0.010701747774432674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813931145464967, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.37107856313685356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22836031134758922, + 0.26887661451554434, + 1.2381767429988397 + ], + "held_position": [ + 0.23405021830206024, + 0.2734967925653839, + 1.2342727102014162 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00830436984039824, + "max_held_gripper_dist": 0.00830703834079252, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0039040327974235733, + "max_held_gripper_z_dist": 0.003982543581416698, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08724962870814995, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23405021830206024, + 0.2480306230679777, + 1.2342727102014162 + ], + "held_grasp_finger_b": [ + 0.2236999311689921, + 0.2734967925653839, + 1.2342727102014162 + ], + "held_grasp_midpoint": [ + 0.22887507473552615, + 0.2607637078166808, + 1.2342727102014162 + ], + "held_grasp_object_position": [ + 0.23405021830206024, + 0.2734967925653839, + 1.2342727102014162 + ], + "held_grasp_finger_gap": 0.02748916573138547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024908753587183304, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05042437204246686, + -0.9986056332075263, + 0.015626004937880356 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004530962821461761, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03222394144307494, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20136405289940706, + 0.2712317544729427, + 0.7565901245038689 + ], + "target_position": [ + 0.20432273915706417, + 0.2679601522490871, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0044110322468086565, + "xy_threshold": 0.08, + "gripper_dist": 0.21449938819319714, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565901245038689, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552804513120173, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08848113462502748, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18497053256302087, + "release_required_pad_clearance": 0.05424056731251374, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4894558026927203, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3049b777307b7b103987b1753c8a928be464da9d29ba1bce0ad40930f8e96c3", + "visual_seed": 5204821261627821114, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..552fc6a6b8972f34e743aa2e13bd55af22549540 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23133859171721063, + 0.2734945997554178, + 1.0449935279186295 + ], + "current_z": 1.0449935279186295, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.18840708011470864, + "gripper_z": 1.0486666729145806, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2255421851026954, + 0.26833453300066834, + 1.0486666729145806 + ], + "object_minus_gripper": [ + 0.0057964066145152204, + 0.005160066754749448, + -0.003673144995951061 + ], + "object_to_gripper_xy": 0.0077604522132583426, + "object_to_gripper_z": -0.003673144995951061, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23133859171721063, + 0.24834307487158777, + 1.0449935279186295 + ], + "finger_b": [ + 0.2193194335323415, + 0.2734945997554178, + 1.0449935279186295 + ], + "finger_midpoint": [ + 0.22532901262477606, + 0.2609188373135028, + 1.0449935279186295 + ], + "object_minus_finger_midpoint": [ + 0.006009579092434575, + 0.012575762441914995, + 0.0 + ], + "finger_gap": 0.027875784606981504, + "fingertip_max_gap": 0.09267805443081165, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013937892303490747, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0449935279186295, + "object_top_z": 1.0911069220730418, + "finger_top_clearance": 0.04611339415441229, + "fingertip_min_top_clearance": 0.013834018246323703, + "object_projection_between_fingers": 0.8140937880382682, + "object_to_finger_line_xy": 0.010844543406814592, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048839027215405825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9454493595237952, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22987092125754593, + 0.27302406708106397, + 1.2373077889694541 + ], + "held_position": [ + 0.23586085327215942, + 0.27788077770392, + 1.2335320754758383 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008586206147055098, + "max_held_gripper_dist": 0.00858742015745744, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037757134936158288, + "max_held_gripper_z_dist": 0.003862527152400208, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08683075665431872, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23586085327215942, + 0.25226136909087077, + 1.2335320754758383 + ], + "held_grasp_finger_b": [ + 0.22503716259586265, + 0.27788077770392, + 1.2335320754758383 + ], + "held_grasp_midpoint": [ + 0.23044900793401102, + 0.2650710733973954, + 1.2335320754758383 + ], + "held_grasp_object_position": [ + 0.23586085327215942, + 0.27788077770392, + 1.2335320754758383 + ], + "held_grasp_finger_gap": 0.027811982625094076, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025277273995879448, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.030152715323600334, + -0.9993844138365993, + 0.017933408462724842 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005028454258315968, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223522430415797, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19856938166822002, + 0.27139003488088903, + 0.7565890339454687 + ], + "target_position": [ + 0.2061396830221162, + 0.26816522101272, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008228541005131918, + "xy_threshold": 0.08, + "gripper_dist": 0.21185190094948755, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565890339454687, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555158397277548, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0918724151416511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18285340478403933, + "release_required_pad_clearance": 0.055936207570825555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.083200858824278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "52d6e24135d5a4f5e20c998443149e497a8fcee78e98bb3c5a60068d22f1aed3", + "visual_seed": 5689050224559076225, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ebc72dcae44228f72ec80f958bd994e090f8ff0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23565705375597046, + 0.269967953500264, + 1.045901746127028 + ], + "current_z": 1.045901746127028, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18931529832310712, + "gripper_z": 1.0489834643837324, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23052402627910182, + 0.26503625578592316, + 1.0489834643837324 + ], + "object_minus_gripper": [ + 0.00513302747686864, + 0.004931697714340821, + -0.0030817182567044465 + ], + "object_to_gripper_xy": 0.007118259156839046, + "object_to_gripper_z": -0.0030817182567044465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23565705375597046, + 0.24553569490536872, + 1.045901746127028 + ], + "finger_b": [ + 0.2236400377782121, + 0.269967953500264, + 1.045901746127028 + ], + "finger_midpoint": [ + 0.22964854576709126, + 0.25775182420281634, + 1.045901746127028 + ], + "object_minus_finger_midpoint": [ + 0.006008507988879197, + 0.012216129297447642, + 0.0 + ], + "finger_gap": 0.02722763179304313, + "fingertip_max_gap": 0.09136350349751432, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013613815896521582, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045901746127028, + "object_top_z": 1.0917864534243265, + "finger_top_clearance": 0.045884707297298544, + "fingertip_min_top_clearance": 0.013765412189189563, + "object_projection_between_fingers": 0.8052069133227898, + "object_to_finger_line_xy": 0.010783267679659104, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818175174875716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.45377227733144465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23512845665535806, + 0.26933083824716636, + 1.239770375071792 + ], + "held_position": [ + 0.2405844460324901, + 0.27384423495906157, + 1.2366039882475468 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007756582719411846, + "max_held_gripper_dist": 0.007763506775557975, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003166386824245304, + "max_held_gripper_z_dist": 0.003243886074913327, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08682196737159467, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2405844460324901, + 0.24849208884020754, + 1.2366039882475468 + ], + "held_grasp_finger_b": [ + 0.23038321190847597, + 0.27384423495906157, + 1.2366039882475468 + ], + "held_grasp_midpoint": [ + 0.23548382897048303, + 0.26116816189963454, + 1.2366039882475468 + ], + "held_grasp_object_position": [ + 0.2405844460324901, + 0.27384423495906157, + 1.2366039882475468 + ], + "held_grasp_finger_gap": 0.027327577471936218, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02451054238253113, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07507236091108013, + -0.9970111798002721, + 0.01824412180692536 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004141259153914511, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217912304464879, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19613909183201012, + 0.2787991051129551, + 0.7565860273323475 + ], + "target_position": [ + 0.21104647814140834, + 0.26692987699772014, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019055412423485282, + "xy_threshold": 0.08, + "gripper_dist": 0.208338840480128, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565860273323475, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07674746155424401, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547789264465337, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18126632084453406, + "release_required_pad_clearance": 0.05273894632232669, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5278580416851806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "786ea5922e37542f9fff194e0bc22ad59ede39ac6dcbde4288126a5e79b9e625", + "visual_seed": 3235262282833567510, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..394fc36e777cf7dee0cf93fed35d250d10228574 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22756363089656534, + 0.268080591009404, + 1.0437998888018287 + ], + "current_z": 1.0437998888018287, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18721338139326316, + "gripper_z": 1.0475426517549358, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22226175810543236, + 0.2631249655751834, + 1.0475426517549358 + ], + "object_minus_gripper": [ + 0.005301872791132978, + 0.004955625434220623, + -0.0037427629531070483 + ], + "object_to_gripper_xy": 0.007257277625780244, + "object_to_gripper_z": -0.0037427629531070483, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22756363089656534, + 0.24335300028345386, + 1.0437998888018287 + ], + "finger_b": [ + 0.21574134781092547, + 0.268080591009404, + 1.0437998888018287 + ], + "finger_midpoint": [ + 0.2216524893537454, + 0.2557167956464289, + 1.0437998888018287 + ], + "object_minus_finger_midpoint": [ + 0.0059111415428199365, + 0.012363795362975105, + 0.0 + ], + "finger_gap": 0.027408395072807578, + "fingertip_max_gap": 0.09053788830070247, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013704197536403815, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437998888018287, + "object_top_z": 1.0891687161505443, + "finger_top_clearance": 0.04536882734871561, + "fingertip_min_top_clearance": 0.013610648204614684, + "object_projection_between_fingers": 0.8139475054660398, + "object_to_finger_line_xy": 0.01066595022479294, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776894415035124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1871924019075976, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22669000207756068, + 0.2676157273869958, + 1.2363154758681372 + ], + "held_position": [ + 0.23224422794274102, + 0.2722040937153099, + 1.2324610067457338 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008170646408932782, + "max_held_gripper_dist": 0.008173569162596931, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038544691224033922, + "max_held_gripper_z_dist": 0.003927735921024578, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08679070773561559, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23224422794274102, + 0.246787383235903, + 1.2324610067457338 + ], + "held_grasp_finger_b": [ + 0.22198768435537755, + 0.2722040937153099, + 1.2324610067457338 + ], + "held_grasp_midpoint": [ + 0.22711595614905927, + 0.2594957384756065, + 1.2324610067457338 + ], + "held_grasp_object_position": [ + 0.23224422794274102, + 0.2722040937153099, + 1.2324610067457338 + ], + "held_grasp_finger_gap": 0.027408134886443475, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02479923848195433, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.056124014599798835, + -0.9983540908865521, + 0.011798482753624825 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004409552538033476, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032224967322792945, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1980410807151206, + 0.26287622325380333, + 0.7565865251201138 + ], + "target_position": [ + 0.20268234182704412, + 0.26505476081745194, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005127117184664442, + "xy_threshold": 0.08, + "gripper_dist": 0.2135771312860498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865251201138, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589175596446653, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601743883034689, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1825757761556789, + "release_required_pad_clearance": 0.05300871941517345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0497732635324029, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "034e3bc33e2b7a974343a3ce2ab6838100b98bce4e0665666d3dbb403a29ea37", + "visual_seed": 5964816952760700591, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..939eef85476a0f18568aef51a21c4e2747c6c9b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22692930118021548, + 0.268980605868691, + 1.044563168464707 + ], + "current_z": 1.044563168464707, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18797666105614141, + "gripper_z": 1.0483394146360303, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22155437635124178, + 0.26405553224314676, + 1.0483394146360303 + ], + "object_minus_gripper": [ + 0.005374924828973698, + 0.0049250736255442296, + -0.0037762461713233275 + ], + "object_to_gripper_xy": 0.007290141777369582, + "object_to_gripper_z": -0.0037762461713233275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22692930118021548, + 0.24411278798253128, + 1.044563168464707 + ], + "finger_b": [ + 0.2152620731294486, + 0.268980605868691, + 1.044563168464707 + ], + "finger_midpoint": [ + 0.22109568715483202, + 0.25654669692561116, + 1.044563168464707 + ], + "object_minus_finger_midpoint": [ + 0.00583361402538346, + 0.01243390894307983, + 0.0 + ], + "finger_gap": 0.027468756375340454, + "fingertip_max_gap": 0.09326079342359903, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013734378187670208, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044563168464707, + "object_top_z": 1.0911581094107041, + "finger_top_clearance": 0.04659494094599714, + "fingertip_min_top_clearance": 0.01397848228379911, + "object_projection_between_fingers": 0.8195913409537583, + "object_to_finger_line_xy": 0.010562491378868244, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049130396711799515, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0704978102411133, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22597774627727318, + 0.26843474974421655, + 1.2388318609321443 + ], + "held_position": [ + 0.23156879985054224, + 0.2730392335580629, + 1.2349675734349306 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008209376901583937, + "max_held_gripper_dist": 0.008212737693046914, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003864287497213681, + "max_held_gripper_z_dist": 0.003937099302022684, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678807282774875, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23156879985054224, + 0.2476073665924404, + 1.2349675734349306 + ], + "held_grasp_finger_b": [ + 0.22121588349475635, + 0.2730392335580629, + 1.2349675734349306 + ], + "held_grasp_midpoint": [ + 0.2263923416726493, + 0.2603233000752517, + 1.2349675734349306 + ], + "held_grasp_object_position": [ + 0.23156879985054224, + 0.2730392335580629, + 1.2349675734349306 + ], + "held_grasp_finger_gap": 0.027458381861046023, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02499617688629353, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03937429899232585, + -0.9988970036949447, + 0.025582036434279476 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046832560587554755, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03229449769862876, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19243990067617936, + 0.2695413043864993, + 0.7565864726000935 + ], + "target_position": [ + 0.20201300706504094, + 0.2654323744193611, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01041766151337761, + "xy_threshold": 0.08, + "gripper_dist": 0.21061102804654236, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864726000935, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549383083498255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08779943103630981, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18199226315903871, + "release_required_pad_clearance": 0.05389971551815491, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.808884082825789, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2df686eac54079809218f18f56014af0bdbda960e647a5bd8d5a03dbd73a3334", + "visual_seed": 5590097615339012211, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1287520633e21e45cf4bb585d9ab5a124d81ec1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23487512267402474, + 0.27393898342645223, + 1.0460155246215839 + ], + "current_z": 1.0460155246215839, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1894290172130183, + "gripper_z": 1.049129127463105, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2296622690925281, + 0.26897933624090176, + 1.049129127463105 + ], + "object_minus_gripper": [ + 0.005212853581496646, + 0.004959647185550475, + -0.003113602841521068 + ], + "object_to_gripper_xy": 0.007195272244137894, + "object_to_gripper_z": -0.003113602841521068, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23487512267402474, + 0.2494078894320644, + 1.0460155246215839 + ], + "finger_b": [ + 0.22286923601518072, + 0.27393898342645223, + 1.0460155246215839 + ], + "finger_midpoint": [ + 0.22887217934460274, + 0.26167343642925833, + 1.0460155246215839 + ], + "object_minus_finger_midpoint": [ + 0.006002943329422, + 0.012265546997193899, + 0.0 + ], + "finger_gap": 0.027311460726707742, + "fingertip_max_gap": 0.09200781005948999, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013655730363353854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0460155246215839, + "object_top_z": 1.0921327970679837, + "finger_top_clearance": 0.04611727244639985, + "fingertip_min_top_clearance": 0.013835181733919955, + "object_projection_between_fingers": 0.806759291534049, + "object_to_finger_line_xy": 0.01078366100814457, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048503905029745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6531213775289689, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23432544753538878, + 0.2733507613083505, + 1.2387469108500366 + ], + "held_position": [ + 0.23984616931290945, + 0.277898224168435, + 1.2355362825830685 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007840020489596559, + "max_held_gripper_dist": 0.00784266858583268, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003210628266968163, + "max_held_gripper_z_dist": 0.0032905151827968826, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08679203491780468, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23984616931290945, + 0.2524945025343682, + 1.2355362825830685 + ], + "held_grasp_finger_b": [ + 0.22962884405382206, + 0.277898224168435, + 1.2355362825830685 + ], + "held_grasp_midpoint": [ + 0.23473750668336574, + 0.2651963633514016, + 1.2355362825830685 + ], + "held_grasp_object_position": [ + 0.23984616931290945, + 0.277898224168435, + 1.2355362825830685 + ], + "held_grasp_finger_gap": 0.02738143181630826, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024551647391662285, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07571283863507393, + -0.9969102344565177, + 0.02091770784933888 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004141098263764675, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03215081857135628, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19994474751612804, + 0.28104595285442746, + 0.7565870479698764 + ], + "target_position": [ + 0.21018716736906437, + 0.2716802618644792, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01387888079648437, + "xy_threshold": 0.08, + "gripper_dist": 0.20709690225067, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870479698764, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754638299770903, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08501671032911819, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18005858560420365, + "release_required_pad_clearance": 0.052508355164559095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08846931955860042, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e338c0bc3203af7c9766bfd63921446c1fe63697fe42aba1ebe6389c27199b1", + "visual_seed": 4556864173130238421, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d314cb9f37152ddc0f880a32c58fd0faf19c959b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_16_success.json @@ -0,0 +1,684 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2288651989325079, + 0.273632580956898, + 1.0443302101385095 + ], + "current_z": 1.0443302101385095, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18774364312529912, + "gripper_z": 1.047586890629787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22380027095375538, + 0.2687312808928606, + 1.047586890629787 + ], + "object_minus_gripper": [ + 0.00506492797875252, + 0.004901300064037439, + -0.003256680491277475 + ], + "object_to_gripper_xy": 0.007048137182808199, + "object_to_gripper_z": -0.003256680491277475, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2288651989325079, + 0.24925798481000583, + 1.0443302101385095 + ], + "finger_b": [ + 0.21687736732564133, + 0.273632580956898, + 1.0443302101385095 + ], + "finger_midpoint": [ + 0.22287128312907462, + 0.2614452828834519, + 1.0443302101385095 + ], + "object_minus_finger_midpoint": [ + 0.005993915803433281, + 0.012187298073446096, + 0.0 + ], + "finger_gap": 0.027163008742749406, + "fingertip_max_gap": 0.09227405876338987, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013581504371374703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443302101385095, + "object_top_z": 1.0906516211291881, + "finger_top_clearance": 0.04632141099067866, + "fingertip_min_top_clearance": 0.013896423297203581, + "object_projection_between_fingers": 0.8052284498539789, + "object_to_finger_line_xy": 0.010757223430645132, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04863702938169494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7378111809884061, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2282549920447057, + 0.27338754966973133, + 1.2374218517153064 + ], + "held_position": [ + 0.23363484115477362, + 0.27787785599906795, + 1.234080963234433 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007763192849595575, + "max_held_gripper_dist": 0.007768314695905934, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033408884808734385, + "max_held_gripper_z_dist": 0.0034164241868355205, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655468452630072, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23363484115477362, + 0.2525867772594805, + 1.234080963234433 + ], + "held_grasp_finger_b": [ + 0.22344902795365884, + 0.27787785599906795, + 1.234080963234433 + ], + "held_grasp_midpoint": [ + 0.22854193455421623, + 0.2652323166292742, + 1.234080963234433 + ], + "held_grasp_object_position": [ + 0.23363484115477362, + 0.27787785599906795, + 1.234080963234433 + ], + "held_grasp_finger_gap": 0.027265169252730075, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024443532311460677, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0754769773114627, + -0.9968861733001453, + 0.022829441055747465 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004134331899338923, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0322096644182011, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19331240106398118, + 0.2810523773215011, + 0.7565864343816233 + ], + "target_position": [ + 0.2042480523293952, + 0.2712192012127719, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014706455078775264, + "xy_threshold": 0.08, + "gripper_dist": 0.20850141494092347, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864343816233, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564808490444988, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558336840462567, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18084460275416345, + "release_required_pad_clearance": 0.05279168420231284, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6305580255589608, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1f750c9a779e3580795e2d4e451e5a5936c69e00d9810d74b0cd5571fafe65e", + "visual_seed": 6272064737079285644, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bcdbf79500eff212ea55c99fbad37f546f22b3ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_17_success.json @@ -0,0 +1,684 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23195728461029205, + 0.26927647218753714, + 1.0431439154442181 + ], + "current_z": 1.0431439154442181, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1865573484310078, + "gripper_z": 1.0475611482430192, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.226043051089826, + 0.26406928713689903, + 1.0475611482430192 + ], + "object_minus_gripper": [ + 0.00591423352046605, + 0.005207185050638108, + -0.0044172327988010185 + ], + "object_to_gripper_xy": 0.007879906997306075, + "object_to_gripper_z": -0.0044172327988010185, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23195728461029205, + 0.24408092863309477, + 1.0431439154442181 + ], + "finger_b": [ + 0.2198171301227987, + 0.26927647218753714, + 1.0431439154442181 + ], + "finger_midpoint": [ + 0.22588720736654538, + 0.25667870041031593, + 1.0431439154442181 + ], + "object_minus_finger_midpoint": [ + 0.006070077243746669, + 0.012597771777221212, + 0.0 + ], + "finger_gap": 0.02796781661095495, + "fingertip_max_gap": 0.09182481139809098, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013983908305477494, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0431439154442181, + "object_top_z": 1.0887768234606283, + "finger_top_clearance": 0.04563290801641018, + "fingertip_min_top_clearance": 0.01368987240492302, + "object_projection_between_fingers": 0.8115781341142916, + "object_to_finger_line_xy": 0.010936777632741158, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048412405699045494, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8240813971416268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2303460111380199, + 0.26858695579591374, + 1.2364747083260936 + ], + "held_position": [ + 0.23646402596466864, + 0.2734688820342882, + 1.2319643494282702 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00903363972068836, + "max_held_gripper_dist": 0.009036533824762348, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004510358897823474, + "max_held_gripper_z_dist": 0.004596195069850761, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08671550658511232, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23646402596466864, + 0.24779817375202287, + 1.2319643494282702 + ], + "held_grasp_finger_b": [ + 0.22552854173060274, + 0.2734688820342882, + 1.2319643494282702 + ], + "held_grasp_midpoint": [ + 0.2309962838476357, + 0.2606335278931555, + 1.2319643494282702 + ], + "held_grasp_object_position": [ + 0.23646402596466864, + 0.2734688820342882, + 1.2319643494282702 + ], + "held_grasp_finger_gap": 0.027902868654435337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025304650278567698, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.032093972244619115, + -0.9994119805327504, + 0.012069387439597512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005055394548189089, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032196936699037344, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19478465374723364, + 0.27029551814239716, + 0.7565869249593202 + ], + "target_position": [ + 0.20655677817513957, + 0.2674112103653459, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012120319504817437, + "xy_threshold": 0.08, + "gripper_dist": 0.20616269518559735, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869249593202, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522561967503548, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09286974459311269, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1780295233514974, + "release_required_pad_clearance": 0.056434872296556346, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.213407379702923, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8e49fd592fb942621b7840925f029b11a0a646603c813e35c8d180c171104bba", + "visual_seed": 608954163784080455, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ed13f0ab7e4578e24089b2122b3c95f3a154dd53 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23395692693916592, + 0.26685478085581843, + 1.044912384740996 + ], + "current_z": 1.044912384740996, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18832581772778567, + "gripper_z": 1.0486603495456277, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2283571512578227, + 0.2616941748705388, + 1.0486603495456277 + ], + "object_minus_gripper": [ + 0.005599775681343233, + 0.0051606059852796204, + -0.003747964804631687 + ], + "object_to_gripper_xy": 0.007615073329697286, + "object_to_gripper_z": -0.003747964804631687, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23395692693916592, + 0.24200112505233545, + 1.044912384740996 + ], + "finger_b": [ + 0.221728551253021, + 0.26685478085581843, + 1.044912384740996 + ], + "finger_midpoint": [ + 0.22784273909609346, + 0.25442795295407694, + 1.044912384740996 + ], + "object_minus_finger_midpoint": [ + 0.006114187843072466, + 0.012426827901741488, + 0.0 + ], + "finger_gap": 0.027699050141105987, + "fingertip_max_gap": 0.09224459073507338, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013849525070552994, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.044912384740996, + "object_top_z": 1.09110125528559, + "finger_top_clearance": 0.046188870544594085, + "fingertip_min_top_clearance": 0.013856661163378243, + "object_projection_between_fingers": 0.8051018158538275, + "object_to_finger_line_xy": 0.010972211638698114, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862229536753669, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6675487752684819, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23284417691350975, + 0.26618971398889457, + 1.2358878718461013 + ], + "held_position": [ + 0.2387046594798819, + 0.27094881500553103, + 1.2320111199558978 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008486666225055502, + "max_held_gripper_dist": 0.008488571384570133, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038767518902034226, + "max_held_gripper_z_dist": 0.003955539958531373, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08714597144252761, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2387046594798819, + 0.24537988016665918, + 1.2320111199558978 + ], + "held_grasp_finger_b": [ + 0.22814504976955882, + 0.27094881500553103, + 1.2320111199558978 + ], + "held_grasp_midpoint": [ + 0.23342485462472035, + 0.2581643475860951, + 1.2320111199558978 + ], + "held_grasp_object_position": [ + 0.2387046594798819, + 0.27094881500553103, + 1.2320111199558978 + ], + "held_grasp_finger_gap": 0.027663618455090504, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02493471996948748, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0557407062990512, + -0.9982160083642088, + 0.021395660931808672 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004567368244569737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032144264877571306, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20196330252118444, + 0.27252103740092337, + 0.7565866574792429 + ], + "target_position": [ + 0.20885664437097928, + 0.26396066828767145, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01099081804113099, + "xy_threshold": 0.08, + "gripper_dist": 0.21226678240209942, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866574792429, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557189377690929, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09005891785793162, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18423868586468775, + "release_required_pad_clearance": 0.05502945892896581, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.136224332456009, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 269, + "max_placed_release_frames": 269 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "63ef845467218affa526c0ba919039f53d6389ade766ed684a4ac68efaee20b8", + "visual_seed": 3605002175579737746, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fabf5958f045602603363d5aa37695f87bf5cf0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23248433285632536, + 0.2712015521555003, + 1.045114013982704 + ], + "current_z": 1.045114013982704, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.1885273277602041, + "gripper_z": 1.0484975413606659, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.227029659331621, + 0.26623306057626156, + 1.0484975413606659 + ], + "object_minus_gripper": [ + 0.0054546735247043565, + 0.004968491579238732, + -0.0033835273779618813 + ], + "object_to_gripper_xy": 0.0073783041299526845, + "object_to_gripper_z": -0.0033835273779618813, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23248433285632536, + 0.24634026191867622, + 1.045114013982704 + ], + "finger_b": [ + 0.22066743411850526, + 0.2712015521555003, + 1.045114013982704 + ], + "finger_midpoint": [ + 0.2265758834874153, + 0.25877090703708827, + 1.045114013982704 + ], + "object_minus_finger_midpoint": [ + 0.0059084493689100515, + 0.01243064511841202, + 0.0 + ], + "finger_gap": 0.0275267660290761, + "fingertip_max_gap": 0.09033945693756526, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013763383014538038, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045114013982704, + "object_top_z": 1.090478422141457, + "finger_top_clearance": 0.04536440815875298, + "fingertip_min_top_clearance": 0.01360932244762591, + "object_projection_between_fingers": 0.8157121747814828, + "object_to_finger_line_xy": 0.010672643088904322, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766972846878263, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.038217831823409064, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23164363254192763, + 0.27037443832397945, + 1.2384092607622232 + ], + "held_position": [ + 0.2373530169832463, + 0.2749996212938265, + 1.2349353286704834 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00812758219776058, + "max_held_gripper_dist": 0.008132189582700025, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003473932091739851, + "max_held_gripper_z_dist": 0.0035526557399194747, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08689929267974722, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2373530169832463, + 0.24948996403255944, + 1.2349353286704834 + ], + "held_grasp_finger_b": [ + 0.226967875991028, + 0.2749996212938265, + 1.2349353286704834 + ], + "held_grasp_midpoint": [ + 0.23216044648713713, + 0.26224479266319295, + 1.2349353286704834 + ], + "held_grasp_object_position": [ + 0.2373530169832463, + 0.2749996212938265, + 1.2349353286704834 + ], + "held_grasp_finger_gap": 0.027542580979559046, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024883746455911886, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05625662165296493, + -0.9983661929552253, + 0.01000686186000177 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004468668667145137, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032174118790242914, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19603654941902432, + 0.27258785210766123, + 0.756586742439536 + ], + "target_position": [ + 0.2075382008534207, + 0.2684423275456533, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012225929805645195, + "xy_threshold": 0.08, + "gripper_dist": 0.20847804362146813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586742439536, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592194783381515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08980353771509407, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17951407227432084, + "release_required_pad_clearance": 0.05490176885754704, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.867143351475545, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04f10507abd2123f7b29e90277fe8a083dc4d2016821de89babd9ed490827686", + "visual_seed": 8394354653332474373, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88aeb71a1ebbd3b194fed18436eb543674c01513 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23081457726880505, + 0.2680798080202847, + 1.0463849259004563 + ], + "current_z": 1.0463849259004563, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18979829928260117, + "gripper_z": 1.0499798226616592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22530703544393485, + 0.2630796006022615, + 1.0499798226616592 + ], + "object_minus_gripper": [ + 0.005507541824870205, + 0.005000207418023206, + -0.003594896761202948 + ], + "object_to_gripper_xy": 0.007438756023418763, + "object_to_gripper_z": -0.003594896761202948, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23081457726880505, + 0.24321474269636922, + 1.0463849259004563 + ], + "finger_b": [ + 0.21891315404238534, + 0.2680798080202847, + 1.0463849259004563 + ], + "finger_midpoint": [ + 0.22486386565559519, + 0.255647275358327, + 1.0463849259004563 + ], + "object_minus_finger_midpoint": [ + 0.005950711613209869, + 0.012432532661957707, + 0.0 + ], + "finger_gap": 0.02756656214287422, + "fingertip_max_gap": 0.09044933839832475, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01378328107143709, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0463849259004563, + "object_top_z": 1.0917528005508688, + "finger_top_clearance": 0.045367874650412476, + "fingertip_min_top_clearance": 0.013610362395123709, + "object_projection_between_fingers": 0.8136057192200545, + "object_to_finger_line_xy": 0.010735095092334059, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772466919916238, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.06952747815795984, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22977256760609827, + 0.26753654446353287, + 1.2396605303208794 + ], + "held_position": [ + 0.23551119883848248, + 0.27218907020035077, + 1.2359651294068628 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008260379656430067, + "max_held_gripper_dist": 0.008265826280195692, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036954009140166555, + "max_held_gripper_z_dist": 0.0037705758357331476, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678971530227736, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23551119883848248, + 0.24671863969612978, + 1.2359651294068628 + ], + "held_grasp_finger_b": [ + 0.22501623783133157, + 0.27218907020035077, + 1.2359651294068628 + ], + "held_grasp_midpoint": [ + 0.23026371833490702, + 0.25945385494824025, + 1.2359651294068628 + ], + "held_grasp_object_position": [ + 0.23551119883848248, + 0.27218907020035077, + 1.2359651294068628 + ], + "held_grasp_finger_gap": 0.027547904396014754, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02487860964902487, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.052845350899639855, + -0.9985390526442409, + 0.011275159982717666 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004569457228209035, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032206310244197414, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19045817056747166, + 0.2701640229298798, + 0.7565905144282976 + ], + "target_position": [ + 0.20584269964633573, + 0.2643563115054434, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016444246622084657, + "xy_threshold": 0.08, + "gripper_dist": 0.20441667014389198, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565905144282976, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755713770258768, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08992297021817282, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1764935046831446, + "release_required_pad_clearance": 0.05496148510908641, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.987269202492392, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d77aa9420352e61bb2d4639675c8ef95bf2f30935a66ab2181649dca2ffa0ead", + "visual_seed": 8606069980574969354, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f75a0a409f3291b60c063f3fd3c08456aaa52b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_20_success.json @@ -0,0 +1,684 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23309423944329047, + 0.2722997936314438, + 1.0432151677287675 + ], + "current_z": 1.0432151677287675, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.1866286603202022, + "gripper_z": 1.047278411173708, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2273044850698956, + 0.26715543049635165, + 1.047278411173708 + ], + "object_minus_gripper": [ + 0.005789754373394879, + 0.005144363135092145, + -0.0040632434449403565 + ], + "object_to_gripper_xy": 0.007745045369133754, + "object_to_gripper_z": -0.0040632434449403565, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23309423944329047, + 0.24710964768610252, + 1.0432151677287675 + ], + "finger_b": [ + 0.2211560717615809, + 0.2722997936314438, + 1.0432151677287675 + ], + "finger_midpoint": [ + 0.22712515560243568, + 0.25970472065877315, + 1.0432151677287675 + ], + "object_minus_finger_midpoint": [ + 0.005969083840854789, + 0.012595072972670651, + 0.0 + ], + "finger_gap": 0.02787585515000766, + "fingertip_max_gap": 0.09122372407453283, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01393792757500384, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432151677287675, + "object_top_z": 1.0886431996347148, + "finger_top_clearance": 0.04542803190594724, + "fingertip_min_top_clearance": 0.013628409571784138, + "object_projection_between_fingers": 0.8165917145572511, + "object_to_finger_line_xy": 0.010787980659389327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811186203726642, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7167286422319401, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23165001638877208, + 0.2719120059716573, + 1.234747940797756 + ], + "held_position": [ + 0.23761943447902237, + 0.2767684638564075, + 1.230570926561771 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008755945605711612, + "max_held_gripper_dist": 0.008758149429114149, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004177014235984933, + "max_held_gripper_z_dist": 0.00426412602695736, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676937234704826, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23761943447902237, + 0.2511417792478943, + 1.230570926561771 + ], + "held_grasp_finger_b": [ + 0.22686319592125312, + 0.2767684638564075, + 1.230570926561771 + ], + "held_grasp_midpoint": [ + 0.23224131520013774, + 0.26395512155215095, + 1.230570926561771 + ], + "held_grasp_object_position": [ + 0.23761943447902237, + 0.2767684638564075, + 1.230570926561771 + ], + "held_grasp_finger_gap": 0.02779251035685422, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0252892525887323, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.030194021299348697, + -0.9995060647188623, + 0.008714795923484564 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004990046241806924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223082457533046, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19160446960915217, + 0.2593431023570736, + 0.7565865284087163 + ], + "target_position": [ + 0.207867128634252, + 0.26862230617731303, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.018723720306184, + "xy_threshold": 0.08, + "gripper_dist": 0.2044305162594982, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865284087163, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752605253809247, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08974074302058342, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17440791129951919, + "release_required_pad_clearance": 0.05487037151029171, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.801391266675373, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cbb3910405a752ea2ac52bdad497b21eb6782985d987eddef563f5f0f4506582", + "visual_seed": 4249864736361577221, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c2b10ecadef025fda486d14022a61e026a2a196 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2326918000326503, + 0.26958997448939437, + 1.0450577737369906 + ], + "current_z": 1.0450577737369906, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18847120672378026, + "gripper_z": 1.0486942154159955, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22744958791819672, + 0.26457303708432167, + 1.0486942154159955 + ], + "object_minus_gripper": [ + 0.005242212114453582, + 0.005016937405072697, + -0.003636441679004898 + ], + "object_to_gripper_xy": 0.007256062897973078, + "object_to_gripper_z": -0.003636441679004898, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2326918000326503, + 0.2450486403983454, + 1.0450577737369906 + ], + "finger_b": [ + 0.22059515307864136, + 0.26958997448939437, + 1.0450577737369906 + ], + "finger_midpoint": [ + 0.22664347655564582, + 0.2573193074438699, + 1.0450577737369906 + ], + "object_minus_finger_midpoint": [ + 0.006048323477004486, + 0.012270667045524486, + 0.0 + ], + "finger_gap": 0.02736066421888212, + "fingertip_max_gap": 0.09169807478230121, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013680332109441067, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0450577737369906, + "object_top_z": 1.091134914466459, + "finger_top_clearance": 0.046077140729468447, + "fingertip_min_top_clearance": 0.01382314221884055, + "object_projection_between_fingers": 0.8045315185988261, + "object_to_finger_line_xy": 0.010850169860822627, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834903739115061, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6288980520108312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23199264826685093, + 0.2689700143050415, + 1.2362694530633662 + ], + "held_position": [ + 0.23753733442514355, + 0.27356035021464353, + 1.2325156952208858 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008118215708942876, + "max_held_gripper_dist": 0.008123486840169539, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003753757842480443, + "max_held_gripper_z_dist": 0.003829438904600746, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08715231997681691, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23753733442514355, + 0.24813965318751982, + 1.2325156952208858 + ], + "held_grasp_finger_b": [ + 0.2273104102565873, + 0.27356035021464353, + 1.2325156952208858 + ], + "held_grasp_midpoint": [ + 0.23242387234086542, + 0.2608500017010817, + 1.2325156952208858 + ], + "held_grasp_object_position": [ + 0.23753733442514355, + 0.27356035021464353, + 1.2325156952208858 + ], + "held_grasp_finger_gap": 0.02740076304218947, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02458185609946444, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07450928539065999, + -0.9969772616370948, + 0.02201604344956665 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004161910855127361, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03214729610453496, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19849098997842476, + 0.2683628389222006, + 0.7565959879405122 + ], + "target_position": [ + 0.20793157500569848, + 0.2664220521226405, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009638013231913068, + "xy_threshold": 0.08, + "gripper_dist": 0.21026080091294394, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565959879405122, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538585783118637, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08730464211597073, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18136600959533355, + "release_required_pad_clearance": 0.05365232105798537, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3131350554590733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f00671d8d308cf2fbe9f5d812a557fc987f6b0619053fe384a17c96e9d11fa5d", + "visual_seed": 5105563924033640271, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f57606acde38020a51fcee0cb7a7b24951ff66bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2353689204861277, + 0.27013443587288943, + 1.0475109397788913 + ], + "current_z": 1.0475109397788913, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19092443237032575, + "gripper_z": 1.0509338420227123, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2297287399975437, + 0.2649977733587038, + 1.0509338420227123 + ], + "object_minus_gripper": [ + 0.005640180488584001, + 0.0051366625141856526, + -0.0034229022438210244 + ], + "object_to_gripper_xy": 0.007628691744227429, + "object_to_gripper_z": -0.0034229022438210244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2353689204861277, + 0.2451999801807512, + 1.0475109397788913 + ], + "finger_b": [ + 0.22324058091622806, + 0.27013443587288943, + 1.0475109397788913 + ], + "finger_midpoint": [ + 0.2293047507011779, + 0.2576672080268203, + 1.0475109397788913 + ], + "object_minus_finger_midpoint": [ + 0.006064169784949808, + 0.012467227846069129, + 0.0 + ], + "finger_gap": 0.027727670320205376, + "fingertip_max_gap": 0.0918454126290372, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013863835160102693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475109397788913, + "object_top_z": 1.0935407307320404, + "finger_top_clearance": 0.046029790953149075, + "fingertip_min_top_clearance": 0.013808937285944721, + "object_projection_between_fingers": 0.808673145146781, + "object_to_finger_line_xy": 0.010906561645191595, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484227063145186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.547737160118027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23435548050251556, + 0.26914225667962266, + 1.2415282872009072 + ], + "held_position": [ + 0.24027690614574668, + 0.27390002227342586, + 1.2380077684559418 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008372196087499697, + "max_held_gripper_dist": 0.008373453433707465, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003520518744965395, + "max_held_gripper_z_dist": 0.0036052473676435604, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875378994382709, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24027690614574668, + 0.24827642922032392, + 1.2380077684559418 + ], + "held_grasp_finger_b": [ + 0.2296573265077381, + 0.27390002227342586, + 1.2380077684559418 + ], + "held_grasp_midpoint": [ + 0.2349671163267424, + 0.2610882257468749, + 1.2380077684559418 + ], + "held_grasp_object_position": [ + 0.24027690614574668, + 0.27390002227342586, + 1.2380077684559418 + ], + "held_grasp_finger_gap": 0.027737050900176474, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02499328704552734, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055232032184376896, + -0.9982920020961595, + 0.019039463533027767 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004600682757576976, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03211704047869606, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2050869747298161, + 0.2700737327831804, + 0.7565867897076131 + ], + "target_position": [ + 0.21028755252744585, + 0.2680955937765957, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00556408513221819, + "xy_threshold": 0.08, + "gripper_dist": 0.21318028965988217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867897076131, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548814701506097, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08797166435150229, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18385621933020518, + "release_required_pad_clearance": 0.05398583217575115, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9813818554320286, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "40a60b7c9d48196e77c169b9e7833f2544692b8a3648f3f452cf3ab02ac9e92f", + "visual_seed": 92638542861496055, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d486e3c9af85a4b3cf036607482645b81016333 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2332253801251852, + 0.2739406058550546, + 1.0448907705821957 + ], + "current_z": 1.0448907705821957, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1883041439643406, + "gripper_z": 1.0482784664949416, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2277402782687615, + 0.2689300969739331, + 1.0482784664949416 + ], + "object_minus_gripper": [ + 0.005485101856423702, + 0.005010508881121478, + -0.0033876959127459028 + ], + "object_to_gripper_xy": 0.007429100996967261, + "object_to_gripper_z": -0.0033876959127459028, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2332253801251852, + 0.24904147619979292, + 1.0448907705821957 + ], + "finger_b": [ + 0.22137611075032138, + 0.2739406058550546, + 1.0448907705821957 + ], + "finger_midpoint": [ + 0.2273007454377533, + 0.26149104102742377, + 1.0448907705821957 + ], + "object_minus_finger_midpoint": [ + 0.005924634687431901, + 0.012449564827630821, + 0.0 + ], + "finger_gap": 0.027574840748544986, + "fingertip_max_gap": 0.0930830980501827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013787420374272474, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0448907705821957, + "object_top_z": 1.0914067929643596, + "finger_top_clearance": 0.0465160223821639, + "fingertip_min_top_clearance": 0.013954806714649154, + "object_projection_between_fingers": 0.8153466805241278, + "object_to_finger_line_xy": 0.010699481356040956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904154902509135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.964180899053703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23226548085239515, + 0.2733396395047745, + 1.2388644810972462 + ], + "held_position": [ + 0.2379917000668218, + 0.2780133535577428, + 1.2353924062072115 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008166302320058456, + "max_held_gripper_dist": 0.008167631012466635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034720748900347598, + "max_held_gripper_z_dist": 0.003554848110676412, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08681608598654375, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2379917000668218, + 0.25250299350779226, + 1.2353924062072115 + ], + "held_grasp_finger_b": [ + 0.22751312313553063, + 0.2780133535577428, + 1.2353924062072115 + ], + "held_grasp_midpoint": [ + 0.2327524116011762, + 0.26525817353276754, + 1.2353924062072115 + ], + "held_grasp_object_position": [ + 0.2379917000668218, + 0.2780133535577428, + 1.2353924062072115 + ], + "held_grasp_finger_gap": 0.027578597578250798, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025022724859875587, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04355577666945346, + -0.9987756882544658, + 0.023452481116907002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004688478681709413, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03223245997923997, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19555834550518603, + 0.2691420968834655, + 0.7565888319897118 + ], + "target_position": [ + 0.2083137393776817, + 0.2692847220218634, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012756191232989685, + "xy_threshold": 0.08, + "gripper_dist": 0.20599749586499574, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565888319897118, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560744198385003, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17678141417543708, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9cb5fa28e3e8ac22a02642974954235289478dc08201ae4545d4b2958b632f7f", + "visual_seed": 8660170219002729561, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c45c85aaf7dfdec66a8f84d2f60b4a90d993b6df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23637974476952472, + 0.2709768688040043, + 1.0471651733633054 + ], + "current_z": 1.0471651733633054, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1905787255593846, + "gripper_z": 1.0509650236298167, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2306638722096969, + 0.26589018785160046, + 1.0509650236298167 + ], + "object_minus_gripper": [ + 0.005715872559827834, + 0.0050866809524038326, + -0.0037998502665113065 + ], + "object_to_gripper_xy": 0.007651504573071936, + "object_to_gripper_z": -0.0037998502665113065, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23637974476952472, + 0.2458693949281278, + 1.0471651733633054 + ], + "finger_b": [ + 0.2244799320149993, + 0.2709768688040043, + 1.0471651733633054 + ], + "finger_midpoint": [ + 0.230429838392262, + 0.258423131866066, + 1.0471651733633054 + ], + "object_minus_finger_midpoint": [ + 0.005949906377262726, + 0.012553736937938265, + 0.0 + ], + "finger_gap": 0.027784722205208154, + "fingertip_max_gap": 0.09204930515505305, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013892361102604094, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471651733633054, + "object_top_z": 1.0928561517267905, + "finger_top_clearance": 0.045690978363485124, + "fingertip_min_top_clearance": 0.01370729350904557, + "object_projection_between_fingers": 0.8165709412726959, + "object_to_finger_line_xy": 0.010753184273552503, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04852465257752653, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9392657183083926, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23510491105720033, + 0.27033706636083843, + 1.2389783875731593 + ], + "held_position": [ + 0.2410043483424114, + 0.2751199891145629, + 1.2350698797281765 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008541436877043932, + "max_held_gripper_dist": 0.008544270369938973, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003908507844982756, + "max_held_gripper_z_dist": 0.003993769585428852, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08674291637295839, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2410043483424114, + 0.2495480074661575, + 1.2350698797281765 + ], + "held_grasp_finger_b": [ + 0.23032342618373822, + 0.2751199891145629, + 1.2350698797281765 + ], + "held_grasp_midpoint": [ + 0.2356638872630748, + 0.2623339982903602, + 1.2350698797281765 + ], + "held_grasp_object_position": [ + 0.2410043483424114, + 0.2751199891145629, + 1.2350698797281765 + ], + "held_grasp_finger_gap": 0.02771296345730677, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025254375896869248, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.028555809530725368, + -0.9995071413340626, + 0.013039944948317284 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004975996305999032, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032268034638600576, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2094333333654969, + 0.27071548713067867, + 0.7565879193282123 + ], + "target_position": [ + 0.21127494248148124, + 0.267309766197618, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0038717514395896235, + "xy_threshold": 0.08, + "gripper_dist": 0.21392742572434054, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879193282123, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571083434179919, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08826710146703819, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1839683684747363, + "release_required_pad_clearance": 0.054133550733519095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2765818592839957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9de6aa9b59fef7bbb4927ff0c8275f690247abc85bbc306168558c8dcdc73cc2", + "visual_seed": 9212243363927599658, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50a5be9b85d18ac226a0c2c872821b258a6f5f63 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22666701150208923, + 0.27126928799202393, + 1.0471546061266535 + ], + "current_z": 1.0471546061266535, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19056797950879834, + "gripper_z": 1.0504883394193516, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22164544055217048, + 0.2663025113600581, + 1.0504883394193516 + ], + "object_minus_gripper": [ + 0.005021570949918758, + 0.004966776631965819, + -0.003333733292698149 + ], + "object_to_gripper_xy": 0.007062934582516654, + "object_to_gripper_z": -0.003333733292698149, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22666701150208923, + 0.24695649617681426, + 1.0471546061266535 + ], + "finger_b": [ + 0.21454843629085144, + 0.27126928799202393, + 1.0471546061266535 + ], + "finger_midpoint": [ + 0.22060772389647032, + 0.2591128920844191, + 1.0471546061266535 + ], + "object_minus_finger_midpoint": [ + 0.006059287605618913, + 0.012156395907604811, + 0.0 + ], + "finger_gap": 0.027165634743185257, + "fingertip_max_gap": 0.09115021995948747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358281737159261, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471546061266535, + "object_top_z": 1.0929971262456717, + "finger_top_clearance": 0.04584252011901824, + "fingertip_min_top_clearance": 0.013752756035705438, + "object_projection_between_fingers": 0.8009952645049335, + "object_to_finger_line_xy": 0.010845923498316106, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048075109979743735, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4795183123981754, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2263674041704295, + 0.2705297051090273, + 1.2394219335922594 + ], + "held_position": [ + 0.2317505913956645, + 0.2750206348758953, + 1.2359833644661324 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007808387318007976, + "max_held_gripper_dist": 0.007812299377425237, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034385691261269447, + "max_held_gripper_z_dist": 0.0035093374478634143, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0868655036683631, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2317505913956645, + 0.24963399219857405, + 1.2359833644661324 + ], + "held_grasp_finger_b": [ + 0.22175336480650631, + 0.2750206348758953, + 1.2359833644661324 + ], + "held_grasp_midpoint": [ + 0.2267519781010854, + 0.26232731353723465, + 1.2359833644661324 + ], + "held_grasp_object_position": [ + 0.2317505913956645, + 0.2750206348758953, + 1.2359833644661324 + ], + "held_grasp_finger_gap": 0.027284174275593532, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02443835854609872, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08512437397308033, + -0.9961682024051057, + 0.020068718760090972 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003908548981976403, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032130038037892286, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1938874653449331, + 0.2811049885391346, + 0.756586476491921 + ], + "target_position": [ + 0.20202974601508134, + 0.2676127968151893, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0157586792602416, + "xy_threshold": 0.08, + "gripper_dist": 0.20947084934777152, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586476491921, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07632434282403978, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08698232914435304, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18342058168528708, + "release_required_pad_clearance": 0.05349116457217652, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.994807232668835, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d6b2286cb14a9f34049df325ed2f089f8e55003291046215c16855268cb90855", + "visual_seed": 4905958475314021920, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ee17d142ac530bece15a61a6a62848a4fa1ebe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23219356416688663, + 0.26622037475244675, + 1.0457770307993952 + ], + "current_z": 1.0457770307993952, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18919046378618487, + "gripper_z": 1.0494876319420963, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22701801027975416, + 0.2612334556166711, + 1.0494876319420963 + ], + "object_minus_gripper": [ + 0.005175553887132478, + 0.004986919135775647, + -0.0037106011427010532 + ], + "object_to_gripper_xy": 0.007187191419836919, + "object_to_gripper_z": -0.0037106011427010532, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23219356416688663, + 0.2417332934461698, + 1.0457770307993952 + ], + "finger_b": [ + 0.22012780275285598, + 0.26622037475244675, + 1.0457770307993952 + ], + "finger_midpoint": [ + 0.2261606834598713, + 0.25397683409930827, + 1.0457770307993952 + ], + "object_minus_finger_midpoint": [ + 0.006032880707015326, + 0.012243540653138485, + 0.0 + ], + "finger_gap": 0.02729834700857414, + "fingertip_max_gap": 0.0919771638943456, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013649173504287081, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457770307993952, + "object_top_z": 1.0920719440349154, + "finger_top_clearance": 0.04629491323552015, + "fingertip_min_top_clearance": 0.013888473970656045, + "object_projection_between_fingers": 0.8046394961653919, + "object_to_finger_line_xy": 0.010823193092047226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0484885819471728, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7891169552374654, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23166531383567926, + 0.2654349793272734, + 1.2405092675724292 + ], + "held_position": [ + 0.23718120093407485, + 0.26998478135013704, + 1.236716899073633 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008093686907717801, + "max_held_gripper_dist": 0.008100217811399468, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037923684987961614, + "max_held_gripper_z_dist": 0.003864670671609005, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686880519289386, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23718120093407485, + 0.2445644173300252, + 1.236716899073633 + ], + "held_grasp_finger_b": [ + 0.2269540345617689, + 0.26998478135013704, + 1.236716899073633 + ], + "held_grasp_midpoint": [ + 0.2320676177479219, + 0.2572745993400811, + 1.236716899073633 + ], + "held_grasp_object_position": [ + 0.23718120093407485, + 0.26998478135013704, + 1.236716899073633 + ], + "held_grasp_finger_gap": 0.027400544500462424, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024554308969454076, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07661843304763627, + -0.9967559241626537, + 0.024642308414173246 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004136958700475545, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032139481019120175, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1966139291715916, + 0.2629085477959755, + 0.7565866175073415 + ], + "target_position": [ + 0.20748061350749095, + 0.2627061892676973, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01086856832476326, + "xy_threshold": 0.08, + "gripper_dist": 0.2084128407299541, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866175073415, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580462956877834, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08821795332463324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1787663096366998, + "release_required_pad_clearance": 0.05410897666231662, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.230388070746793, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d6f0a124393daca34c580472b6da5bfd5f008febf0228c3c7bf050a8038570a4", + "visual_seed": 3503276768834062416, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a970034c7c37ff85dd188a23106eca67246977c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22739836235249405, + 0.2673480770361595, + 1.0456851031300065 + ], + "current_z": 1.0456851031300065, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18909859572144094, + "gripper_z": 1.0495258487361725, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2222074271245129, + 0.26239666617767243, + 1.0495258487361725 + ], + "object_minus_gripper": [ + 0.005190935227981142, + 0.004951410858487049, + -0.003840745606165985 + ], + "object_to_gripper_xy": 0.007173721351616542, + "object_to_gripper_z": -0.003840745606165985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22739836235249405, + 0.2428002817214664, + 1.0456851031300065 + ], + "finger_b": [ + 0.2154515868880061, + 0.2673480770361595, + 1.0456851031300065 + ], + "finger_midpoint": [ + 0.22142497462025007, + 0.25507417937881294, + 1.0456851031300065 + ], + "object_minus_finger_midpoint": [ + 0.005973387732243984, + 0.012273897657346544, + 0.0 + ], + "finger_gap": 0.02730054392884799, + "fingertip_max_gap": 0.0918405114542736, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013650271964424003, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456851031300065, + "object_top_z": 1.0918924552699958, + "finger_top_clearance": 0.04620735213998928, + "fingertip_min_top_clearance": 0.013862205641996765, + "object_projection_between_fingers": 0.8085043985465739, + "object_to_finger_line_xy": 0.010742166879061966, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048420255727136804, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6816429370707299, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22661120585189262, + 0.26678203939639095, + 1.237144201884954 + ], + "held_position": [ + 0.23208570189365546, + 0.27133309570983055, + 1.2331891372472399 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00814400127504122, + "max_held_gripper_dist": 0.008147837615296857, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003955064637714223, + "max_held_gripper_z_dist": 0.004025942658715698, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08671222286510918, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23208570189365546, + 0.24597292393392595, + 1.2331891372472399 + ], + "held_grasp_finger_b": [ + 0.2218838013334333, + 0.27133309570983055, + 1.2331891372472399 + ], + "held_grasp_midpoint": [ + 0.22698475161354437, + 0.2586530098218782, + 1.2331891372472399 + ], + "held_grasp_object_position": [ + 0.23208570189365546, + 0.27133309570983055, + 1.2331891372472399 + ], + "held_grasp_finger_gap": 0.02733527185787714, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024631075530552965, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06546098931329465, + -0.9975840170821769, + 0.02325914315514954 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004270424352335989, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032216860696986295, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20302266075156966, + 0.27057856899765753, + 0.7565870140927058 + ], + "target_position": [ + 0.2026707683024949, + 0.26360920079389055, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006978246302287847, + "xy_threshold": 0.08, + "gripper_dist": 0.21699915818411855, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870140927058, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527797999328162, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496597895374765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18847998847987077, + "release_required_pad_clearance": 0.052482989476873826, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956212381196406, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01d7a86248dd9c2991405876f81b7e3cfe358a6b305383b96b84e4dbc8e39614", + "visual_seed": 5698570283598126190, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..394199ee9c440aed5739257aac06953ad7ac43eb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23344503918143833, + 0.2686544529566094, + 1.0440163969945802 + ], + "current_z": 1.0440163969945802, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1874298895860146, + "gripper_z": 1.0474044103883169, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22777076622896333, + 0.2635862264440708, + 1.0474044103883169 + ], + "object_minus_gripper": [ + 0.005674272952474996, + 0.005068226512538576, + -0.003388013393736733 + ], + "object_to_gripper_xy": 0.007608172810970335, + "object_to_gripper_z": -0.003388013393736733, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23344503918143833, + 0.24358658505800343, + 1.0440163969945802 + ], + "finger_b": [ + 0.2215616944983474, + 0.2686544529566094, + 1.0440163969945802 + ], + "finger_midpoint": [ + 0.22750336683989286, + 0.2561205190073064, + 1.0440163969945802 + ], + "object_minus_finger_midpoint": [ + 0.0059416723415454675, + 0.012533933949302967, + 0.0 + ], + "finger_gap": 0.027741879565723458, + "fingertip_max_gap": 0.09266891592965473, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013870939782861717, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0440163969945802, + "object_top_z": 1.0901817109840073, + "finger_top_clearance": 0.04616531398942714, + "fingertip_min_top_clearance": 0.013849594196828125, + "object_projection_between_fingers": 0.8165128629255393, + "object_to_finger_line_xy": 0.010737921127643565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883445796482737, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9340644733441846, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2321116606473925, + 0.2681462565636573, + 1.2378190427281284 + ], + "held_position": [ + 0.23798345210692878, + 0.272921666886846, + 1.234345794842562 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008327420343281069, + "max_held_gripper_dist": 0.008329439435829927, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003473247885566355, + "max_held_gripper_z_dist": 0.003554131029410934, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08670981429651525, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23798345210692878, + 0.24736286529905718, + 1.234345794842562 + ], + "held_grasp_finger_b": [ + 0.22726889275095102, + 0.272921666886846, + 1.234345794842562 + ], + "held_grasp_midpoint": [ + 0.2326261724289399, + 0.2601422660929516, + 1.234345794842562 + ], + "held_grasp_object_position": [ + 0.23798345210692878, + 0.272921666886846, + 1.234345794842562 + ], + "held_grasp_finger_gap": 0.027713789361917405, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025200423718237306, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.031784849751400085, + -0.9993028933610955, + 0.019581895884314027 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004954789281713456, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225945244740991, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19671457824740834, + 0.2680956302458758, + 0.7565891880162827 + ], + "target_position": [ + 0.2083055052003177, + 0.2651559743287446, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011957891308203347, + "xy_threshold": 0.08, + "gripper_dist": 0.20841343621462233, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565891880162827, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755805314121785, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09191621612607369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1796707435491848, + "release_required_pad_clearance": 0.055958108063036846, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.140359860222128, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "de2dbebe671cbb9a94237722dc54caf9d0552edab4d3a4910033674f014adffa", + "visual_seed": 5454813315035240843, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c3538be6d1c0f033ea3cd9bcdae0fe0be5d2afd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22800380185644598, + 0.2685976554785009, + 1.046411210903771 + ], + "current_z": 1.046411210903771, + "required_z": 0.8565866266178549, + "initial_z": 0.7565866266178549, + "lift_margin": 0.1898245842859162, + "gripper_z": 1.0503235377523419, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22259244213351428, + 0.26369493739625904, + 1.0503235377523419 + ], + "object_minus_gripper": [ + 0.005411359722931691, + 0.004902718082241853, + -0.003912326848570791 + ], + "object_to_gripper_xy": 0.00730201743663411, + "object_to_gripper_z": -0.003912326848570791, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22800380185644598, + 0.24372499413411813, + 1.046411210903771 + ], + "finger_b": [ + 0.2163383233623198, + 0.2685976554785009, + 1.046411210903771 + ], + "finger_midpoint": [ + 0.2221710626093829, + 0.2561613248063095, + 1.046411210903771 + ], + "object_minus_finger_midpoint": [ + 0.005832739247063068, + 0.012436330672191409, + 0.0 + ], + "finger_gap": 0.027472398345417034, + "fingertip_max_gap": 0.09125156858335043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013736199172708536, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046411210903771, + "object_top_z": 1.0920323714963693, + "finger_top_clearance": 0.04562116059259824, + "fingertip_min_top_clearance": 0.013686348177779473, + "object_projection_between_fingers": 0.8196932586159409, + "object_to_finger_line_xy": 0.01056156409631354, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04812578429167522, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.43159152816295315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22705721305573914, + 0.26810023113290543, + 1.2400444846845622 + ], + "held_position": [ + 0.2326707256977796, + 0.27268737533770504, + 1.2360363548750786 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00828362968194776, + "max_held_gripper_dist": 0.008287259256250106, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004008129809483618, + "max_held_gripper_z_dist": 0.004082459662301474, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676610478654773, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2326707256977796, + 0.24727836285193072, + 1.2360363548750786 + ], + "held_grasp_finger_b": [ + 0.22230821278135382, + 0.27268737533770504, + 1.2360363548750786 + ], + "held_grasp_midpoint": [ + 0.2274894692395667, + 0.2599828690948179, + 1.2360363548750786 + ], + "held_grasp_object_position": [ + 0.2326707256977796, + 0.27268737533770504, + 1.2360363548750786 + ], + "held_grasp_finger_gap": 0.027440837987301455, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024945523277503642, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0422966464716304, + -0.9990086327478876, + 0.013883277439069249 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004642671263490343, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032289163781675186, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19796313824908485, + 0.26740292718769565, + 0.7565869919045465 + ], + "target_position": [ + 0.20312282532320153, + 0.2637524447828717, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006320474071676594, + "xy_threshold": 0.08, + "gripper_dist": 0.2111448375459225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869919045465, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521503654703793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814090921118133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1827495490638395, + "release_required_pad_clearance": 0.054070454605590665, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1533822958609368, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b650205b00f29649ad62005cbfcb327d2b1f6f8b1071e1a010b248adbd25103", + "visual_seed": 3720041744315979994, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8e4879815b33bfaf26cee1f788d51d4b9c7887a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23444271665224622, + 0.27131844600067834, + 1.0464153148130586 + ], + "current_z": 1.0464153148130586, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18982874779984826, + "gripper_z": 1.0497232294895635, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22877074353270263, + 0.26628732434142827, + 1.0497232294895635 + ], + "object_minus_gripper": [ + 0.005671973119543594, + 0.005031121659250071, + -0.0033079146765049305 + ], + "object_to_gripper_xy": 0.0075817850285404605, + "object_to_gripper_z": -0.0033079146765049305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23444271665224622, + 0.24629773090391563, + 1.0464153148130586 + ], + "finger_b": [ + 0.22254018568909772, + 0.27131844600067834, + 1.0464153148130586 + ], + "finger_midpoint": [ + 0.228491451170672, + 0.25880808845229697, + 1.0464153148130586 + ], + "object_minus_finger_midpoint": [ + 0.005951265481574236, + 0.012510357548381368, + 0.0 + ], + "finger_gap": 0.027707515718340358, + "fingertip_max_gap": 0.09126494786073228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013853757859170186, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464153148130586, + "object_top_z": 1.0920797120312253, + "finger_top_clearance": 0.04566439721816673, + "fingertip_min_top_clearance": 0.013699319165450018, + "object_projection_between_fingers": 0.8154629969293524, + "object_to_finger_line_xy": 0.010748341323224688, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813247393036614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5275193980171653, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23339080674302692, + 0.2705634520491874, + 1.2391662973452533 + ], + "held_position": [ + 0.2392805482546501, + 0.27526395708330426, + 1.2357518835933803 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00827296947404464, + "max_held_gripper_dist": 0.0082770939631947, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034144137518730133, + "max_held_gripper_z_dist": 0.003497688693095302, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086901192247129, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2392805482546501, + 0.24969690561162003, + 1.2357518835933803 + ], + "held_grasp_finger_b": [ + 0.22872446489009246, + 0.27526395708330426, + 1.2357518835933803 + ], + "held_grasp_midpoint": [ + 0.23400250657237126, + 0.26248043134746213, + 1.2357518835933803 + ], + "held_grasp_object_position": [ + 0.2392805482546501, + 0.27526395708330426, + 1.2357518835933803 + ], + "held_grasp_finger_gap": 0.027660531754744717, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025086800913796774, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04296092808997729, + -0.9989536760005151, + 0.01568157717533658 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004728303622885466, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032203325370575825, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20982095677177773, + 0.26582284215113133, + 0.7565863925631564 + ], + "target_position": [ + 0.20932134599081542, + 0.2689532615418007, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0031700373016626516, + "xy_threshold": 0.08, + "gripper_dist": 0.21587655485072074, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863925631564, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752741190823556, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628438582937979, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18548536719143735, + "release_required_pad_clearance": 0.0531421929146899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.30983116447214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 219, + "max_placed_release_frames": 219 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "595cce416cfc944c547365f55d8fd553cf6b05194f57917295018b96dba3b99e", + "visual_seed": 380106100010339964, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..44b1d1ea591111912a3f6d272c9599ab5378b53f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_30_success.json @@ -0,0 +1,684 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23486774632122748, + 0.2651818257196194, + 1.0445881627905826 + ], + "current_z": 1.0445881627905826, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18800177459130663, + "gripper_z": 1.0483400831156724, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22913702441178835, + 0.2600549622632346, + 1.0483400831156724 + ], + "object_minus_gripper": [ + 0.005730721909439129, + 0.0051268634563848, + -0.0037519203250897526 + ], + "object_to_gripper_xy": 0.007689336935246079, + "object_to_gripper_z": -0.0037519203250897526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23486774632122748, + 0.24004027630803276, + 1.0445881627905826 + ], + "finger_b": [ + 0.22294930202896607, + 0.2651818257196194, + 1.0445881627905826 + ], + "finger_midpoint": [ + 0.22890852417509677, + 0.2526110510138261, + 1.0445881627905826 + ], + "object_minus_finger_midpoint": [ + 0.005959222146130705, + 0.01257077470579332, + 0.0 + ], + "finger_gap": 0.02782349405022653, + "fingertip_max_gap": 0.09332851921420979, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013911747025113264, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0445881627905826, + "object_top_z": 1.0909643078553486, + "finger_top_clearance": 0.04637614506476595, + "fingertip_min_top_clearance": 0.013912843519429785, + "object_projection_between_fingers": 0.8165085608252712, + "object_to_finger_line_xy": 0.010769609149095829, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049164259607104896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0467405290110958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23340716233567674, + 0.26475096468601483, + 1.23708608363597 + ], + "held_position": [ + 0.23934551305190804, + 0.26960749163454634, + 1.2332089063283191 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008595485274592748, + "max_held_gripper_dist": 0.008596064412833572, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003877177307650914, + "max_held_gripper_z_dist": 0.003954094092665228, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08670314512589938, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23934551305190804, + 0.24402261769846378, + 1.2332089063283191 + ], + "held_grasp_finger_b": [ + 0.22853950939737208, + 0.26960749163454634, + 1.2332089063283191 + ], + "held_grasp_midpoint": [ + 0.23394251122464005, + 0.25681505466650506, + 1.2332089063283191 + ], + "held_grasp_object_position": [ + 0.23934551305190804, + 0.26960749163454634, + 1.2332089063283191 + ], + "held_grasp_finger_gap": 0.027773287333462723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02527342283304835, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.027448186831731045, + -0.9994197393406268, + 0.02016882881984028 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005056500117364397, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032266908342072534, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20081877437223658, + 0.2666923889686981, + 0.7565863541543947 + ], + "target_position": [ + 0.20970369555381665, + 0.2633425253060175, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009495441588543338, + "xy_threshold": 0.08, + "gripper_dist": 0.21192317111251663, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863541543947, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543136394102053, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09104554310651396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18317250484547598, + "release_required_pad_clearance": 0.05552277155325698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.191835852480174, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 269, + "max_placed_release_frames": 269 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7be34c7a2edf0d7b23c4d3bae0e88296a823d9be325fe51110f6d156d51c1f95", + "visual_seed": 8787951085124235728, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5baeeee830b801afceb0ea7ace2f170286e35cda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22820868488608786, + 0.2715206806402792, + 1.045238984410602 + ], + "current_z": 1.045238984410602, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18865247700203647, + "gripper_z": 1.0493133645227415, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22294758001467715, + 0.2665783588863518, + 1.0493133645227415 + ], + "object_minus_gripper": [ + 0.00526110487141071, + 0.004942321753927392, + -0.004074380112139453 + ], + "object_to_gripper_xy": 0.007218432571363775, + "object_to_gripper_z": -0.004074380112139453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22820868488608786, + 0.246877711449296, + 1.045238984410602 + ], + "finger_b": [ + 0.21633412598095322, + 0.2715206806402792, + 1.045238984410602 + ], + "finger_midpoint": [ + 0.22227140543352053, + 0.2591991960447876, + 1.045238984410602 + ], + "object_minus_finger_midpoint": [ + 0.0059372794525673345, + 0.012321484595491594, + 0.0 + ], + "finger_gap": 0.027354726826259095, + "fingertip_max_gap": 0.09253722706788625, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013677363413129555, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045238984410602, + "object_top_z": 1.0916500896003887, + "finger_top_clearance": 0.04641110518978664, + "fingertip_min_top_clearance": 0.013923331556935975, + "object_projection_between_fingers": 0.8115612528374416, + "object_to_finger_line_xy": 0.010697397605698026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876861353394313, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7687453487419893, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22724737084964622, + 0.2714194017942726, + 1.237536470860371 + ], + "held_position": [ + 0.23274790318026475, + 0.27600883447099056, + 1.2333677950366957 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008288341591488751, + "max_held_gripper_dist": 0.008293922693763625, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004168675823675416, + "max_held_gripper_z_dist": 0.004244567836543922, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08756689236268891, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23274790318026475, + 0.25068385563554924, + 1.2333677950366957 + ], + "held_grasp_finger_b": [ + 0.2223685484611568, + 0.27600883447099056, + 1.2333677950366957 + ], + "held_grasp_midpoint": [ + 0.22755822582071078, + 0.2633463450532699, + 1.2333677950366957 + ], + "held_grasp_object_position": [ + 0.23274790318026475, + 0.27600883447099056, + 1.2333677950366957 + ], + "held_grasp_finger_gap": 0.027369427421862876, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0247354837210332, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05275453676026576, + -0.9983440434598738, + 0.02293751816128597 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00452398248997223, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032284925055217156, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19803063267468027, + 0.2726287740278377, + 0.7565922646752373 + ], + "target_position": [ + 0.20348015999907346, + 0.26711732273721084, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007750705992892546, + "xy_threshold": 0.08, + "gripper_dist": 0.2113304701051651, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565922646752373, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588497634043156, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09248552500245404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18177235997189833, + "release_required_pad_clearance": 0.05624276250122702, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.751391943211043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1d4337756051d02354b479438c44b908e858c3ea8623602ef0ddeef48a5b8b21", + "visual_seed": 8414591612757984633, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2346a75584628f8907b92921e1625895c1be7cea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23341581385134255, + 0.2637512212934432, + 1.0447935786060907 + ], + "current_z": 1.0447935786060907, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.18820719040681466, + "gripper_z": 1.048191474431832, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22795647624535886, + 0.2587686461722882, + 1.048191474431832 + ], + "object_minus_gripper": [ + 0.0054593376059836884, + 0.0049825751211550195, + -0.0033978958257412373 + ], + "object_to_gripper_xy": 0.007391239539756554, + "object_to_gripper_z": -0.0033978958257412373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23341581385134255, + 0.2388344676875454, + 1.0447935786060907 + ], + "finger_b": [ + 0.221649187190281, + 0.2637512212934432, + 1.0447935786060907 + ], + "finger_midpoint": [ + 0.22753250052081178, + 0.25129284449049427, + 1.0447935786060907 + ], + "object_minus_finger_midpoint": [ + 0.0058833133305307705, + 0.012458376802948923, + 0.0 + ], + "finger_gap": 0.027555364509253454, + "fingertip_max_gap": 0.09067857333366489, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013777682254626751, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0447935786060907, + "object_top_z": 1.090211837020043, + "finger_top_clearance": 0.04541825841395242, + "fingertip_min_top_clearance": 0.013625477524185707, + "object_projection_between_fingers": 0.817655937020038, + "object_to_finger_line_xy": 0.01063989326607537, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047839286666832445, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30123073778449466, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23254855297831364, + 0.2628137802570938, + 1.2364167834638577 + ], + "held_position": [ + 0.23823760538687108, + 0.26744130547143885, + 1.2328975503465909 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008134144617006784, + "max_held_gripper_dist": 0.008136969187624528, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035192331172668734, + "max_held_gripper_z_dist": 0.0035916128401518588, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08726822963404307, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23823760538687108, + 0.2419082214219223, + 1.2328975503465909 + ], + "held_grasp_finger_b": [ + 0.22798096755416053, + 0.26744130547143885, + 1.2328975503465909 + ], + "held_grasp_midpoint": [ + 0.23310928647051582, + 0.2546747634466806, + 1.2328975503465909 + ], + "held_grasp_object_position": [ + 0.23823760538687108, + 0.26744130547143885, + 1.2328975503465909 + ], + "held_grasp_finger_gap": 0.027516122559529812, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024975517665387924, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05089623245744719, + -0.9986079957793502, + 0.013843564829431162 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004475465898879678, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03219044190975133, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19954841501046486, + 0.2676467444004861, + 0.7565942958512345 + ], + "target_position": [ + 0.20840498336110216, + 0.262277664613934, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010356921391218181, + "xy_threshold": 0.08, + "gripper_dist": 0.20935209878931704, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565942958512345, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545874730543976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08556055840535527, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18103967999659812, + "release_required_pad_clearance": 0.05278027920267764, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5866530122161685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "82c037ddd4fa7d928caa4f8f71bcb86574860e498c2f99e79fbe337ca576f6c6", + "visual_seed": 3382162033199039226, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2499dd4ea8ecf6499b18d13615a37d4388c8a5bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_33_success.json @@ -0,0 +1,684 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23414100859080286, + 0.2742584796153576, + 1.0452740148617317 + ], + "current_z": 1.0452740148617317, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.18868756705781087, + "gripper_z": 1.048413931498563, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2290988159924747, + 0.2693479614435967, + 1.048413931498563 + ], + "object_minus_gripper": [ + 0.005042192598328166, + 0.004910518171760914, + -0.0031399166368313303 + ], + "object_to_gripper_xy": 0.007038245158690445, + "object_to_gripper_z": -0.0031399166368313303, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23414100859080286, + 0.2498427632017352, + 1.0452740148617317 + ], + "finger_b": [ + 0.2222210128406819, + 0.2742584796153576, + 1.0452740148617317 + ], + "finger_midpoint": [ + 0.22818101071574237, + 0.2620506214085464, + 1.0452740148617317 + ], + "object_minus_finger_midpoint": [ + 0.005959997875060491, + 0.012207858206811195, + 0.0 + ], + "finger_gap": 0.027170084774864642, + "fingertip_max_gap": 0.09180942999386701, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013585042387432326, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452740148617317, + "object_top_z": 1.0914405567557655, + "finger_top_clearance": 0.0461665418940338, + "fingertip_min_top_clearance": 0.013849962568210106, + "object_projection_between_fingers": 0.8075268233397732, + "object_to_finger_line_xy": 0.01071160573469306, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840471499693351, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6401142503888907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.233695665082913, + 0.27364951203576676, + 1.2395812702070312 + ], + "held_position": [ + 0.23907553474673163, + 0.27814207124206985, + 1.236363810239453 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077122068478992015, + "max_held_gripper_dist": 0.0077161253401111796, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032174599675782733, + "max_held_gripper_z_dist": 0.0032954494135544188, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08687037467073819, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23907553474673163, + 0.2527849407347797, + 1.236363810239453 + ], + "held_grasp_finger_b": [ + 0.2289657217621951, + 0.27814207124206985, + 1.236363810239453 + ], + "held_grasp_midpoint": [ + 0.23402062825446335, + 0.2654635059884248, + 1.236363810239453 + ], + "held_grasp_object_position": [ + 0.23907553474673163, + 0.27814207124206985, + 1.236363810239453 + ], + "held_grasp_finger_gap": 0.02729821214193429, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024517433126854157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07536276170539483, + -0.9969320679414454, + 0.021140152746116688 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004094087395937765, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032179604975543966, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1932766419459523, + 0.26669609259227095, + 0.7565865780603976 + ], + "target_position": [ + 0.20965216647414886, + 0.2705801469579592, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016829844975197763, + "xy_threshold": 0.08, + "gripper_dist": 0.20391753715805008, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865780603976, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529078194028496, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531991566811213, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17488448976496906, + "release_required_pad_clearance": 0.05265995783405607, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.377422976766864, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f64b477ee720814c8d19ee32709cf0dfc5b61e5f6159bef182e00527aaa7d26b", + "visual_seed": 6953625567499261705, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..74dc66ecdac59458496d72eabcd5ebddd79b0bc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23253599475601677, + 0.26589798214433596, + 1.0466422448827608 + ], + "current_z": 1.0466422448827608, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1900558566834848, + "gripper_z": 1.0501623648294365, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2273434973050507, + 0.26097128807337877, + 1.0501623648294365 + ], + "object_minus_gripper": [ + 0.00519249745096606, + 0.004926694070957194, + -0.0035201199466756705 + ], + "object_to_gripper_xy": 0.007157817002906249, + "object_to_gripper_z": -0.0035201199466756705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23253599475601677, + 0.24137789742852284, + 1.0466422448827608 + ], + "finger_b": [ + 0.22057804547311954, + 0.26589798214433596, + 1.0466422448827608 + ], + "finger_midpoint": [ + 0.22655702011456816, + 0.2536379397864294, + 1.0466422448827608 + ], + "object_minus_finger_midpoint": [ + 0.0059789746414486145, + 0.012260042357906564, + 0.0 + ], + "finger_gap": 0.02728052612254747, + "fingertip_max_gap": 0.09210240011915816, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013640263061273736, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0466422448827608, + "object_top_z": 1.0929150056998367, + "finger_top_clearance": 0.046272760817075875, + "fingertip_min_top_clearance": 0.013881828245122796, + "object_projection_between_fingers": 0.8078643602320069, + "object_to_finger_line_xy": 0.01074795728377458, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855120005957908, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7157072471238037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2319417373836727, + 0.2651402803435538, + 1.2386864104931006 + ], + "held_position": [ + 0.23742670948597303, + 0.269652032296823, + 1.235055614684521 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007976434219276152, + "max_held_gripper_dist": 0.007979774922085198, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003630795808579501, + "max_held_gripper_z_dist": 0.0037034041845418475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08734670837029768, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23742670948597303, + 0.24427830774111794, + 1.235055614684521 + ], + "held_grasp_finger_b": [ + 0.22728981191423916, + 0.269652032296823, + 1.235055614684521 + ], + "held_grasp_midpoint": [ + 0.2323582607001061, + 0.25696517001897046, + 1.235055614684521 + ], + "held_grasp_object_position": [ + 0.23742670948597303, + 0.269652032296823, + 1.235055614684521 + ], + "held_grasp_finger_gap": 0.02732366355759442, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024562771800333675, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07266915148845446, + -0.9970712612590652, + 0.0238347308188136 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004144472927535818, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218219932038066, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19284157636970647, + 0.27358189464763627, + 0.7566076828232606 + ], + "target_position": [ + 0.20783778756273757, + 0.2638480814056952, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.017878296070234948, + "xy_threshold": 0.08, + "gripper_dist": 0.2046312542808522, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566076828232606, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563544269347995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507290024211268, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17735159988310972, + "release_required_pad_clearance": 0.052536450121056344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03867260345879795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db0843403ba8dc2d37ed4db2388bb51d45d20457bc4a6bc8ecdbacb71ade7b7f", + "visual_seed": 8804369916305912868, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c90ec259a1156bc3a01f710ebd2f7888493ab62 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_35_success.json @@ -0,0 +1,684 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2344134159052477, + 0.2665992160365644, + 1.0473259884895587 + ], + "current_z": 1.0473259884895587, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19073948108099315, + "gripper_z": 1.050990563152521, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22874660225782176, + 0.2615110438712218, + 1.050990563152521 + ], + "object_minus_gripper": [ + 0.005666813647425939, + 0.005088172165342575, + -0.0036645746629622167 + ], + "object_to_gripper_xy": 0.007615922327520142, + "object_to_gripper_z": -0.0036645746629622167, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2344134159052477, + 0.2415768463891946, + 1.0473259884895587 + ], + "finger_b": [ + 0.2224456777550944, + 0.2665992160365644, + 1.0473259884895587 + ], + "finger_midpoint": [ + 0.22842954683017105, + 0.2540880312128795, + 1.0473259884895587 + ], + "object_minus_finger_midpoint": [ + 0.005983869075076642, + 0.012511184823684907, + 0.0 + ], + "finger_gap": 0.02773708238442261, + "fingertip_max_gap": 0.09438241166253253, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013868541192211318, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473259884895587, + "object_top_z": 1.09428983670495, + "finger_top_clearance": 0.046963848215391346, + "fingertip_min_top_clearance": 0.014089154464617436, + "object_projection_between_fingers": 0.8138330413325978, + "object_to_finger_line_xy": 0.010796419164989217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049691205831266266, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5444207552269733, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2332552899907927, + 0.2658961585811635, + 1.239117412932973 + ], + "held_position": [ + 0.23913200485645805, + 0.27065411966543235, + 1.2353408495266918 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008452005824265092, + "max_held_gripper_dist": 0.00845743395357509, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003776563406281186, + "max_held_gripper_z_dist": 0.003856170884626531, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08673508897158053, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23913200485645805, + 0.24509321411212645, + 1.2353408495266918 + ], + "held_grasp_finger_b": [ + 0.2285066551029487, + 0.27065411966543235, + 1.2353408495266918 + ], + "held_grasp_midpoint": [ + 0.2338193299797034, + 0.2578736668887794, + 1.2353408495266918 + ], + "held_grasp_object_position": [ + 0.23913200485645805, + 0.27065411966543235, + 1.2353408495266918 + ], + "held_grasp_finger_gap": 0.027681364671732232, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025208837379203305, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03090413345769874, + -0.9990727657423567, + 0.029975711620355165 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004930267331741251, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032267439049391944, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19942268391845747, + 0.2685603287058214, + 0.7565865522146245 + ], + "target_position": [ + 0.2093037936142474, + 0.2645645074958923, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010658466867329148, + "xy_threshold": 0.08, + "gripper_dist": 0.20737522313492446, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865522146245, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520474261267483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08946088237541021, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17937664442849965, + "release_required_pad_clearance": 0.054730441187705106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.508755329058436, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6d03fa3d71de6ccd6483cd464fb8e58700e843cab0b19aa7522789ee109354dc", + "visual_seed": 1131241374244099322, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a582db2a94e25a1b268a1860fccf527deeff6376 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23464086537511344, + 0.27144592996597167, + 1.04784936625091 + ], + "current_z": 1.04784936625091, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19126279923769973, + "gripper_z": 1.0511423503602977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2293891784475418, + 0.2665039943943053, + 1.0511423503602977 + ], + "object_minus_gripper": [ + 0.005251686927571636, + 0.004941935571666389, + -0.003292984109387609 + ], + "object_to_gripper_xy": 0.007211306593102835, + "object_to_gripper_z": -0.003292984109387609, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23464086537511344, + 0.24680802354452416, + 1.04784936625091 + ], + "finger_b": [ + 0.2227614300921211, + 0.27144592996597167, + 1.04784936625091 + ], + "finger_midpoint": [ + 0.22870114773361727, + 0.25912697675524793, + 1.04784936625091 + ], + "object_minus_finger_midpoint": [ + 0.005939717641496173, + 0.012318953210723738, + 0.0 + ], + "finger_gap": 0.027352283551374784, + "fingertip_max_gap": 0.09181674231264772, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013676141775687378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04784936625091, + "object_top_z": 1.0940027624518849, + "finger_top_clearance": 0.046153396200974806, + "fingertip_min_top_clearance": 0.013846018860292474, + "object_projection_between_fingers": 0.8113727592666455, + "object_to_finger_line_xy": 0.010700547699875556, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840837115632386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6702618620907629, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23400965135382995, + 0.27066771746719476, + 1.2404362392273964 + ], + "held_position": [ + 0.23953542908691983, + 0.2752269747960116, + 1.2370390057569767 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007928571258330361, + "max_held_gripper_dist": 0.007933187499331347, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003397233470419758, + "max_held_gripper_z_dist": 0.0034754796886564687, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676526376275562, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23953542908691983, + 0.24981615538302138, + 1.2370390057569767 + ], + "held_grasp_finger_b": [ + 0.2293218816330437, + 0.2752269747960116, + 1.2370390057569767 + ], + "held_grasp_midpoint": [ + 0.23442865535998175, + 0.2625215650895165, + 1.2370390057569767 + ], + "held_grasp_object_position": [ + 0.23953542908691983, + 0.2752269747960116, + 1.2370390057569767 + ], + "held_grasp_finger_gap": 0.027386607946808243, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024665588389231902, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06679102022928161, + -0.9975184676995689, + 0.022268053687646283 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004256429959928326, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218525751659026, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1939954129829447, + 0.2721846859643669, + 0.7565864046446444 + ], + "target_position": [ + 0.20993090146916119, + 0.26870572239441454, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016310824038514846, + "xy_threshold": 0.08, + "gripper_dist": 0.20659890076504836, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864046446444, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569301744386603, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864639321036186, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17813709296629804, + "release_required_pad_clearance": 0.0532319660518093, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4851359594960307, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b6a5abd885d8e68d52e771fd589d7955fafcdf0a2e4d09aa5f400ee0e2d5d25d", + "visual_seed": 5087304066488563301, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8e79d5a7e2c0947dfc370e00c40a72eebde0b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23212537695959673, + 0.2644308176904788, + 1.0443412852112521 + ], + "current_z": 1.0443412852112521, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18775471819804168, + "gripper_z": 1.0479451996513303, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22690762354700691, + 0.25937689999826, + 1.0479451996513303 + ], + "object_minus_gripper": [ + 0.005217753412589815, + 0.005053917692218801, + -0.0036039144400781264 + ], + "object_to_gripper_xy": 0.0072640921466013125, + "object_to_gripper_z": -0.0036039144400781264, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23212537695959673, + 0.23996148547012805, + 1.0443412852112521 + ], + "finger_b": [ + 0.2199069068210069, + 0.2644308176904788, + 1.0443412852112521 + ], + "finger_midpoint": [ + 0.2260161418903018, + 0.25219615158030345, + 1.0443412852112521 + ], + "object_minus_finger_midpoint": [ + 0.0061092350692949215, + 0.012234666110175374, + 0.0 + ], + "finger_gap": 0.027350305881973392, + "fingertip_max_gap": 0.09170916543834692, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675152940986684, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443412852112521, + "object_top_z": 1.0903195497781515, + "finger_top_clearance": 0.04597826456689935, + "fingertip_min_top_clearance": 0.013793479370069806, + "object_projection_between_fingers": 0.8004235524373657, + "object_to_finger_line_xy": 0.010931424545516565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048354582719173464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5727111520819502, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23135689363971376, + 0.26365451919602867, + 1.2361076856142887 + ], + "held_position": [ + 0.23689768809062764, + 0.26825956920514715, + 1.2323861362092225 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008109057818767152, + "max_held_gripper_dist": 0.008112326837956586, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037215494050661935, + "max_held_gripper_z_dist": 0.0037939236761852513, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675742042434287, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23689768809062764, + 0.24284497633759441, + 1.2323861362092225 + ], + "held_grasp_finger_b": [ + 0.22664005902395454, + 0.26825956920514715, + 1.2323861362092225 + ], + "held_grasp_midpoint": [ + 0.2317688735572911, + 0.25555227277137077, + 1.2323861362092225 + ], + "held_grasp_object_position": [ + 0.23689768809062764, + 0.26825956920514715, + 1.2323861362092225 + ], + "held_grasp_finger_gap": 0.02740657739837135, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024500521602037733, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08055176136747884, + -0.9965452455918609, + 0.02022343266743831 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040968843114619164, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03212369407601714, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19923965732442792, + 0.25893285560118234, + 0.7565861452626975 + ], + "target_position": [ + 0.20733350587241278, + 0.262344696293115, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008783566543542797, + "xy_threshold": 0.08, + "gripper_dist": 0.20890021115330357, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861452626975, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580227585521723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0958681806901641, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17789065975554852, + "release_required_pad_clearance": 0.057934090345082054, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 11.782711959335217, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec271945e08f32dc15e124b26e78baab134c1eec3246b01eb7887ef497baf6cd", + "visual_seed": 7146365051240298753, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f56b10c80968f3fe2c50284aa62bb50964a9c09 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22932086867318124, + 0.26993389474774065, + 1.0437300306061856 + ], + "current_z": 1.0437300306061856, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1871434635929753, + "gripper_z": 1.047468895020701, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22389922640827079, + 0.2648805730750602, + 1.047468895020701 + ], + "object_minus_gripper": [ + 0.005421642264910459, + 0.005053321672680466, + -0.0037388644145153194 + ], + "object_to_gripper_xy": 0.007411495448035135, + "object_to_gripper_z": -0.0037388644145153194, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22932086867318124, + 0.24522089980282236, + 1.0437300306061856 + ], + "finger_b": [ + 0.21721499683751816, + 0.26993389474774065, + 1.0437300306061856 + ], + "finger_midpoint": [ + 0.2232679327553497, + 0.2575773972752815, + 1.0437300306061856 + ], + "object_minus_finger_midpoint": [ + 0.006052935917831542, + 0.01235649747245915, + 0.0 + ], + "finger_gap": 0.02751879815778767, + "fingertip_max_gap": 0.09039675111571094, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013759399078893834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0437300306061856, + "object_top_z": 1.0891323254904108, + "finger_top_clearance": 0.0454022948842252, + "fingertip_min_top_clearance": 0.013620688465267544, + "object_projection_between_fingers": 0.8064767192702605, + "object_to_finger_line_xy": 0.010871563058937828, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769837555785547, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07626487504558038, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22861739731334438, + 0.2685312360491916, + 1.2370749662071394 + ], + "held_position": [ + 0.23436498280370663, + 0.27312722109289456, + 1.2332307385260342 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008302764838000644, + "max_held_gripper_dist": 0.008307442743643863, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003844227681105261, + "max_held_gripper_z_dist": 0.00391922645205911, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08721623325162323, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23436498280370663, + 0.24754230774121572, + 1.2332307385260342 + ], + "held_grasp_finger_b": [ + 0.22412825874065118, + 0.27312722109289456, + 1.2332307385260342 + ], + "held_grasp_midpoint": [ + 0.2292466207721789, + 0.26033476441705516, + 1.2332307385260342 + ], + "held_grasp_object_position": [ + 0.23436498280370663, + 0.27312722109289456, + 1.2332307385260342 + ], + "held_grasp_finger_gap": 0.027556819677822995, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024765699656681215, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0731181654825521, + -0.9972357455355122, + 0.01321369375676551 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041728262951405285, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032068884653428456, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1979868446026142, + 0.2713542153313998, + 0.7565863929348731 + ], + "target_position": [ + 0.20433362952073758, + 0.2670634910027356, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0076610700337165355, + "xy_threshold": 0.08, + "gripper_dist": 0.2112197734786278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863929348731, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561887548038065, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08588504611817753, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18189393924135933, + "release_required_pad_clearance": 0.05294252305908877, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9219529621733318, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dacc952c4a596912c363bded2d64c17757b1c628ea4e3bcb74884104de5de5e7", + "visual_seed": 2885082920029317672, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b51bdef730e756fc34908313e80e26b4765017e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23181849581526265, + 0.26738321337056886, + 1.0457186692177902 + ], + "current_z": 1.0457186692177902, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1891322810185142, + "gripper_z": 1.0491745027566934, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22674793212629477, + 0.2624232992085542, + 1.0491745027566934 + ], + "object_minus_gripper": [ + 0.005070563688967883, + 0.004959914162014689, + -0.003455833538903219 + ], + "object_to_gripper_xy": 0.007093050445219846, + "object_to_gripper_z": -0.003455833538903219, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23181849581526265, + 0.24300100028263544, + 1.0457186692177902 + ], + "finger_b": [ + 0.2197545204828202, + 0.26738321337056886, + 1.0457186692177902 + ], + "finger_midpoint": [ + 0.22578650814904144, + 0.25519210682660215, + 1.0457186692177902 + ], + "object_minus_finger_midpoint": [ + 0.006031987666221206, + 0.012191106543966712, + 0.0 + ], + "finger_gap": 0.027203525798821956, + "fingertip_max_gap": 0.09243419066297262, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601762899410971, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457186692177902, + "object_top_z": 1.0922030379409584, + "finger_top_clearance": 0.04648436872316819, + "fingertip_min_top_clearance": 0.01394531061695049, + "object_projection_between_fingers": 0.8033334544578968, + "object_to_finger_line_xy": 0.010812804906925788, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871709533148631, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.874480700507282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23132906129471825, + 0.2668594104748048, + 1.237852042808206 + ], + "held_position": [ + 0.23672603808640671, + 0.2713805531627481, + 1.234290797758787 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007889902153815295, + "max_held_gripper_dist": 0.007894351052024807, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003561245049419126, + "max_held_gripper_z_dist": 0.00363307078175934, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676490503464548, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23672603808640671, + 0.2460315718311255, + 1.234290797758787 + ], + "held_grasp_finger_b": [ + 0.22661500133737109, + 0.2713805531627481, + 1.234290797758787 + ], + "held_grasp_midpoint": [ + 0.2316705197118889, + 0.25870606249693684, + 1.234290797758787 + ], + "held_grasp_object_position": [ + 0.23672603808640671, + 0.2713805531627481, + 1.234290797758787 + ], + "held_grasp_finger_gap": 0.027291095959878574, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024468406611792753, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07847668687042447, + -0.9965641990184518, + 0.02648031065816525 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004059609590854262, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03217254099502498, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1964296148780086, + 0.26172565263356357, + 0.7565864235926173 + ], + "target_position": [ + 0.2072351542780793, + 0.26403696374971575, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011049970172001747, + "xy_threshold": 0.08, + "gripper_dist": 0.20899638189284805, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864235926173, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547306349323149, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09122101983775315, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17940553227828931, + "release_required_pad_clearance": 0.055610509918876574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.382278145682909, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b423cff10cb4ad4504aa4c1a906ac8b9612cbdaadf7cca02c449eacc5329ba93", + "visual_seed": 1801955425250954629, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c911a0d9048e03f67b1142912126c45cffca96 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_3_success.json @@ -0,0 +1,684 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.232672584273422, + 0.2696011499792508, + 1.0452891390476666 + ], + "current_z": 1.0452891390476666, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.18870257203445617, + "gripper_z": 1.049000591433863, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22745129817053633, + 0.26455955865799796, + 1.049000591433863 + ], + "object_minus_gripper": [ + 0.005221286102885664, + 0.005041591321252814, + -0.003711452386196301 + ], + "object_to_gripper_xy": 0.0072580625251315286, + "object_to_gripper_z": -0.003711452386196301, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.232672584273422, + 0.24512525670731766, + 1.0452891390476666 + ], + "finger_b": [ + 0.2204724481353139, + 0.2696011499792508, + 1.0452891390476666 + ], + "finger_midpoint": [ + 0.22657251620436794, + 0.2573632033432842, + 1.0452891390476666 + ], + "object_minus_finger_midpoint": [ + 0.006100068069054054, + 0.012237946635966557, + 0.0 + ], + "finger_gap": 0.027347992124604543, + "fingertip_max_gap": 0.09169175313214709, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013673996062302272, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0452891390476666, + "object_top_z": 1.0914516297866623, + "finger_top_clearance": 0.0461624907389957, + "fingertip_min_top_clearance": 0.01384874722169871, + "object_projection_between_fingers": 0.8009883678771017, + "object_to_finger_line_xy": 0.01091887216651398, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048345876566073545, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7118789278960059, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23211743230475804, + 0.26855346384913054, + 1.2380043294435705 + ], + "held_position": [ + 0.23769015059816376, + 0.2731211739104269, + 1.2341896050900205 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008152992473643915, + "max_held_gripper_dist": 0.008159407231951708, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003814724353550014, + "max_held_gripper_z_dist": 0.003890031124926363, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08756125363440817, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23769015059816376, + 0.24764497151082188, + 1.2341896050900205 + ], + "held_grasp_finger_b": [ + 0.2275126245463276, + 0.2731211739104269, + 1.2341896050900205 + ], + "held_grasp_midpoint": [ + 0.2326013875722457, + 0.2603830727106244, + 1.2341896050900205 + ], + "held_grasp_object_position": [ + 0.23769015059816376, + 0.2731211739104269, + 1.2341896050900205 + ], + "held_grasp_finger_gap": 0.02743390102120813, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02455597470415024, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08139101835026986, + -0.9963939489736957, + 0.023970827697652464 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004047024970819827, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209387840409031, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2001089152472209, + 0.25783537511870386, + 0.7565864654777342 + ], + "target_position": [ + 0.20791757265805252, + 0.2653562590432938, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010841532436279055, + "xy_threshold": 0.08, + "gripper_dist": 0.21079570479872098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864654777342, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575264061957265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09117751428520963, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17926946376217798, + "release_required_pad_clearance": 0.05558875714260482, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.333132852469321, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "620f5753158cf5524144ede75cf2a72687be6bbd7a9100a81c491caefc4c3638", + "visual_seed": 1705668230208700630, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6e832c8527855700fc5a257e45587cccc1b2497 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2354922372793515, + 0.27040401359995647, + 1.0455196462751968 + ], + "current_z": 1.0455196462751968, + "required_z": 0.8565866862224999, + "initial_z": 0.7565866862224999, + "lift_margin": 0.18893296005269689, + "gripper_z": 1.0487354650336713, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2304242793697092, + 0.2656247126478404, + 1.0487354650336713 + ], + "object_minus_gripper": [ + 0.005067957909642318, + 0.0047793009521160945, + -0.0032158187584745423 + ], + "object_to_gripper_xy": 0.006966054476158218, + "object_to_gripper_z": -0.0032158187584745423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2354922372793515, + 0.2458584439004452, + 1.0455196462751968 + ], + "finger_b": [ + 0.22389807983787102, + 0.27040401359995647, + 1.0455196462751968 + ], + "finger_midpoint": [ + 0.22969515855861128, + 0.25813122875020084, + 1.0455196462751968 + ], + "object_minus_finger_midpoint": [ + 0.0057970787207402286, + 0.012272784849755636, + 0.0 + ], + "finger_gap": 0.027146076671434552, + "fingertip_max_gap": 0.09206790863419287, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013573038335717269, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0455196462751968, + "object_top_z": 1.09169091623229, + "finger_top_clearance": 0.04617126995709331, + "fingertip_min_top_clearance": 0.013851380987127975, + "object_projection_between_fingers": 0.8175834472588903, + "object_to_finger_line_xy": 0.010483474390479105, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853395431709644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6678739762611486, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23494880447415784, + 0.2702464275356873, + 1.2403170971629829 + ], + "held_position": [ + 0.24026958329054318, + 0.2746894603324422, + 1.2370288379742729 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007672279722355702, + "max_held_gripper_dist": 0.007676089074379947, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032882591887100077, + "max_held_gripper_z_dist": 0.0033632259055116354, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08664985857952809, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24026958329054318, + 0.24943678538547268, + 1.2370288379742729 + ], + "held_grasp_finger_b": [ + 0.23013162561400766, + 0.2746894603324422, + 1.2370288379742729 + ], + "held_grasp_midpoint": [ + 0.23520060445227542, + 0.26206312285895744, + 1.2370288379742729 + ], + "held_grasp_object_position": [ + 0.24026958329054318, + 0.2746894603324422, + 1.2370288379742729 + ], + "held_grasp_finger_gap": 0.027211684582703198, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024557467833365074, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06307774270699987, + -0.9977931990244006, + 0.020734762010751195 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004270679915727562, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03228201156323328, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19989062755337103, + 0.269303936307689, + 0.7565864812554453 + ], + "target_position": [ + 0.2109903898431628, + 0.2655725320397667, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011710170822859583, + "xy_threshold": 0.08, + "gripper_dist": 0.20791898162838612, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864812554453, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529677731325089, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0881517699102261, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17983138841837393, + "release_required_pad_clearance": 0.05407588495511305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.164285799277188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d507b40912db360294626014dabf201e1ee9fca685ef9becc3b2eb0c0bb10d8", + "visual_seed": 938106181109390234, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b80958dc59809b1fa40b54e68bb440fe8c04645e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_41_success.json @@ -0,0 +1,684 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22862495690602858, + 0.2676116643544688, + 1.0451016878537853 + ], + "current_z": 1.0451016878537853, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1885150612359302, + "gripper_z": 1.04904791023845, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.223282592204106, + 0.2625509844403279, + 1.04904791023845 + ], + "object_minus_gripper": [ + 0.005342364701922564, + 0.005060679914140942, + -0.003946222384664688 + ], + "object_to_gripper_xy": 0.007358759528734292, + "object_to_gripper_z": -0.003946222384664688, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22862495690602858, + 0.24300809002724014, + 1.0451016878537853 + ], + "finger_b": [ + 0.21645486142753317, + 0.2676116643544688, + 1.0451016878537853 + ], + "finger_midpoint": [ + 0.22253990916678087, + 0.25530987719085446, + 1.0451016878537853 + ], + "object_minus_finger_midpoint": [ + 0.006085047739247701, + 0.012301787163614353, + 0.0 + ], + "finger_gap": 0.02744899075797069, + "fingertip_max_gap": 0.09202854753370382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013724495378985357, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0451016878537853, + "object_top_z": 1.0914317928334956, + "finger_top_clearance": 0.04633010497971024, + "fingertip_min_top_clearance": 0.013899031493913071, + "object_projection_between_fingers": 0.8034218657054107, + "object_to_finger_line_xy": 0.010908519417519325, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851427376685191, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7856657892484881, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22773491197827347, + 0.26693937143471397, + 1.2366037926999853 + ], + "held_position": [ + 0.23337322309662106, + 0.27157886923492364, + 1.2325503552703585 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008351397913004273, + "max_held_gripper_dist": 0.008359043960959949, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004053437429626827, + "max_held_gripper_z_dist": 0.004128166006481582, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08664619932229878, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23337322309662106, + 0.24614299531137365, + 1.2325503552703585 + ], + "held_grasp_finger_b": [ + 0.22297644799897048, + 0.27157886923492364, + 1.2325503552703585 + ], + "held_grasp_midpoint": [ + 0.22817483554779577, + 0.25886093227314866, + 1.2325503552703585 + ], + "held_grasp_object_position": [ + 0.23337322309662106, + 0.27157886923492364, + 1.2325503552703585 + ], + "held_grasp_finger_gap": 0.027478657439654094, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024671489742002114, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0672304130808815, + -0.9974286436070418, + 0.02482282153968062 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004343398973953966, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03216550061028565, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19234045534198022, + 0.256366029922625, + 0.7565872304846254 + ], + "target_position": [ + 0.20370533183771716, + 0.2652110749547527, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014401223537731812, + "xy_threshold": 0.08, + "gripper_dist": 0.20738639456458693, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872304846254, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531534778642844, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598541001288353, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17653740380762709, + "release_required_pad_clearance": 0.052992705006441765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0071247585308551, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "92dc6e0a0c79348b4cde3157d4ff77ba89564d3aab75d9a445a8f7f3a78dd886", + "visual_seed": 3279792702237266669, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eefc52e392718580a287f74038134fc76ac3af2b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2342812654121675, + 0.2683241889716636, + 1.0477598596763729 + ], + "current_z": 1.0477598596763729, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.19117323305851774, + "gripper_z": 1.0513370235402641, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2286518152043204, + 0.2631980876588095, + 1.0513370235402641 + ], + "object_minus_gripper": [ + 0.005629450207847109, + 0.0051261013128541255, + -0.003577163863891286 + ], + "object_to_gripper_xy": 0.00761364724112397, + "object_to_gripper_z": -0.003577163863891286, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2342812654121675, + 0.24338043149349028, + 1.0477598596763729 + ], + "finger_b": [ + 0.22218702406114277, + 0.2683241889716636, + 1.0477598596763729 + ], + "finger_midpoint": [ + 0.22823414473665515, + 0.25585231023257693, + 1.0477598596763729 + ], + "object_minus_finger_midpoint": [ + 0.0060471206755123574, + 0.012471878739086673, + 0.0 + ], + "finger_gap": 0.027721141949543927, + "fingertip_max_gap": 0.090930122606203, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01386057097477197, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477598596763729, + "object_top_z": 1.0933591019872357, + "finger_top_clearance": 0.045599242310862875, + "fingertip_min_top_clearance": 0.013679772693258862, + "object_projection_between_fingers": 0.8096578245010881, + "object_to_finger_line_xy": 0.01088251788802732, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047965061303101506, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3101537914880489, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23335422835583386, + 0.2672359109939769, + 1.2410806798340086 + ], + "held_position": [ + 0.23926298934576143, + 0.27196584440738814, + 1.23740730802686 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008413048613014685, + "max_held_gripper_dist": 0.008414625125581226, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003673371807148662, + "max_held_gripper_z_dist": 0.003754464829622828, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08770809683032749, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23926298934576143, + 0.2463248454342349, + 1.23740730802686 + ], + "held_grasp_finger_b": [ + 0.22873020166457003, + 0.27196584440738814, + 1.23740730802686 + ], + "held_grasp_midpoint": [ + 0.23399659550516572, + 0.25914534492081154, + 1.23740730802686 + ], + "held_grasp_object_position": [ + 0.23926298934576143, + 0.27196584440738814, + 1.23740730802686 + ], + "held_grasp_finger_gap": 0.027720036880897216, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024987396814726733, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05772149989357732, + -0.9982202777881116, + 0.014983506354030895 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004521774052253718, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03209855825542845, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20007230400063006, + 0.27057343699934944, + 0.7565865066304733 + ], + "target_position": [ + 0.20919811240794306, + 0.2641580586640979, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011155153888288553, + "xy_threshold": 0.08, + "gripper_dist": 0.2119080078555597, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865066304733, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583263122348431, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08629049749105751, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18305318798522635, + "release_required_pad_clearance": 0.053145248745528756, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3157931685799205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99a24886310c2df8c8c2f405549c02c5dd7533e292559861f964af0bd0df5ca6", + "visual_seed": 4754549692622884563, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..99cc84aabbbbfacdf8dbb9a9b3602165479dbf6b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22780939495239033, + 0.27284468644669746, + 1.0440423522869875 + ], + "current_z": 1.0440423522869875, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18745572566913238, + "gripper_z": 1.047739923449152, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2224721713915718, + 0.2679700329642534, + 1.047739923449152 + ], + "object_minus_gripper": [ + 0.0053372235608185326, + 0.004874653482444036, + -0.0036975711621645146 + ], + "object_to_gripper_xy": 0.007228291769986891, + "object_to_gripper_z": -0.0036975711621645146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22780939495239033, + 0.24795417462464373, + 1.0440423522869875 + ], + "finger_b": [ + 0.21628165164426374, + 0.27284468644669746, + 1.0440423522869875 + ], + "finger_midpoint": [ + 0.22204552329832705, + 0.2603994305356706, + 1.0440423522869875 + ], + "object_minus_finger_midpoint": [ + 0.0057638716540632795, + 0.012445255911026853, + 0.0 + ], + "finger_gap": 0.02743039271577886, + "fingertip_max_gap": 0.09149932467348743, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013715196357889413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0440423522869875, + "object_top_z": 1.0897436878244986, + "finger_top_clearance": 0.0457013355375111, + "fingertip_min_top_clearance": 0.013710400661253296, + "object_projection_between_fingers": 0.8233862369643691, + "object_to_finger_line_xy": 0.010460347180063279, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048249662336743715, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5625192398620604, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22687370422128758, + 0.27257821647648106, + 1.2380213689697535 + ], + "held_position": [ + 0.23240725129046505, + 0.27716247090636303, + 1.2342419765712374 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008119072529954167, + "max_held_gripper_dist": 0.008121918432416834, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037793923985161015, + "max_held_gripper_z_dist": 0.0038550759309934346, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08667397849604386, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23240725129046505, + 0.25176642040145175, + 1.2342419765712374 + ], + "held_grasp_finger_b": [ + 0.2220772599865518, + 0.27716247090636303, + 1.2342419765712374 + ], + "held_grasp_midpoint": [ + 0.22724225563850842, + 0.26446444565390737, + 1.2342419765712374 + ], + "held_grasp_object_position": [ + 0.23240725129046505, + 0.27716247090636303, + 1.2342419765712374 + ], + "held_grasp_finger_gap": 0.027416566188837865, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024990475487796617, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03729680104217003, + -0.9992006872611416, + 0.014385242746756118 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00469141776124201, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032319711591483065, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19665206423865986, + 0.27613973312220436, + 0.756586719830675 + ], + "target_position": [ + 0.2029755944456662, + 0.2695391639351886, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009140817680683899, + "xy_threshold": 0.08, + "gripper_dist": 0.2123895957987686, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586719830675, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551622775491758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09275253739720858, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18411825829733408, + "release_required_pad_clearance": 0.05637626869860429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 8.08091402250977, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68b8a64d41a6309cf7c4e24bcae66d398e2e2b5a81f662fe94be3c097fda21a5", + "visual_seed": 4219777369228769658, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb4a1f7e24f9436353ffff74f867ac0c47507dd9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23037012732788237, + 0.2748552237332524, + 1.0443443860756656 + ], + "current_z": 1.0443443860756656, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1877579382717448, + "gripper_z": 1.0482957029624052, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22458524847870973, + 0.26972034446041626, + 1.0482957029624052 + ], + "object_minus_gripper": [ + 0.005784878849172642, + 0.005134879272836124, + -0.003951316886739553 + ], + "object_to_gripper_xy": 0.007735102355250836, + "object_to_gripper_z": -0.003951316886739553, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23037012732788237, + 0.2497235194545671, + 1.0443443860756656 + ], + "finger_b": [ + 0.2183679305028755, + 0.2748552237332524, + 1.0443443860756656 + ], + "finger_midpoint": [ + 0.22436902891537894, + 0.26228937159390975, + 1.0443443860756656 + ], + "object_minus_finger_midpoint": [ + 0.006001098412503431, + 0.012565852139342637, + 0.0 + ], + "finger_gap": 0.02785058865764766, + "fingertip_max_gap": 0.0917338220618483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01392529432882383, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0443443860756656, + "object_top_z": 1.0899914515016833, + "finger_top_clearance": 0.04564706542601771, + "fingertip_min_top_clearance": 0.013694119627805328, + "object_projection_between_fingers": 0.814282541810049, + "object_to_finger_line_xy": 0.010830495003480649, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836691103092415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.697737605978916, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22893309049546665, + 0.27435590349524736, + 1.2378466407537945 + ], + "held_position": [ + 0.23491886585384736, + 0.27918193213345865, + 1.2338046975972674 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008686619799348264, + "max_held_gripper_dist": 0.00868981691886798, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004041943156527061, + "max_held_gripper_z_dist": 0.004126841558917738, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08684309041196175, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23491886585384736, + 0.253570360663764, + 1.2338046975972674 + ], + "held_grasp_finger_b": [ + 0.224102621037469, + 0.27918193213345865, + 1.2338046975972674 + ], + "held_grasp_midpoint": [ + 0.2295107434456582, + 0.2663761463986113, + 1.2338046975972674 + ], + "held_grasp_object_position": [ + 0.23491886585384736, + 0.27918193213345865, + 1.2338046975972674 + ], + "held_grasp_finger_gap": 0.02780186585600164, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02523185741411833, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03360498179623926, + -0.9993661323969327, + 0.01174898363565002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0049770366090524255, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032220816548593545, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19898565216529002, + 0.2753105910675872, + 0.7565878328075963 + ], + "target_position": [ + 0.20513433597509345, + 0.27084295177456935, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007600402189717066, + "xy_threshold": 0.08, + "gripper_dist": 0.21197921360868863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878328075963, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539392431924691, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0883677412597184, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18358712380685113, + "release_required_pad_clearance": 0.0541838706298592, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3819193864988732, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "46538446fcadc2513f3f4c6d721f9bce24e27cb9fe82984731e87ac111623d4d", + "visual_seed": 3191284969236131192, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..241687acbe14f41b8fde519d9572d53deddbad10 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23328774221301796, + 0.2660277229699288, + 1.0444903038545632 + ], + "current_z": 1.0444903038545632, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.18790373684135286, + "gripper_z": 1.0479689636036742, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22779401324881896, + 0.26106566384650814, + 1.0479689636036742 + ], + "object_minus_gripper": [ + 0.005493728964199002, + 0.004962059123420681, + -0.0034786597491109905 + ], + "object_to_gripper_xy": 0.007402910824560935, + "object_to_gripper_z": -0.0034786597491109905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23328774221301796, + 0.24105081314471166, + 1.0444903038545632 + ], + "finger_b": [ + 0.22160639423923661, + 0.2660277229699288, + 1.0444903038545632 + ], + "finger_midpoint": [ + 0.22744706822612729, + 0.25353926805732024, + 1.0444903038545632 + ], + "object_minus_finger_midpoint": [ + 0.005840673986890671, + 0.012488454912608582, + 0.0 + ], + "finger_gap": 0.027573536496097034, + "fingertip_max_gap": 0.09356818787074792, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013786768248048517, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0444903038545632, + "object_top_z": 1.091214936402308, + "finger_top_clearance": 0.04672463254774484, + "fingertip_min_top_clearance": 0.014017389764323417, + "object_projection_between_fingers": 0.820526232069582, + "object_to_finger_line_xy": 0.010581304107270319, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04928409393537396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0832302732006907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23213759562322678, + 0.2657535741918365, + 1.2357618269686397 + ], + "held_position": [ + 0.23780148448728267, + 0.2704349781995574, + 1.2321661123025482 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008180730071810641, + "max_held_gripper_dist": 0.008183327657201171, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003595714666091432, + "max_held_gripper_z_dist": 0.003671604730745459, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867272323635902, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23780148448728267, + 0.24498907671367764, + 1.2321661123025482 + ], + "held_grasp_finger_b": [ + 0.22735344871703986, + 0.2704349781995574, + 1.2321661123025482 + ], + "held_grasp_midpoint": [ + 0.23257746660216128, + 0.25771202745661753, + 1.2321661123025482 + ], + "held_grasp_object_position": [ + 0.23780148448728267, + 0.2704349781995574, + 1.2321661123025482 + ], + "held_grasp_finger_gap": 0.02750736908330878, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025080912308806894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.032781010176797236, + -0.999116085151336, + 0.026314516215527044 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004815947694084062, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03231727164449546, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19714221265982043, + 0.26862690759264396, + 0.7565870086601982 + ], + "target_position": [ + 0.20833391425352693, + 0.2636093883489907, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012264977942214293, + "xy_threshold": 0.08, + "gripper_dist": 0.20862560225143112, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870086601982, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535497774097057, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09061518014456059, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18051612016315846, + "release_required_pad_clearance": 0.0553075900722803, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.726549786028493, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2efbb44e2d2b0b5278f38dcb53e44a8af7a6465783c4d878fc6c01085b60003", + "visual_seed": 6277691127335513987, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1edcdbf27451ea1ce9cae4b55182c79b831b41 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23508239264042274, + 0.26522451330531965, + 1.04764120941183 + ], + "current_z": 1.04764120941183, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19105470200326435, + "gripper_z": 1.0510519187112533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2300054592220555, + 0.2602954214070633, + 1.0510519187112533 + ], + "object_minus_gripper": [ + 0.0050769334183672354, + 0.004929091898256355, + -0.0034107092994233312 + ], + "object_to_gripper_xy": 0.007076100612342256, + "object_to_gripper_z": -0.0034107092994233312, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23508239264042274, + 0.2408700010082309, + 1.04764120941183 + ], + "finger_b": [ + 0.2230196886789168, + 0.26522451330531965, + 1.04764120941183 + ], + "finger_midpoint": [ + 0.22905104065966977, + 0.2530472571567753, + 1.04764120941183 + ], + "object_minus_finger_midpoint": [ + 0.006031351980752969, + 0.012177256148544369, + 0.0 + ], + "finger_gap": 0.027178136361641483, + "fingertip_max_gap": 0.09240385065360562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358906818082073, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04764120941183, + "object_top_z": 1.094184501330413, + "finger_top_clearance": 0.046543291918583085, + "fingertip_min_top_clearance": 0.013962987575574891, + "object_projection_between_fingers": 0.8030073635133252, + "object_to_finger_line_xy": 0.010809470820864411, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048701925326802814, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9072999998694905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23470510241608522, + 0.2645324791980971, + 1.2413387873695887 + ], + "held_position": [ + 0.2401253223720769, + 0.26901611665181024, + 1.237841862451919 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007855588651876404, + "max_held_gripper_dist": 0.007860937789885588, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034969249176697303, + "max_held_gripper_z_dist": 0.003569593763249612, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08684012075679703, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2401253223720769, + 0.24367230613010338, + 1.237841862451919 + ], + "held_grasp_finger_b": [ + 0.22999525808373145, + 0.26901611665181024, + 1.237841862451919 + ], + "held_grasp_midpoint": [ + 0.23506029022790417, + 0.2563442113909568, + 1.237841862451919 + ], + "held_grasp_object_position": [ + 0.2401253223720769, + 0.26901611665181024, + 1.237841862451919 + ], + "held_grasp_finger_gap": 0.0272933496340444, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024468284248797594, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07791068663763463, + -0.9965953814069517, + 0.026973517864465772 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004077161355278446, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0321768425770236, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20338433450294077, + 0.25713471081273503, + 0.7565863887882909 + ], + "target_position": [ + 0.21050703795591588, + 0.262615537718231, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00898734488305817, + "xy_threshold": 0.08, + "gripper_dist": 0.2120871337641987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863887882909, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753860574875272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569794012576608, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1814743111884284, + "release_required_pad_clearance": 0.05284897006288304, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7412453694275093, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "849cbce886d77009342ec92b184f96990e277b12ea93c6ad9cda8fe7d50ab48a", + "visual_seed": 1688283220892159508, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..66be017c449f1c6eb86c4dfb4ccdef3df66cb253 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_47_success.json @@ -0,0 +1,684 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23614755339080354, + 0.2735759006336906, + 1.0456514395310665 + ], + "current_z": 1.0456514395310665, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.18906481291321142, + "gripper_z": 1.0491709880336673, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23043865717001139, + 0.26844658205919736, + 1.0491709880336673 + ], + "object_minus_gripper": [ + 0.005708896220792153, + 0.005129318574493225, + -0.0035195485026007223 + ], + "object_to_gripper_xy": 0.0076747250829209595, + "object_to_gripper_z": -0.0035195485026007223, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23614755339080354, + 0.24854770521733902, + 1.0456514395310665 + ], + "finger_b": [ + 0.22408461987352604, + 0.2735759006336906, + 1.0456514395310665 + ], + "finger_midpoint": [ + 0.2301160866321648, + 0.2610618029255148, + 1.0456514395310665 + ], + "object_minus_finger_midpoint": [ + 0.006031466758638748, + 0.012514097708175798, + 0.0 + ], + "finger_gap": 0.02778353704698771, + "fingertip_max_gap": 0.09384252002937088, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013891768523493865, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0456514395310665, + "object_top_z": 1.092467332139626, + "finger_top_clearance": 0.04681589260855956, + "fingertip_min_top_clearance": 0.014044767782567852, + "object_projection_between_fingers": 0.8114915593104922, + "object_to_finger_line_xy": 0.010866631446323048, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04942126001468544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.364001200812869, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23509152137949907, + 0.2727372537639961, + 1.2392677320373031 + ], + "held_position": [ + 0.24104703309560319, + 0.2775045217532672, + 1.235652586610379 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008441814990865, + "max_held_gripper_dist": 0.008445438728520977, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036151454269242045, + "max_held_gripper_z_dist": 0.0037009085309755996, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08690655295368971, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24104703309560319, + 0.2518642138103064, + 1.235652586610379 + ], + "held_grasp_finger_b": [ + 0.2304028101860689, + 0.2775045217532672, + 1.235652586610379 + ], + "held_grasp_midpoint": [ + 0.23572492164083603, + 0.2646843677817868, + 1.235652586610379 + ], + "held_grasp_object_position": [ + 0.24104703309560319, + 0.2775045217532672, + 1.235652586610379 + ], + "held_grasp_finger_gap": 0.027761932078976655, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025185958136209722, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03977379656114485, + -0.9987914088136259, + 0.02887502012475851 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004822458433757861, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03218388474115062, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1964963692244574, + 0.27257755521870525, + 0.7565868284862516 + ], + "target_position": [ + 0.21103448001374167, + 0.2692867841071396, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01490589949752174, + "xy_threshold": 0.08, + "gripper_dist": 0.20754939363463495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868284862516, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531861162348444, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08845436676945644, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1796010945957776, + "release_required_pad_clearance": 0.05422718338472822, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.471919538718535, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10daf121ae1d46fb623874f550864e0eed99657ee96e9ee97e0605d7a1fb6ac2", + "visual_seed": 4378740777993173654, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52010387a6c89070bb91417fc60b37748eec17df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2298380635765612, + 0.26940253568058503, + 1.045321422748573 + ], + "current_z": 1.045321422748573, + "required_z": 0.8565866266178552, + "initial_z": 0.7565866266178553, + "lift_margin": 0.18873479613071775, + "gripper_z": 1.049131270875921, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22434402184199886, + 0.2643498793157013, + 1.049131270875921 + ], + "object_minus_gripper": [ + 0.005494041734562333, + 0.005052656364883723, + -0.003809848127348081 + ], + "object_to_gripper_xy": 0.0074641698080036125, + "object_to_gripper_z": -0.003809848127348081, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2298380635765612, + 0.2446107420981305, + 1.045321422748573 + ], + "finger_b": [ + 0.21777256007236528, + 0.26940253568058503, + 1.045321422748573 + ], + "finger_midpoint": [ + 0.22380531182446323, + 0.25700663888935776, + 1.045321422748573 + ], + "object_minus_finger_midpoint": [ + 0.00603275175209797, + 0.012395896791227268, + 0.0 + ], + "finger_gap": 0.02757189518050578, + "fingertip_max_gap": 0.09034648227703382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013785947590252895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.045321422748573, + "object_top_z": 1.090650992219599, + "finger_top_clearance": 0.045329569471026065, + "fingertip_min_top_clearance": 0.013598870841307786, + "object_projection_between_fingers": 0.8085049013160006, + "object_to_finger_line_xy": 0.01084892679252234, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04767324113851691, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09897509384401773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22895347052486942, + 0.26839612186215084, + 1.2392035804291348 + ], + "held_position": [ + 0.23473751329088943, + 0.27305126056359275, + 1.2352977658424886 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008389329808397617, + "max_held_gripper_dist": 0.008391088697936208, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0039058145866461835, + "max_held_gripper_z_dist": 0.003984471311245796, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08754472653176576, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23473751329088943, + 0.2475063164671439, + 1.2352977658424886 + ], + "held_grasp_finger_b": [ + 0.22429542967292598, + 0.27305126056359275, + 1.2352977658424886 + ], + "held_grasp_midpoint": [ + 0.2295164714819077, + 0.26027878851536834, + 1.2352977658424886 + ], + "held_grasp_object_position": [ + 0.23473751329088943, + 0.27305126056359275, + 1.2352977658424886 + ], + "held_grasp_finger_gap": 0.027596762113973387, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024839324146626023, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06263336287129094, + -0.9979801428708659, + 0.010615850925829172 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044129449694630144, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032126540080121495, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1939878376211604, + 0.2733143922154202, + 0.7565863881992761 + ], + "target_position": [ + 0.20480876252959687, + 0.2661664485160958, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012968635818879819, + "xy_threshold": 0.08, + "gripper_dist": 0.2063409106459245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863881992761, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579535433209354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17799980191968626, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "efab5a1edefadb24415b991ce0d1b7380bc1c1eaf36af353ee41c15da51b99c7", + "visual_seed": 6705829380756495495, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..adc193590eb12d70146970f700cd4eba6cd19841 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_49_success.json @@ -0,0 +1,684 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2365357734520559, + 0.2702996418815974, + 1.0471562837694954 + ], + "current_z": 1.0471562837694954, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.19056977636092987, + "gripper_z": 1.0505659007945858, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2309137168691872, + 0.26524784407562235, + 1.0505659007945858 + ], + "object_minus_gripper": [ + 0.005622056582868684, + 0.0050517978059750335, + -0.00340961702509035 + ], + "object_to_gripper_xy": 0.007558318681653431, + "object_to_gripper_z": -0.00340961702509035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2365357734520559, + 0.2452090054182886, + 1.0471562837694954 + ], + "finger_b": [ + 0.2247554434378849, + 0.2702996418815974, + 1.0471562837694954 + ], + "finger_midpoint": [ + 0.2306456084449704, + 0.257754323649943, + 1.0471562837694954 + ], + "object_minus_finger_midpoint": [ + 0.005890165007085502, + 0.01254531823165439, + 0.0 + ], + "finger_gap": 0.027718517517657727, + "fingertip_max_gap": 0.09212131240565069, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013859258758828864, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471562837694954, + "object_top_z": 1.0929723743189186, + "finger_top_clearance": 0.04581609054942315, + "fingertip_min_top_clearance": 0.013744827164826912, + "object_projection_between_fingers": 0.8193762244937327, + "object_to_finger_line_xy": 0.010663484351754281, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856065620282535, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8216901993393829, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23537216887031098, + 0.26972777381835095, + 1.2406732854579319 + ], + "held_position": [ + 0.24120398453608022, + 0.27449423214713287, + 1.2371786479149496 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00830311330263217, + "max_held_gripper_dist": 0.008304550845107186, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003494637542982293, + "max_held_gripper_z_dist": 0.0035778936806105666, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08666204265082861, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24120398453608022, + 0.24892488621959985, + 1.2371786479149496 + ], + "held_grasp_finger_b": [ + 0.2305508300247086, + 0.27449423214713287, + 1.2371786479149496 + ], + "held_grasp_midpoint": [ + 0.2358774072803944, + 0.26170955918336636, + 1.2371786479149496 + ], + "held_grasp_object_position": [ + 0.24120398453608022, + 0.27449423214713287, + 1.2371786479149496 + ], + "held_grasp_finger_gap": 0.027699840292048732, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.025223562481314177, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.031070670029462517, + -0.9994218546823596, + 0.01380470380677323 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004929978196552338, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03225744307655798, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20224988024968518, + 0.2717404338299687, + 0.7565913786682217 + ], + "target_position": [ + 0.21154094353461947, + 0.26745661581092933, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010231077840819135, + "xy_threshold": 0.08, + "gripper_dist": 0.20717272086722874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565913786682217, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535982053753394, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562351248333143, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17908496257387316, + "release_required_pad_clearance": 0.05281175624166572, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6512048005641842, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a1b3a52774bc04cd37a6cc5486e26c348703f27036c8e082ff97a4937770a92b", + "visual_seed": 6947228908767126720, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..acc9eb55f178f72392617ed44c0279e9c0395218 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_4_success.json @@ -0,0 +1,684 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22894952141650915, + 0.2651789186539837, + 1.047039712298618 + ], + "current_z": 1.047039712298618, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19045314528540758, + "gripper_z": 1.0506856090302537, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2239666286226094, + 0.2603265668306011, + 1.0506856090302537 + ], + "object_minus_gripper": [ + 0.00498289279389974, + 0.004852351823382561, + -0.003645896731635734 + ], + "object_to_gripper_xy": 0.006955180717521438, + "object_to_gripper_z": -0.003645896731635734, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22894952141650915, + 0.24077303912740233, + 1.047039712298618 + ], + "finger_b": [ + 0.2171543683989183, + 0.2651789186539837, + 1.047039712298618 + ], + "finger_midpoint": [ + 0.22305194490771374, + 0.252975978890693, + 1.047039712298618 + ], + "object_minus_finger_midpoint": [ + 0.00589757650879541, + 0.012202939763290677, + 0.0 + ], + "finger_gap": 0.02710668903009708, + "fingertip_max_gap": 0.09251466990954924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013553344515048533, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047039712298618, + "object_top_z": 1.09363828524295, + "finger_top_clearance": 0.04659857294433212, + "fingertip_min_top_clearance": 0.013979571883299667, + "object_projection_between_fingers": 0.8106548385598278, + "object_to_finger_line_xy": 0.010619927916142238, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875733495477462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9278013700551935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 220, + "max_stable_success_frames": 220, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2284606145980184, + 0.26479830815235483, + 1.2421466248516881 + ], + "held_position": [ + 0.23375714755217347, + 0.26924968532198407, + 1.2384201752246111 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007858399764830598, + "max_held_gripper_dist": 0.007863363144980083, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003726449627077022, + "max_held_gripper_z_dist": 0.003794597049351145, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08681584278012539, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23375714755217347, + 0.2439709160032507, + 1.2384201752246111 + ], + "held_grasp_finger_b": [ + 0.2236794561714922, + 0.26924968532198407, + 1.2384201752246111 + ], + "held_grasp_midpoint": [ + 0.22871830186183284, + 0.25661030066261736, + 1.2384201752246111 + ], + "held_grasp_object_position": [ + 0.23375714755217347, + 0.26924968532198407, + 1.2384201752246111 + ], + "held_grasp_finger_gap": 0.027213526817264855, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024509214140594454, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06941359574113712, + -0.9972298341840369, + 0.026728459356359813 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004163457028587928, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032246089100011, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19071603707115733, + 0.2583273682143104, + 0.7565869906020818 + ], + "target_position": [ + 0.20440973606271468, + 0.2625900804210501, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01434183068610371, + "xy_threshold": 0.08, + "gripper_dist": 0.20753096832760307, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869906020818, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533564239950959, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08968642492546157, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1776952458417371, + "release_required_pad_clearance": 0.05484321246273079, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.742491735884566, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6bb24e342770d010e745c0b508035a0534852827cd712477f65473cf35e1d0bc", + "visual_seed": 3332280631832055261, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2bdfa528023f6d95a6ae5aa70b3f29f40324a512 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00021/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22706977672037287, + 0.27079697209813736, + 1.046085147791338 + ], + "current_z": 1.046085147791338, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.18949864038277242, + "gripper_z": 1.0495029843434032, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22211758704366097, + 0.26588348616231006, + 1.0495029843434032 + ], + "object_minus_gripper": [ + 0.0049521896767119045, + 0.0049134859358273, + -0.0034178365520651788 + ], + "object_to_gripper_xy": 0.006976139809070961, + "object_to_gripper_z": -0.0034178365520651788, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22706977672037287, + 0.24652348182941877, + 1.046085147791338 + ], + "finger_b": [ + 0.2150438713850434, + 0.27079697209813736, + 1.046085147791338 + ], + "finger_midpoint": [ + 0.22105682405270816, + 0.25866022696377805, + 1.046085147791338 + ], + "object_minus_finger_midpoint": [ + 0.006012952667664717, + 0.012136745134359306, + 0.0 + ], + "finger_gap": 0.02708919948909309, + "fingertip_max_gap": 0.09213791242132227, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013544599744546552, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046085147791338, + "object_top_z": 1.092431529118198, + "finger_top_clearance": 0.04634638132686009, + "fingertip_min_top_clearance": 0.013903914398058008, + "object_projection_between_fingers": 0.802919698087454, + "object_to_finger_line_xy": 0.010775907063890262, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856895621066114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7820270959517716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 219, + "max_stable_success_frames": 219, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2266647794312998, + 0.2701198348308036, + 1.2366982425226127 + ], + "held_position": [ + 0.23196688758635797, + 0.2745843659258424, + 1.2331550523673076 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007784509314218452, + "max_held_gripper_dist": 0.007790325668129253, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035431901553051315, + "max_held_gripper_z_dist": 0.003614348934372069, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08717332968586122, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.23196688758635797, + 0.2492651029030585, + 1.2331550523673076 + ], + "held_grasp_finger_b": [ + 0.22204167922826665, + 0.2745843659258424, + 1.2331550523673076 + ], + "held_grasp_midpoint": [ + 0.22700428340731232, + 0.26192473441445047, + 1.2331550523673076 + ], + "held_grasp_object_position": [ + 0.23196688758635797, + 0.2745843659258424, + 1.2331550523673076 + ], + "held_grasp_finger_gap": 0.02719512531628486, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024450632542235663, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07877361541715881, + -0.9965723356823348, + 0.0252645456473215 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003963266041564743, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.032193064148557486, + "held_grasp_min_top_clearance": 0.013560067489743232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1897897364555364, + 0.2727378294794886, + 0.7565953002331974 + ], + "target_position": [ + 0.20253080493994444, + 0.26681665771900104, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014049736692962295, + "xy_threshold": 0.08, + "gripper_dist": 0.20529871584624956, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565953002331974, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540643117302037, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872171911827299, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.177697090738055, + "release_required_pad_clearance": 0.05360859559136495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.207475496957378, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 4436174054177433429, + "physical_seed": 2929340259737324953, + "layout_id": "layout_00021", + "step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "workflow_spec_digest": "7fe1ed10829a1ec43a30e2ec412402ed4208abe8ab0a528415226779dd102fff", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a576e2143caa7f416a0c60b5cee5cb879edf7ac06a7eac3be3304236c5e041ae", + "visual_seed": 9180272069933179737, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 541293577389107883, + 2316932217596112086, + 8358960574803703126 + ], + "runtime_workflow_digest": "ba790880446238ecf52ef897fdfc56816fad62bb8f7ffe2fa01ca3be5add7e31" + } +} \ No newline at end of file